CN107848460A - For the system of vehicle, method and apparatus and computer-readable medium - Google Patents
For the system of vehicle, method and apparatus and computer-readable medium Download PDFInfo
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- CN107848460A CN107848460A CN201580081763.6A CN201580081763A CN107848460A CN 107848460 A CN107848460 A CN 107848460A CN 201580081763 A CN201580081763 A CN 201580081763A CN 107848460 A CN107848460 A CN 107848460A
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000000007 visual effect Effects 0.000 claims abstract description 29
- 238000006243 chemical reaction Methods 0.000 claims abstract description 14
- 230000008859 change Effects 0.000 claims description 36
- 239000012634 fragment Substances 0.000 claims description 8
- 230000004044 response Effects 0.000 claims description 6
- 239000000284 extract Substances 0.000 abstract description 4
- 210000003128 head Anatomy 0.000 description 22
- 238000000605 extraction Methods 0.000 description 16
- 238000012545 processing Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000009466 transformation Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000006854 communication Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000007175 bidirectional communication Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000010267 cellular communication Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 210000005069 ears Anatomy 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
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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
- B60R1/20—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
- B60R1/22—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/26—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
-
- 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
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Closed-Circuit Television Systems (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Studio Devices (AREA)
Abstract
The present invention relates to for the system for vehicle of projected image, method and apparatus in vehicle.System for vehicle includes：Projection arrangement (105), it is configured to catch the first image capture device (101) for the image for including blind spot image, is configured to catch the second image capture device (102) and controller (104) of the head image of the operator of vehicle.Controller is arranged to：The observation posture of operator is determined based on the operator's head image captured；Observation posture based on operator determines will be from the segment image of the image zooming-out captured by the first image capture device, and the segment image corresponds to the blind spot image, and the observation posture of operator includes the viewpoint position and direction of visual lines of operator；Extract segment image；Conversion is performed to the segment image extracted；And projection arrangement is set to project converted segment image to the internal part of vehicle.The system can show blind spot image in Vehicular screen.
Description
Technical field
Present disclosure generally relates to the projection art of vehicle, and is more particularly to used in vehicle
Projected image for the system of vehicle, method and apparatus and computer-readable medium.
Background technology
When operating vehicle, it is important that obtain the visual field of broadness.However, available for the space for setting more vehicle windows
It is limited.Therefore, vehicle tool is likely to result in some blind spots of accident.Some researchs using camera it has been reported that for being caught
Catch the technology of these blind spots.In these techniques, blind spot image is shown in Vehicular screen.
It is opposite with installation Vehicular display device, it has been proposed that shadow casting technique is with by the inwall of blind spot image projection to vehicle
On.
The content of the invention
The purpose of present disclosure is to provide a kind of new and improved is used for blind spot image projection to vehicle
The system, apparatus and method for vehicle on inwall.
According to the first exemplary embodiment of present disclosure, there is provided a kind of system for vehicle, it is characterised in that
It includes：Projection arrangement, it is configured to catch the first image capture device of the image for including blind spot image, is configured to catch
The second image capture device and controller of operator's head image of vehicle.Controller is arranged to：Based on capturing
Operator's head image determine operator observe posture；Posture is observed based on operator to determine to fill from by the first picture catching
The segment image of the image zooming-out of seizure is put, wherein, the segment image corresponds to blind spot image, and operator observes posture bag
Include the viewpoint position and direction of visual lines of operator；And extraction segment image, conversion is performed to the piecewise graph extracted, and
Projection arrangement is set to project converted segment image to the internal part of vehicle.
In the example of the present embodiment, controller, which can be further configured, to be used for：Based on the operator head captured
Image determines that operator observes the generation of the change of posture；And the fragment to be extracted is redefined in response to the generation of change
Image.
In another example of the present embodiment, the change that operator observes posture can include the change of viewpoint position with regarding
It is at least one in line direction change.
In another example of the present embodiment, the system may further include：It is configured to measure the second picture catching
The inertial measuring unit of the inertial data of device, wherein, controller can be further configured to according to inertial data to by
The image that second image capture device captures performs motion compensation.
In another example of the present embodiment, determine that operator observes posture and can included：Calculate in the operation captured
The distance between multiple characteristic points in person's head image are worth, and according to the value being calculated and are based on the second image capture device
Position determine viewpoint position, and direction of visual lines is determined according to the value being calculated.
In another example of the present embodiment, it is determined that the segment image to be extracted can include：Produce the void around vehicle
Intend screen, by by the image projection that the first image capture device captures to virtual screen, and will projection to virtual screen
On image be determined as the segment image to be extracted such as lower part, it is described partially due to the stop of internal part and can not be from
The viewpoint position of operator is seen along the direction of visual lines of operator.
In another example of the present embodiment, controller can be further configured to enter from the segment image extracted
Onestep extraction relevant information, conversion is performed to the segment image extracted, and projection arrangement is projected relevant information to car
Internal part on, wherein, the relevant information is related to drive safety.
In another example of the present embodiment, internal part can be A posts, can be provided on the outer surface of A posts described in
First image capture device, and the projection arrangement and the second image capture device can be provided at the console of vehicle.
According to the second exemplary embodiment of present disclosure, there is provided a kind of computer-implemented method, it is characterised in that
It includes：Being received from the first image capture device includes the image of blind spot image；Vehicle is received from the second image capture device
Operator's head image；Determine that operator observes posture based on the operator's head image captured；Appearance is observed based on operator
Gesture determine will from the segment image of the image zooming-out caught by the first image capture device, wherein, the segment image corresponds to
Blind spot image, and operator's observation posture include the viewpoint position and direction of visual lines of operator；And extraction segment image,
Conversion is performed to the segment image extracted, and projection arrangement is projected converted segment image to the internal part of vehicle
On.
In the example of the present embodiment, this method may further include：It is true based on the operator's head image captured
Determine the generation that operator observes the change of posture, and the segment image to be extracted is redefined in response to the generation of change.
In another example of the present embodiment, operator observe posture change can include viewpoint position change with regarding
It is at least one in the change in line direction.
In another example of the present embodiment, this method may further include：The second figure is received from inertial measuring unit
As the inertial data of trap setting, and motion is performed to the image caught by the second image capture device according to inertial data and mended
Repay.
According to the 3rd exemplary embodiment of present disclosure, there is provided a kind of equipment for vehicle, it is characterised in that its
Including：It is configured to store the memory of series of computation machine executable instruction；And it is configured to carry out a series of meters
The processor of calculation machine executable instruction, wherein, the series of computation machine executable instruction during computing device by making processing
Device operates as follows：The step of performing the above method.
According to the 4th exemplary embodiment of present disclosure, there is provided a kind of non-transitory computer readable medium, have and deposit
Storage is in instruction thereon, and the instruction is by making the computing device above method the step of during computing device.
Brief description of the drawings
The above and advantage of present disclosure and other aspects and advantage below in conjunction with accompanying drawing by describing in detail
Exemplary embodiment and become obvious, accompanying drawing illustrates the principle of present disclosure by way of example.Notice that accompanying drawing is not necessarily pressed
Drawn according to ratio.
Fig. 1 illustrates the block diagram of the system for vehicle of the exemplary embodiment according to present disclosure；
Fig. 2 illustrates (namely as shown in Figure 1 according to the equipment of the exemplary embodiment of present disclosure for vehicle
Controller) block diagram；
Fig. 3 be a diagram that the schematic diagram of the example of the system of the exemplary embodiment according to present disclosure；
Fig. 4 illustrates the image that display will project according to the determination of the exemplary embodiment of present disclosure on A posts
The flow chart of method；And
Fig. 5 illustrates the common hardware ring using present disclosure of the exemplary embodiment according to present disclosure
Border.
Embodiment
In the following detailed description, several details are illustrated to provide the comprehensive understanding of the exemplary embodiment.So
And for those skilled in the art it will be apparent that, can be in the case where not using some or all of these details
Put into practice the embodiment.In other exemplary embodiments, widely known structure or method and step are not described in detail, so as to
In the concept for avoiding unnecessarily obscuring present disclosure.
It is related to automobile, aircraft, helicopter, ship etc. throughout term used in specification " vehicle ".Throughout specification
Used term " A or B " be related to " A and B " and " A or B ", rather than mean that A and B are excluded, unless specified otherwise herein.
With reference first to Fig. 1, the side of the system 100 for vehicle of exemplary embodiment according to present disclosure is shown
Block diagram.System 100 includes：One or more first cameras 101 that the image including blind spot image can be caught (correspond to first
Image capture device)；One or more second cameras 102 that operator's head image of vehicle can be caught (correspond to second
Image capture device)；The Inertial Measurement Unit (IMU) 103 that the inertial data of camera 102 can be measured (corresponds to inertia measurement
Device)；Can be with the controller 104 of the integrated operation of control system 100；And can be by the internal part of image projection to vehicle
On projecting apparatus 105 (corresponding to projection arrangement).
First camera 101 can be for any kind of in-vehicle camera well known by persons skilled in the art.First camera
101 quantity can be one, two or more.The existing camera provided on vehicle may be used as first camera 101.Blind spot
Meaning can not be from the outer periphery environment that the range of observation of operator is seen.Specifically, blind spot means by the inside of vehicle
Member obstruction and therefore can not be from the outer periphery environment that the range of observation of operator is seen.For example, driven in operator
In the situation for sailing vehicle, therefore it can not see by the A posts (such as left side A posts) stop of vehicle and from the range of observation of operator
Outer periphery environment be blind spot.For another example, reverse its body in operator and watch vehicle rear and move backward
Situation in, stopped by the rear portion of the vehicle and outer periphery environment that therefore can not see from the range of observation of operator is blind
Point.However, blind spot is not limited to these examples.There is provided camera 101 in vehicle outside can not be from operator's in order at least catch
The image for the outer periphery environment that range of observation is seen.Pay attention to, the image of big range of vision will be caught by camera 101, wherein wrapping
Blind spot image is included.In the situation that outside surrounding environment is stopped by left side A posts, it can be provided on the outer surface of left side A posts
Camera, and the range of observation of the camera can the substantially all possible observation of overlapping operation person during operator drives
Scope.The view data of the image caught by camera 101 with warp or can be wirelessly transmitted to controller.
Operator observes posture and can limited by viewpoint position (such as three-dimensional (3D) position) and direction of visual lines.Viewpoint position
Put can be operator's eyes position.But to put it more simply, throughout this specification, viewpoint position is related to attended operation person's eyes
The position at the midpoint of the line segment of position.Direction of visual lines means the direction of operator's viewing.For example, the direction of visual lines of operator can
To reflect whether operator is looking to the front, see upward, see down, seen towards a left side, seen towards the right side etc..More specifically, for example, operator
Direction of visual lines can also reflect operator whether towards from front it is to the left 30 degree or from front it is to the left 60 degree watch.Further,
In the case of assuming that direction of visual lines is horizontal forward, the horizontal viewable angle of mankind's eyes is about 120 degree, and mankind's eyes
Plumb visible angle be about 60 degree.
Cone, the preferably rectangular pyramid with four equal sides, it can be used for the observation model for virtually representing operator
Enclose.Particularly, the summit of cone can represent viewpoint position.It can be represented by cone apex and the straight line perpendicular to its bottom surface
The direction of visual lines of operator.Further, also in the case of assuming that direction of visual lines level is facing forward, by making cone and comprising cone
The drift angle for the triangle that the horizontal plane on summit is crossed to form can represent horizontal viewable angle, and similarly, by making cone
The drift angle for the triangle being crossed to form with the vertical plane comprising cone apex can represent plumb visible angle.
The range of observation of camera or the range of observation of projecting apparatus can limit in a similar manner, and therefore can also class
As virtually represented with cone.The range of observation of camera 102 is represented with rectangular pyramid as shown in Figure 3.Pay attention to, other volume shapes
Shape can be used for simulating the range of observation of the mankind.
Second camera 102 can be for any kind of in-vehicle camera well known by persons skilled in the art.Second camera
102 quantity can be one, two or more.The existing camera provided on vehicle may be used as second camera 102.Second
Camera 102 can be provided in vehicle interior side in order to capture operation person's head image.For example, phase is provided at the console of vehicle
Machine is as second camera 102 in order to capture operation person's head image when operator is driving.The operator head captured
Image is determined for operator and observes posture.Posture is observed in order to more accurately determine operator, a pair of cameras can be used
Make camera 102.The details of the determination explained below.The view data of the image caught by camera 102 can be with warp or nothing
It is sent to controller line.
In this embodiment, camera is used as the first and second image capture devices.But present disclosure not limited to this.
One or more ultrasonic radars, sound radar and laser radar are also used as the first image capture device or the second picture catching
Device.Image can be caught and produce any device of view data and may be used as the first image capture device or the second image is caught
Catch device.
IMU 103 can measure the inertial data of second camera 102.Particularly, IMU can be realized in six-freedom degree
Measurement to acceleration and angular speed.The inertial data measured can be used for performing fortune to the image caught by second camera 102
Dynamic compensation.After the compensation, the definition of the image caught by second camera 102 can be significantly improved.The inertial data measured
Warp is wirelessly transmitted to controller 104.Pay attention to, IMU is used as inertial measuring unit herein, but present disclosure is not limited to
This.Alternatively, the combination of accelerometer and gyroscope may be used as inertial measuring unit.Any dress of inertial data can be obtained
Put and may be used as inertial measuring unit.Any position that IMU 103 can be provided on vehicle, it is preferably provided at the middle control of vehicle
At platform.
Controller 104 receives data, namely first camera 101, second camera 102, IMU from all parts of system 100
103 and projection arrangement 105.Also, controller 104 transmits control command to above-mentioned various parts.In Fig. 1, in all parts
Between the connecting line with four-headed arrow represent bidirectional communication line, it can be tangible line or can wirelessly realize, all
Such as realized via radio, RF.The specific control performed by controller 104 is described in detail later with reference to Fig. 2-Fig. 4 to grasp
Make.Controller 104 can be processor, microprocessor etc..Controller 104 can be provided on vehicle, for example, in vehicle
At console.Alternatively, controller 104 can remotely be provided and can accessed via various networks etc..
Projecting apparatus 105 can be cathode-ray tube (CRT) projecting apparatus, liquid crystal display (LCD) projecting apparatus, digital light processing
Device (DLP) projecting apparatus etc..Pay attention to, projecting apparatus 105 is used as projection arrangement herein, but present disclosure not limited to this.Can be with
By a series of other device (groups of such as light source and lens and speculum on some internal part of image projection to vehicle
Close) it is also used as projection arrangement.Reflecting material (such as reflective mirror) can apply or do not apply in vehicle will be in its upslide
On the internal part of shadow blind spot image.For example, internal part is left side A posts.In one embodiment of present disclosure, should not
With reflecting material, and blind spot image is directly projected to the inner surface of the left side A posts of vehicle.Projection not only can be in granularity
Aspect is adapted to, and can be adapted in terms of drop shadow intensity.Projection arrangement 105 can also provide the middle control in vehicle
At platform, in order on the left side A posts by blind spot image projection to such as vehicle.
First camera 101, second camera 102, type, quantity and the position of IMU 103 and projecting apparatus 105 are retouched in detail
State.But as it will be readily understood by those skilled in the art that as, be not limited to the type, quantity and position of upper-part shown in
Embodiment, and other types, quantity and position can also be used according to the actual requirements.
Fig. 2 is illustrated according to the equipment 200 of the exemplary embodiment of present disclosure for vehicle (namely such as Fig. 1 institutes
The controller 104 shown) block diagram.Each square frame of equipment 200 can be implemented by hardware, software, firmware or its any combination
To perform the principle of present disclosure.It will be understood by those skilled in the art that the square frame of Fig. 2 descriptions can be combined or separated
Into sub-box to implement the principle of present disclosure as described above.Therefore, explanation in this can support it is any it is possible,
The combination or separation of this square frame further limit.
Reference picture 2, the equipment 200 for vehicle can include observation posture determining unit 201, segment image determining unit
202nd, posture compensating unit 203 (optional), vibration compensation unit 204 (optional), extraction and converter unit 205 and related are observed
Information extraction unit 206 (optional).Although being not shown, equipment 200 may further include receiving unit and delivery unit with
In reception respectively and transmit information, instruction etc..
Observation posture determining unit 201 can be arranged to receive and be caught by second camera 102 (hereinafter referred to as camera B)
The vehicle operators head image caught, determine that operator observes posture based on the image received, and operator's sight will be represented
The data output of posture is examined to segment image determining unit 202.The data for representing operator's observation posture are, for example, that operator is double
The 3D positions of eye and the direction of visual lines of operator., can be based on to receiving in one embodiment of present disclosure
The image procossing of operator's head image calculates the data.Especially it is possible to calculate in the operator's head image captured
The distance between multiple characteristic points value, can according to the value being calculated and the position based on camera B determines viewpoint position,
And direction of visual lines can be determined according to the value being calculated.Multiple characteristic points in the operator's head image captured it
Between distance can be the distance between the distance between the distance between eyes, two ears, an eyes and nose etc..It is based on
These distance values, the 3D positions and known knowledge base that can use known camera B determine viewpoint position, in the knowledge
The statistical information on the distance between characteristic point is stored with storehouse.Alternatively, based between multiple operator's head images
The distance value (or change of multiple distance values between operator's head image), can use known camera B's
3D positions and known binocular vision algorithm or stereoscopic vision algorithm determine viewpoint position.Further, based on these distance values,
Operator's face orientation can be calculated, then can be with it is thus determined that the direction of visual lines of operator, it can be consistent with face orientation.
Any of image processing algorithm can be used for calculating operator's observation posture.Alternatively, eye tracker can be used for obtaining
Extract operation person observes posture.In this case, representative can directly be received from eye tracker by observing posture determining unit 201
Operator observes the data of posture.
Posture is observed instead of calculating operator, can prestored based on for example above-mentioned distance being calculated
Search operation person observes posture in form.
Segment image determining unit 202 can be arranged to the reception of posture determining unit 201 from and represent operator
The data of posture are observed, observing posture determination based on operator will be from the figure caught by first camera 101 (hereinafter referred to as camera A)
As the segment image of extraction, and data output extremely extraction and the converter unit 205 that the segment image to be extracted will be represented.
Then, it will be described in the operation of segment image determining unit 202.Will be assuming that blind spot image be projected onto vehicle
Left side A posts in the case of provide following explanation.In this case, camera A can be provided on the outer surface of left side A posts.
Particularly, camera A height of observation and direction could be arranged to all possible observation of the overlapping operation person during its driving
Scope.The range of observation of operator is varied with each individual, but the statistical information of operator's range of observation will be considered to determine camera A's
Height of observation and direction.Fig. 3 illustrates the situation that blind spot image is projected onto on the left side A posts of vehicle.It will be described in later
Fig. 3.
Throughout specification, although it is contemplated that left side A posts, it is to be understood that according to identical principle, image can be thrown
Shadow to the right side A posts of vehicle, two A posts, one or two B post, one or two C post, vehicle rear portion etc..
First, virtual spherical surface (corresponding to virtual screen) is created to surround vehicle.The center of ball can be located at operator's
At viewpoint position, and the radius of ball can be arbitrary, as long as ball can be at least around the left front part of vehicle (in as above institute
State in the situation that left side A posts are discussed).Secondly, by the 3D including the image of blind spot image that is caught by camera A from camera A
Position is virtually projected to virtual spherical surface.Again, by projection to the image on virtual spherical surface because internal part is (such as left
Side A posts) stop and be determined as what is extracted from operator's viewpoint position along the part that operator's direction of visual lines can not be seen
Segment image.Particularly, the virtual centrum of simulated operator observation posture is projected onto on virtual spherical surface.Assuming that viewpoint is light
Source, light will extend in cone and illuminates a part for the image being projected on virtual spherical surface.In left side, A posts are stop parts
In the situation of part, left side A posts can substantially be virtually rectangle.It is understood that the shape of the virtual rectangle will be according to behaviour
The range of observation of author and change.Further, it is possible to by the image that is projected on virtual spherical surface due to the stop of the rectangle and
The part that making the light of hypothesis can not reach is determined as the segment image to be extracted.
In other words, the determination method of the above includes：Create virtual screen, by by the image projection that camera A is caught to virtual
Screen, on virtual screen determine due to A posts be blocked at the viewpoint position of operator and with the direction of visual lines of operator without
The segment image that method is seen.
The data for representing the segment image to be extracted can hypothesis light can not be reached virtual spherical surface more than limiting
Portion boundary coordinate value.
Pay attention to, the operation of segment image determining unit 202 described herein be only illustrative and present disclosure not
It is limited to this.The method that other images that can determine to be stopped by left side A posts can also be used.Instead of using virtual spherical surface,
Imaginary circles cylinder, virtual plane can be used.
Difference between camera A range of observation and the range of observation of operator can use above virtual screen creation method
Compensation.Thus, the radius of virtual ball is preferably arranged to big, because virtual ball is bigger, above-mentioned difference is with regard to smaller.
Extraction and converter unit 205 are configured to receive the data for representing the segment image to be extracted, virtual from being projected in
Image zooming-out segment image on sphere, conversion is performed to the segment image extracted, and communicate commands to projecting apparatus 105 with
It is easy to it is projected converted segment image to the A posts of left side.
Here, conversion can be transformation of scale and/or rotation transformation and/or translation transformation etc..Conversion can compensate throwing
Difference between the position of shadow instrument and the position of left side A posts.It is understood that the position difference is predetermined and is therefore
It is known.Using the conversion, the segment image extracted can suitably be projected to the A posts of left side.
Observation posture compensating unit 203 is the selectable unit (SU) of controller 104.Observation posture compensating unit 203 is configured to use
In the vehicle operators head image captured from camera B receptions, and determine viewpoint position and the sight side of operator's observation
Whether at least one in changes, if it is, communicate commands to segment image determining unit 202 so that its redefine will
The segment image of extraction.
It is understood that the direction of visual lines of operator can change during driving.Turn left in operator his head
Situation in, therefore the scene of exterior ambient environment will change.Then for example it will also be changed by the scene that left side A posts stop.
That is, therefore the segment image to be extracted will change.Similarly, for example, the eye-level of operator varies with each individual.The piece to be extracted
Section image will change also according to eye-level.
By considering the viewpoint position of operator and direction of visual lines and further considering its change, A posts are finally projected in
On image will mesh well into exterior ambient environment in terms of the range of observation of operator.That is, finally it is projected in the figure on A posts
Picture will be continuous with exterior ambient environment in terms of the range of observation of operator.
The selectable unit (SU) of vibration compensation unit 204 and controller 104.Vibration compensation unit 204 is arranged to from IMU
103 receive camera B inertial data, receive view data from camera B, the image caught by camera B is held according to inertial data
Row motion compensation, and the image for being subjected to compensation is sent to observation posture determining unit 201 or observation posture compensating unit
203.Conventional movement compensating algorithm (such as range Doppler algorithm, auto-focusing algorithm etc.) can be used herein to perform fortune
Dynamic compensation.Other movement compensating algorithms can also be used.
, can be true with higher precision by observation posture determining unit 201 using operator's head image after compensation
Determine operator and observe posture.Can also then the segment image to be extracted be determined with higher precision.As a result, finally it is projected in A
Image on post will be continuous with exterior ambient environment in terms of the range of observation of operator.
The frame per second of known camera is not generally high.For example, camera B can be with 5 frames of output per second.In addition, in view of the vibration of vehicle,
Camera B image definition is not also high., can using the IMU 103 with high refresh rate such as 10000 times per second in view of this
To compensate camera B image according to inertial data and camera B image definition can be improved.
The selectable unit (SU) of relevant information extraction unit 206 and controller 104., can be with after segment image is extracted
Further extract relevant information therein.Relevant information is related to the information related to drive safety.For example, relevant information can be with
It is related to the image for the children that neighbouring pedestrian stands on slide plate, adjacent to image of the close bicycle of mobile vehicle etc.
Deng.The restructuring and extraction of relevant information can use known image reorganization and extractive technique to realize.The projection of projecting apparatus 105 can
Only to be initiated when recognizing relevant information.Therefore the energy consumption of whole system can be reduced.And it is possible to information is avoided for behaviour
Author causes excessively to bear.Further, by only projecting relevant information without projecting whole segment image, energy can also be reduced
Consumption.
Relevant information extraction unit 206 can be arranged to after piece segment information is extracted further from being extracted
Segment image extracts relevant information, and the relevant information extracted is sent into extraction and converter unit 205.The phase extracted
Close information and be projected onto left side A posts after transformation.Relevant information extraction unit 206 can be further configured to produce police
It is simultaneously sent to together with the relevant information extracted extraction and converter unit 205 by report message so that alert message can be with
Relevant information is projected together.Alert message may, for example, be the red exclamation mark mark that will be associatedly projected with relevant information
Note, the circular mark of flicker, some characters etc..Alert message can be animation.It is alternatively possible to after transformation with being carried
The fragment message taken associatedly projects alert message.Using the projection of alert message, projection will be user-friendly.Further,
Security can be strengthened.In certain embodiments of the present invention, together with the projection of alert message, alarm voice such as " please
Pay attention to " it can also be simultaneously emitted by.
Then, reference picture 3 is described to the specific example of system 100.As shown in figure 3, camera A101 is provided in left side A posts
In the upper part of outer surface, camera B 102, IMU 103, controller 104, projecting apparatus 105 are integrated to TransA-
In PillarBox (transparent A post cases) and the TransA-PillarBox is provided at the console of vehicle.Also as shown in figure 3,
Camera A101 can catch the image of surroundings outside, and it includes by operator not seen due to the stop of left side A posts
Surroundings outside.Camera B 102 can be with capture operation person's head image.Thus may determine that operator observes posture.Such as
It is preceding described, the image that posture determines to be projected on A posts can be observed according to operator, and further can be according to operator
The change of observation posture redefines.As will be appreciated, the image that be projected on A posts corresponds to due to left side A posts
Stop and can not be by the real image for the surroundings outside that operator sees.Further, instead of projecting extracted piece
Section image, can project relevant information, can either project relevant information together with alert message or can project relevant information
Together with alert message while alarm voice can be sent.
The system of present disclosure can be spare system, it means that easily can remove the system from automobile sliding.Root
Originally without need for any redesign work of the internal part projected for vehicle.Further, one of projecting method it is excellent
Point is therefore projection very bright and need not have high-resolution and need not can save cost.
Fig. 4 illustrates flow chart of the display according to the method 400 for vehicle of the exemplary embodiment of present disclosure.
The step design of following shown method 400 is schematical.In certain embodiments, one not described can be used
Individual or multiple additional steps and/or do not use discussed one or more steps and Method Of Accomplishment.In addition, illustrated in Fig. 4
It is not intended to the order for the method and step being described below restricted.In certain embodiments, can be at one or more
Implementation in individual processing unit (such as digital processing unit, analog processor, the digital circuit designed for processing information, set
Count the analog circuit for processing information, state machine and/or other mechanisms for electron process information).At one or more
Reason device can include performing some or all method and steps in response to instruction of the Electronic saving on electronic storage medium
One or more modules.One or more processing modules can be included by being designated specifically to perform one or more methods steps
One or more devices of rapid hardware, firmware and/or software merit rating.
Method 400 is described under situation as shown in Figure 3.
Method 400 starts from step 401, such as the equipment 200 provided in vehicle starts and started from camera A herein
Receive view data.Then, the view data received is sent to segment image determining unit 202.Equipment 200 can by
Operator ask when start, or can when vehicle moves automatic start.Equipment 200 can be supplied by the battery in vehicle
Electricity.
In step 402, from equipment 200 receives view data from camera B and is sent to the view data received
Posture determining unit 201 or vibration compensation unit 204.
In step 403 (it is optional), vibration compensation unit 204 receives the inertial data obtained by IMU 103, receives
Camera B view data, and the image to being caught by camera B performs motion compensation.Vibration compensation unit 204 further will be through
Observation posture determining unit 201 or observation posture compensating unit 203 are sent to by the view data of compensation.
In step 404, observation posture determining unit 201 receives camera B view data, based on the figure received from camera B
As data determine operator observe posture, and by operator observe posture data be sent to segment image determining unit
202.Alternatively, if performing motion compensation, observation posture determining unit 201 receives operator from vibration compensation unit 204
The view data on head.Particularly, observe posture determining unit 201 and regarding for operator is determined based on the image caught by camera B
Point position and direction of visual lines.The method of determination is being discussed and is being not repeated herein before.
In step 405, segment image determining unit 202 is received by the camera A view data caught and seen on operator
The data of posture are examined, and will be from the segment image of the image zooming-out caught by camera A based on operator's observation posture determination.Really
Fixed method is as follows.First, virtual spherical surface is created.Secondly, the image caught by camera A is projected on virtual spherical surface.Again, make
The virtual cone for representing operator's observation posture intersects with virtual spherical surface, in order to it is determined that the image seen by operator.
4th, it is virtually rectangle by left side A posts.It is understood that the shape of virtual rectangle by according to the range of observation of operator and
Change.Assuming that viewpoint is light source, and light extends in upper cone.Can by virtual spherical surface due to representing A posts
The stop of rectangle and the part that makes hypothesis light and can not reach is determined as the segment image to be extracted.
In step 406, extraction and converter unit 205 receive the data on segment image to be extracted, are extracted in step 405
The segment image of determination, conversion is performed to the segment image extracted, and make projecting apparatus by converted image projection to A posts
On.
On step 406, it can still optionally further include extracting relevant information, conversion from the segment image extracted
Relevant information, and make the converted relevant information of projector.In addition, it may further include in converted correlation
Alert message is superimposed in information.Alternatively, alert message can be superimposed upon on extracted segment image.
In step 407 (it is optional), observation posture compensating unit 203 receive by the camera B view data caught or
Image after compensation, and determine whether the range of observation of operator changes.If it is, method is back to step 405 with weight
Newly determine the segment image to be extracted.Or otherwise, method terminates.
Fig. 5 illustrates the common hardware environment that present disclosure can be applied according to the exemplary embodiment of present disclosure
500。
Reference picture 5, computing device 500 will now be described, it is the hardware for each side that can apply to present disclosure
The example of device.Computing device 500 can be any machine for being configured to carry out handling and/or calculating, and can be, but not limited to
It is work station, server, desktop computer, laptop computer, tablet PC, personal digital assistant, smart phone, vehicle-mounted
Computer or its any combination.Aforementioned device 200 can be completely or at least partially by computing system 500 or similar dress
Put or system is implemented.
Computing device 500 can include the element that may be connected or communicate via one or more Interface ＆ Bus 502.Example
Such as, computing device 500 can include bus 502 and one or more processors 504, one or more input units 506,
And one or more output devices 508.One or more processors 504 can be any kind of processor, and can be with
Including but not limited to one or more general processors and/or one or more application specific processors (such as dedicated processes chip).
Input unit 506 can any kind of device of information can be inputted to computing device, and can include but is not limited to
Mouse, keyboard, touch-screen, microphone and/or remote controllers.Output device 508 can be any types that can show information
Device, and display, loudspeaker, video/audio lead-out terminal, vibrator and/or printer can be included but is not limited to.
Computing device 500 can also include non-provisional storage device 510 or be connected with non-provisional storage device, and it can be non-provisional
And any storage device that data storage can be implemented, and disc driver, optical storage dress can be included but is not limited to
Put, solid-state memory, floppy disk, flexible disk, hard disk, tape or any other magnetic medium, compact disk or any other
Optical medium, ROM (read-only storage), RAM (random access storage device), cache and/or any other memory chip
Or tape, and/or computer can be read from any other medium of data, instruction and/or code.Non-provisional storage device
510 can dismantle from interface.Non-provisional storage device 510 can have the number for being used for implementing method and steps as described above
According to/instructions/code.Computing device 500 can also include communicator 512.Communicator 512 can be can allow for and outside
Equipment and/or any kind of device or system with network service, and modem, net can be included but is not limited to
Card, infrared communications set, radio communication device and/or chipset, such as bluetoothTMDevice, 1302.11 devices, WiFi devices,
WiMax devices, cellular communication facility etc..
When computing device 500 is used as car-mounted device, it can also externally connected device (such as gps receiver), use
In sensor (such as acceleration transducer, vehicle-wheel speed sensor, gyroscope) of sensing varying environment data etc..With the party
Formula, computing device 500 can such as sensing datas of receiving position data and instruction vehicle travel situations.Work as computing device
500 when being used as car-mounted device, and it can also be connected to other facility (engine system, rain brush, anti-lock brake systems etc.
Deng) for control vehicle traveling and operation.
In addition, non-provisional storage device 510 can have cartographic information and software original paper so that processor 504 can be held
Row route guidance is handled.In addition, output device 506 can be included for show map, vehicle position mark and instruction vehicle
The display of the image of travel situations.Output device 506 can also include loudspeaker or draw with the interface of earphone for audio
Lead.
Bus 502 can include but is not limited to Industry Standard Architecture (IAS) bus, micro- channel architecture (MCA) bus, enhancing
ISA (EIAS) bus, VESA's (VESA) local bus and peripheral components interconnection (PCI) bus.Especially
It is that, for car-mounted device, bus 502 can also include controller LAN (CAN) bus or designed for applying in automobile
On other frameworks.
Computing device 500 can also include working storage 514, and it can store the work for processor 504
Make any kind of working storage of useful instruction and/or data, and random access storage can be included but is not limited to
Device and/or ROM device.
Software element can be located in working storage 514, and including but not limited to operating system 516, one or more should
With program 518, driver and/or other data and code.Instruction for performing the process described above and step can wrap
Include in one or more application programs 518, and the unit of aforementioned device 200 can be by reading and performing one or more answer
Implemented with the processor 504 of the instruction of program 518.More specifically, the observation posture determining unit 201 of aforementioned device 200 can be with
Such as implemented when operation has the application program 518 for the instruction for being used for performing step S404 by processor 504.It is in addition, foregoing
The segment image determining unit 202 of equipment 200 can be for example in application journey of the operation with the instruction for being used to perform step S405
Implemented during sequence 518 by processor 504.Other units of aforementioned device 200 for example can also have in operation to be used to perform one
Or the instruction of multiple These steps application program 518 when performed by processor 504.The executable generation of the instruction of software element
Code or source code can be stored in non-provisional computer-readable recording mediums, storage device 510 such as described above, and
It can be read into working storage 514 possibly also with compiling and/or installation.The executable code of the instruction of software element or
Source code can also be downloaded from remote location.
Those skilled in the art can clearly know that present disclosure can be by with necessary hardware from above example
Software or by hardware, firmware etc. implement.Based on the understanding that the embodiment of present disclosure can be partly with software
Form is implemented.Computer software can be stored in readable storage medium storing program for executing, such as the quick flashing of floppy disk, hard disk, CD or computer
Memory.Computer software includes series of instructions so that computer (such as personal computer, service station or network terminal) is held
The method or one part gone according to each embodiment of present disclosure.
Therefore present disclosure has been described, it will be apparent that, it can be varied in many ways.These deformations should not regard
Make the spirit and scope for departing from present disclosure, and as it will be apparent to those skilled in the art that all such modifications are equal
It is intended to be included in the range of following claims.
Claims (17)
1. a kind of system for vehicle, it is characterised in that the system includes：
Projection arrangement,
First image capture device, it is configured to catch the image for including blind spot image,
Second image capture device, it is configured to catch operator's head image of the vehicle, and
Controller, it is configured to
Determine that operator observes posture based on the operator's head image captured,
Observing posture determination based on the operator will be from the fragment of the image zooming-out caught by described first image trap setting
Image, wherein, the segment image corresponds to the blind spot image, and the operator observes posture regarding including operator
Point position and direction of visual lines, and
The segment image is extracted, conversion is performed to the segment image extracted, and make the projection arrangement will be converted
Segment image is projected to the internal part of the vehicle.
2. system according to claim 1, wherein, the controller is further configured to：
Determine that the operator observes the generation of the change of posture based on the operator's head image captured, and
The segment image to be extracted is redefined in response to the generation of the change.
3. system according to claim 2, wherein, the change of operator's observation posture includes the change of viewpoint position
With it is at least one in the change of direction of visual lines.
4. system according to claim 1, further comprises：
Inertial measuring unit, it is configured to measure the inertial data of second image capture device, and
Wherein, the controller is further configured to according to the inertial data to being caught by second image capture device
The image caught performs motion compensation.
5. system according to claim 1, include wherein it is determined that operator observes posture：Calculate and captured described
The distance between multiple characteristic points in operator's head image are worth, and are caught according to the value being calculated and based on second image
The position for catching device determines the viewpoint position, and determines the direction of visual lines according to the value being calculated.
6. system according to claim 1, wherein it is determined that the segment image to be extracted includes：It is created around the vehicle
Virtual screen, by by the image projection that described first image trap setting is caught to the virtual screen, and will projection
To the image on the virtual screen due to the stop of the internal part and from the viewpoint position of the operator along described in
The part that the direction of visual lines of operator can not be seen is determined as the segment image to be extracted.
7. system according to claim 1, wherein, the controller is further configured to from the fragment figure extracted
As further extracting relevant information, conversion is performed to the segment image extracted, and make the projection arrangement by the correlation
Information is projected to the internal part of the vehicle, wherein, the relevant information is related to drive safety.
8. system according to claim 1, wherein, the internal part is A posts, and described first image trap setting
It is arranged on the outer surface of the A posts, and the projection arrangement and the second image capture device are arranged in the vehicle
Control at platform.
A kind of 9. computer-implemented method for vehicle, it is characterised in that this method includes：
Being received from the first image capture device includes the image of blind spot image,
Operator's head image of the vehicle is received from the second image capture device,
Determine that operator observes posture based on the operator's head image captured,
Observing posture determination based on the operator will be from the fragment of the image zooming-out caught by described first image trap setting
Image, wherein, segment image corresponds to the blind spot image, and the operator observes posture regarding including the operator
Point position and direction of visual lines, and
The segment image is extracted, conversion is performed to the segment image extracted, and projection arrangement has been converted fragment figure
As in projection to the internal part of the vehicle.
10. according to the method for claim 9, further comprise：
Determine that the operator observes the generation of the change of posture based on the operator's head image captured, and
The segment image to be extracted is redefined in response to the generation of the change.
11. according to the method for claim 10, wherein, the change of operator's observation posture includes the change of viewpoint position
Change at least one in the change with direction of visual lines.
12. according to the method for claim 9, further comprise：
The inertial data of second image capture device is received from inertial measuring unit, and
Motion compensation is performed to the image caught by second image capture device according to the inertial data.
13. a kind of equipment for vehicle, it is characterised in that the equipment includes：
Memory, it is configured to store series of computation machine executable instruction；And
Processor, the series of computation machine executable instruction is configured to carry out,
Wherein, the series of computation machine executable instruction is by making the computing device grasp as follows during the computing device
Make：
Being received from the first image capture device includes the image of blind spot image,
Operator's head image of the vehicle is received from the second image capture device,
Determine that operator observes posture based on the operator's head image captured,
Observing posture determination based on the operator will be from the fragment of the image zooming-out caught by described first image trap setting
Image, wherein, segment image corresponds to the blind spot image, and the operator observes posture regarding including the operator
Point position and direction of visual lines, and
The segment image is extracted, conversion is performed to the segment image extracted, and projection arrangement has been converted fragment figure
As in projection to the internal part of the vehicle.
14. equipment according to claim 13, wherein, the series of computation machine executable instruction is by the processor
The processor is set further to perform following operation during execution：
Operator's head image based on the vehicle captured determines that the operator observes the generation of the change of posture, with
And
The segment image to be extracted is redefined in response to the change.
15. equipment according to claim 14, wherein, the change of operator's observation posture includes the change of viewpoint position
Change at least one in the change with direction of visual lines.
16. equipment according to claim 13, wherein, the series of computation machine executable instruction is by the processor
The processor is set further to perform following operation during execution：
The inertial data of second image capture device is received from inertial measuring unit, and
Motion compensation is performed to the image caught by second image capture device according to the inertial data.
17. a kind of non-transitory computer readable medium, there is the instruction being stored thereon, the instruction is when by computing device
Make method of the computing device according to any one of claim 9-12.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2015/086439 WO2017024458A1 (en) | 2015-08-10 | 2015-08-10 | System, method and apparatus for vehicle and computer readable medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107848460A true CN107848460A (en) | 2018-03-27 |
Family
ID=57982868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580081763.6A Pending CN107848460A (en) | 2015-08-10 | 2015-08-10 | For the system of vehicle, method and apparatus and computer-readable medium |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP3334621A4 (en) |
| CN (1) | CN107848460A (en) |
| WO (1) | WO2017024458A1 (en) |
Cited By (3)
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| CN108340836A (en) * | 2018-04-13 | 2018-07-31 | 华域视觉科技(上海)有限公司 | A kind of automobile A column display system |
| CN110349472A (en) * | 2018-04-02 | 2019-10-18 | 当家移动绿色互联网技术集团有限公司 | Virtual direction disk and true directions disk interconnection method in a kind of application of virtual driving |
| CN111731187A (en) * | 2020-06-19 | 2020-10-02 | 杭州视为科技有限公司 | Automobile A-pillar blind area image display system and method |
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| US20060132613A1 (en) * | 2004-12-17 | 2006-06-22 | Samsung Electronics Co., Ltd | Optical image stabilizer for camera lens assembly |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3334621A4 (en) | 2019-03-13 |
| WO2017024458A1 (en) | 2017-02-16 |
| EP3334621A1 (en) | 2018-06-20 |
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