CN110803109A - Vehicle-mounted camera system and image acquisition method thereof - Google Patents
Vehicle-mounted camera system and image acquisition method thereof Download PDFInfo
- Publication number
- CN110803109A CN110803109A CN201911093141.1A CN201911093141A CN110803109A CN 110803109 A CN110803109 A CN 110803109A CN 201911093141 A CN201911093141 A CN 201911093141A CN 110803109 A CN110803109 A CN 110803109A
- Authority
- CN
- China
- Prior art keywords
- driver
- vehicle
- face
- camera
- normal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 60
- 230000000007 visual effect Effects 0.000 claims abstract description 25
- 230000002093 peripheral effect Effects 0.000 claims abstract description 14
- 230000008569 process Effects 0.000 claims description 33
- 210000001747 pupil Anatomy 0.000 claims description 13
- 210000003128 head Anatomy 0.000 claims description 7
- 210000000887 face Anatomy 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 5
- 238000003384 imaging method Methods 0.000 claims 2
- 230000007246 mechanism Effects 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000035943 smell Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 231100000817 safety factor Toxicity 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
- G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Closed-Circuit Television Systems (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Abstract
A vehicle carried camera system and its picture acquisition method, the vehicle carried camera system includes hardware of the vehicle carried camera system and software of the vehicle carried camera system; the vehicle-mounted camera system hardware is arranged on a vehicle and comprises an external camera, an internal camera image acquisition processing controller, a display storage terminal and peripheral equipment; the image acquisition processing controller is the core of the vehicle-mounted camera system, the external camera, the internal camera, the display storage terminal and the peripheral equipment are connected with the image acquisition processing controller 3 in a wired or wireless mode, and the connection can be one-to-one connection or connection for forming a network. According to the invention, through the vehicle-mounted camera system, the driver's what he sees is recorded at the position where the automobile arrives at the visual angle of the driver, and the driver's what he sees is displayed and/or recorded and stored, and shares the information with everybody; meanwhile, the recorded and stored images can be used for the evidence of driving safety.
Description
Technical Field
The invention relates to a vehicle-mounted camera system and an image acquisition method thereof, which are mainly used in the field of vehicle-mounted entertainment systems and can also be used as an auxiliary system for driving safety. Including image acquisition techniques, image processing techniques, image recognition techniques, control techniques, wireless and wired communication techniques, display and storage techniques.
Background
With the continuous improvement of living standard, the automobile has entered into thousands of households and becomes the first choice for people to go out. Now, people can not leave the automobile more and more, and people stay on the automobile more and more everyday. In addition, due to the popularization of mobile phones and the continuous improvement of functional performance, people always want to record what people see anytime and anywhere and share with everyone, even when driving. But in consideration of safety factors (traffic laws and regulations do not allow), people cannot record what people see and hear and share with people through mobile phones, cameras and video cameras when driving.
Today, one or more cameras are installed on automobiles. At present, the auxiliary device is mainly used for assisting a driver to observe the environment around the vehicle when the vehicle starts or backs, and particularly assisting the driver to observe places (blind spots) which cannot be observed and/or are inconvenient to observe during the driving process so as to improve the driving safety of the vehicle. During the normal running process of the vehicle, most of the cameras are in a non-operating state. In addition, the vehicle simply displays the surroundings viewed by the cameras on the in-vehicle display, and does not store the viewed surroundings images in the storage device.
Disclosure of Invention
The invention aims to record the what a driver sees and smells where an automobile arrives at from the visual angle of the driver through a vehicle-mounted camera system, and display and/or record and store the what the driver sees and smells, and share the what the driver sees and the what the automobile arrives at; meanwhile, the recorded and stored images can be used for the evidence of driving safety.
The vehicle-mounted camera system displays and/or records the stored images, which are acquired from the driver's perspective. When the visual angle of the driver changes, the visual angle of the camera also changes and keeps consistent. This process is done automatically and is intelligent.
A vehicle-mounted camera system comprises vehicle-mounted camera system hardware and vehicle-mounted camera system software;
the vehicle-mounted camera system hardware is arranged on a vehicle and comprises an external camera, an internal camera image acquisition processing controller, a display storage terminal and peripheral equipment; the image acquisition processing controller is the core of the vehicle-mounted camera system, the external camera, the internal camera, the display storage terminal and the peripheral equipment are connected with the image acquisition processing controller 3 in a wired or wireless mode, and the connection can be one-to-one connection or connection for forming a network.
The external camera and the internal camera are used for acquiring images, and can be one or more, fixed-focus, variable-focus, fixed (non-rotatable) or rotatable (rotatable, and pointing to different directions of a space). An external camera is mounted on the exterior of the vehicle and an internal camera is mounted on the interior of the vehicle (the cab), the external camera being used to acquire images of scenery external to the vehicle and the internal camera being used to acquire images of scenery internal to the vehicle, including but not limited to the driver's images. The external camera comprises a front camera, a right camera, a left camera and a rear camera.
The image acquisition processing controller is used for acquiring and processing images and managing and controlling other equipment to work cooperatively. The image acquisition processing controller appoints one or more cameras and controls the cameras to acquire images of the scenery at proper angles and focal lengths, and processes the acquired images, and the process is automatically completed by the image acquisition processing controller. Meanwhile, the above processes can be intervened through an external instruction, and the image acquisition processing controller can receive the external instruction to control one or more cameras, including but not limited to zooming, rotating, starting and stopping of the cameras. The external commands include, but are not limited to, voice commands, gesture commands, key commands, and gear shift commands for the transmission.
The display storage terminal is used for displaying and/or storing images, and comprises but is not limited to a vehicle-mounted display, a mobile phone and a computer.
Peripheral devices refer to devices for generating commands, including but not limited to voice controllers, gesture recognizers, gear shifting mechanisms of gearboxes, steering mechanisms of vehicles, and braking systems of vehicles.
The vehicle-mounted camera system software is used for completing corresponding functions in cooperation with hardware, and includes but is not limited to embedded software inside a camera, embedded software of an image acquisition processing controller, display storage terminal software and peripheral equipment software.
The working process of the vehicle-mounted camera system is as follows:
the vehicle-mounted camera system is provided with one or more cameras on an automobile, and is used for assisting a driver to observe the environment around the automobile when the automobile starts or backs, particularly the places (blind spots) which cannot be observed and/or are inconvenient to observe by the driver in the driving process so as to improve the driving safety of the automobile. Meanwhile, one or more cameras can be used to observe the surrounding environment and display and/or record and store the observed images of the surrounding environment during the normal running process of the vehicle. The recorded and stored images can be used for evidences of driving safety, and meanwhile, the driver can also live and share the scenery seen in the driving process to other people and/or keep the scenery for watching in the future. The cameras automatically shoot the surrounding scenery at the visual angle of the driver, and the driver can intervene in the shooting process through instructions so as to meet the shooting intention of the driver.
The vehicle-mounted camera system collects and processes image information of a driver through a camera in the vehicle, and judges whether the driver drives the vehicle once or not through an image recognition technology. If the vehicle has not been driven, the driver is initialized, and the basic information of the face of the driver required by the normal work of the vehicle-mounted camera system is acquired and stored. Such information includes, but is not limited to, the width of the face, the length of the face, the interpupillary distance, and can be used to calculate the driver's gaze direction and viewing angle. This process is referred to as driver information initialization. The process can be automatically completed by collecting the basic information of the face of the driver for multiple times and comparing the basic information; and the method can be quickly finished by the driver sending an initialization command.
After the vehicle is started, the camera in the vehicle acquires the image of the driver in real time and transmits the image to the image acquisition processing controller. The image acquisition processing controller calculates the staring direction and the visual angle of the driver, sends an instruction to adjust the angle and the focal length of the camera outside the vehicle, and acquires (shoots) an environment image around the vehicle through one or more cameras outside the vehicle. The environment image is sent to the image acquisition processing controller in a wired or wireless mode, the image acquisition processing controller processes the environment image, and the processed image is sent to the display storage device in a wired or wireless mode. The display storage device comprises but not limited to a vehicle-mounted display, a mobile phone and a computer, live broadcasts and shares the scenery seen during driving to other people and/or stays for watching in the future through the display storage device, and meanwhile, the display storage device can be used as a vehicle safety evidence. The above process is continuously cycled to ensure that an image is obtained that is consistent with the driver's perspective.
The start and control of the vehicle-mounted camera system are completed through instructions. These instructions may come from the driver or from vehicle systems including, but not limited to, activation of one or more cameras, the focal length of the cameras, the direction of the cameras; the execution process of the instruction is automatically controlled by the image acquisition processing controller, and a driver can perform manual intervention through the instruction. The direction and the visual angle shot by the camera are consistent with the gaze direction and the visual angle of the driver unless the driver performs manual intervention.
An image acquisition method of a vehicle-mounted camera system comprises the following steps:
1.1 method for calculating gaze direction and visual angle of driver
The gaze direction of the driver is determined by the driver's face normal direction and the driver's gaze direction. The driver's perspective is determined by the driver's face normal pitch up and down direction.
1.1.1 driver's face Normal Direction
The face normal direction of the driver may be determined by the left-right direction of the face normal and the up-down pitch direction of the face normal.
a. The left and right directions of the normal line of the face of the driver can be determined by the relative position relationship between the longitudinal center line of the face of the driver and the longitudinal center line of the human body, namely the left side of the longitudinal center line of the face and the longitudinal center line of the human body represents that the face turns to the left side; on the contrary, the right side of the longitudinal center line of the face and the longitudinal center line of the human body represents that the face turns to the right side.
The width of the driver's face image may determine the horizontal angle a of the face normal to the vehicle head (vehicle forward direction). And determining the positive and negative of the included angle A according to the left and right directions of the normal line of the face, wherein the positive value is formed when the face faces to the left, and the negative value is formed when the face faces to the right.
b. The vertical pitch angle B (angle between the horizontal plane) of the normal line of the face of the driver can be determined by the distance between the central line of the pupils of the left eye and the right eye of the driver and the mouth angle line.
c. The included angle between the normal line of the face of the driver and the direction of the head of the vehicle (the advancing direction of the vehicle) can be determined through the included angle A and the pitching angle B.
1.1.2 driver's gaze direction (normal direction to driver's face)
The included angle between the sight line of the driver and the normal line of the face can be determined through the left, right, up and down positions of the pupils of the eyes of the driver.
a. The horizontal included angle between the sight line of the driver and the normal line of the face can be determined through the left and right positions of the pupils of the eyes of the driver in the eyes.
b. The up-down pitch angle of the sight line of the driver and the normal line of the face can be determined through the up-down positions of the pupils of the eyes of the driver in the eyes.
1.1.3 gaze direction (direction of forward movement relative to vehicle)
The gaze direction of the driver may be determined by the driver's face normal direction and the driver's line-of-sight direction.
1.2, determining the visual angle of the driver
The driver's perspective is determined by the driver's face normal pitch up and down direction.
1.3 implementation of gaze direction of driver in vehicle-mounted camera system
The method comprises the following steps that an in-vehicle camera acquires image information of a driver in real time, an image acquisition processing controller determines the gaze direction of the driver according to the method 1.1 through an image recognition technology, and the shooting direction of the camera is consistent with the gaze direction of the driver; in addition, the up-down pitching direction of the normal of the face of the driver is determined according to the method 1.2, and the visual angle shot by the camera is determined according to the up-down pitching direction.
The invention has the beneficial effects that:
according to the invention, through the vehicle-mounted camera system, the driver's what he sees is recorded at the position where the automobile arrives at the visual angle of the driver, and the driver's what he sees is displayed and/or recorded and stored, and shares the information with everybody; meanwhile, the recorded and stored images can be used for the evidence of driving safety.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic view of the mounting positions of the external camera and the internal camera.
Detailed Description
Referring to fig. 1, a vehicle-mounted camera system includes vehicle-mounted camera system hardware and vehicle-mounted camera system software;
the vehicle-mounted camera system hardware is arranged on a vehicle and comprises an external camera 1, an internal camera 2, an image acquisition processing controller 3, a display storage terminal 4 and peripheral equipment 5; the image acquisition processing controller 3 is the core of the vehicle-mounted camera system, and the external camera 1, the internal camera 2, the display storage terminal 4 and the peripheral equipment 5 are connected with the image acquisition processing controller 3 in a wired or wireless mode, and the connection can be one-to-one connection or connection forming a network.
As shown in fig. 2, the external camera 1 and the internal camera 2 are used for acquiring images, and may be one or more, fixed-focus, variable-focus, fixed (non-rotatable), or rotatable (rotatable, pointing to different directions in space). The external camera 1 is installed outside the vehicle, the internal camera 2 is installed inside the vehicle (cab), the external camera 1 is used for obtaining images of scenery outside the vehicle, and the internal camera 2 is used for obtaining images of scenery inside the vehicle, including but not limited to images of the driver. The external camera 1 includes a front camera 11, a right camera 12, a left camera 13, and a rear camera 14.
The image acquisition processing controller 3 is used for acquiring and processing images and managing and controlling other devices to work cooperatively. The image acquisition processing controller 3 designates one or more cameras and controls the cameras to acquire images of the scenery at appropriate angles and focal lengths, and processes the acquired images, which is automatically performed by the image acquisition processing controller. Meanwhile, the above process can be intervened by an external instruction, and the image acquisition processing controller 3 can receive the external instruction to control one or more cameras, including but not limited to zooming, rotating, starting and stopping of the cameras. The external commands include, but are not limited to, voice commands, gesture commands, key commands, and gear shift commands for the transmission.
The display storage terminal 4 is used for displaying and/or storing images, including but not limited to an in-vehicle display, a mobile phone, and a computer.
The peripheral device 5 refers to a device for generating instructions, including but not limited to a voice controller, a gesture recognizer, a gear shifting mechanism of a gearbox, a steering mechanism of a vehicle, and a braking system of the vehicle.
The vehicle-mounted camera system software is used for completing corresponding functions in cooperation with hardware, and includes but is not limited to embedded software inside a camera, embedded software of an image acquisition processing controller, display storage terminal software and peripheral equipment software.
The working process of the vehicle-mounted camera system is as follows:
the vehicle-mounted camera system is provided with one or more cameras on an automobile, and is used for assisting a driver to observe the environment around the automobile when the automobile starts or backs, particularly the places (blind spots) which cannot be observed and/or are inconvenient to observe by the driver in the driving process so as to improve the driving safety of the automobile. Meanwhile, one or more cameras can be used to observe the surrounding environment and display and/or record and store the observed images of the surrounding environment during the normal running process of the vehicle. The recorded and stored images can be used for evidences of driving safety, and meanwhile, the driver can also live and share the scenery seen in the driving process to other people and/or keep the scenery for watching in the future. The cameras automatically shoot the surrounding scenery at the visual angle of the driver, and the driver can intervene in the shooting process through instructions so as to meet the shooting intention of the driver.
The vehicle-mounted camera system collects and processes image information of a driver through a camera in the vehicle, and judges whether the driver drives the vehicle once or not through an image recognition technology. If the vehicle has not been driven, the driver is initialized, and the basic information of the face of the driver required by the normal work of the vehicle-mounted camera system is acquired and stored. Such information includes, but is not limited to, the width of the face, the length of the face, the interpupillary distance, and can be used to calculate the driver's gaze direction and viewing angle. This process is referred to as driver information initialization. The process can be automatically completed by collecting the basic information of the face of the driver for multiple times and comparing the basic information; and the method can be quickly finished by the driver sending an initialization command.
After the vehicle is started, the camera in the vehicle acquires the image of the driver in real time and transmits the image to the image acquisition processing controller. The image acquisition processing controller calculates the staring direction and the visual angle of the driver, sends an instruction to adjust the angle and the focal length of the camera outside the vehicle, and acquires (shoots) an environment image around the vehicle through one or more cameras outside the vehicle. The environment image is sent to the image acquisition processing controller in a wired or wireless mode, the image acquisition processing controller processes the environment image, and the processed image is sent to the display storage device in a wired or wireless mode. The display storage device comprises but not limited to a vehicle-mounted display, a mobile phone and a computer, live broadcasts and shares the scenery seen during driving to other people and/or stays for watching in the future through the display storage device, and meanwhile, the display storage device can be used as a vehicle safety evidence. The above process is continuously cycled to ensure that an image is obtained that is consistent with the driver's perspective.
The start and control of the vehicle-mounted camera system are completed through instructions. These instructions may come from the driver or from vehicle systems including, but not limited to, activation of one or more cameras, the focal length of the cameras, the direction of the cameras; the execution process of the instruction is automatically controlled by the image acquisition processing controller, and a driver can perform manual intervention through the instruction. The direction and the visual angle shot by the camera are consistent with the gaze direction and the visual angle of the driver unless the driver performs manual intervention.
An image acquisition method of a vehicle-mounted camera system comprises the following steps:
1.1 method for calculating gaze direction and visual angle of driver
The gaze direction of the driver is determined by the driver's face normal direction and the driver's gaze direction. The driver's perspective is determined by the driver's face normal pitch up and down direction.
1.1.1 driver's face Normal Direction
The face normal direction of the driver may be determined by the left-right direction of the face normal and the up-down pitch direction of the face normal.
a. The left and right directions of the normal line of the face of the driver can be determined by the relative position relationship between the longitudinal center line of the face of the driver and the longitudinal center line of the human body, namely the left side of the longitudinal center line of the face and the longitudinal center line of the human body represents that the face turns to the left side; on the contrary, the right side of the longitudinal center line of the face and the longitudinal center line of the human body represents that the face turns to the right side.
The width of the driver's face image may determine the horizontal angle a of the face normal to the vehicle head (vehicle forward direction). And determining the positive and negative of the included angle A according to the left and right directions of the normal line of the face, wherein the positive value is formed when the face faces to the left, and the negative value is formed when the face faces to the right.
b. The vertical pitch angle B (angle between the horizontal plane) of the normal line of the face of the driver can be determined by the distance between the central line of the pupils of the left eye and the right eye of the driver and the mouth angle line.
c. The included angle between the normal line of the face of the driver and the direction of the head of the vehicle (the advancing direction of the vehicle) can be determined through the included angle A and the pitching angle B.
1.1.2 driver's gaze direction (normal direction to driver's face)
The included angle between the sight line of the driver and the normal line of the face can be determined through the left, right, up and down positions of the pupils of the eyes of the driver.
a. The horizontal included angle between the sight line of the driver and the normal line of the face can be determined through the left and right positions of the pupils of the eyes of the driver in the eyes.
b. The up-down pitch angle of the sight line of the driver and the normal line of the face can be determined through the up-down positions of the pupils of the eyes of the driver in the eyes.
1.1.3 gaze direction (direction of forward movement relative to vehicle)
The gaze direction of the driver may be determined by the driver's face normal direction and the driver's line-of-sight direction.
1.2, determining the visual angle of the driver
The driver's perspective is determined by the driver's face normal pitch up and down direction.
1.3 implementation of gaze direction of driver in vehicle-mounted camera system
The method comprises the following steps that an in-vehicle camera acquires image information of a driver in real time, an image acquisition processing controller determines the gaze direction of the driver according to the method 1.1 through an image recognition technology, and the shooting direction of the camera is consistent with the gaze direction of the driver; in addition, the up-down pitching direction of the normal of the face of the driver is determined according to the method 1.2, and the visual angle shot by the camera is determined according to the up-down pitching direction.
Application example:
example 1: after the vehicle is started, the driver visually observes that the vehicle is running forward. The camera in the vehicle collects the image of the driver in real time, the image collecting and processing controller calculates the staring direction and the visual angle of the driver, and then sends an instruction to adjust the angle of the camera outside the vehicle at the front part of the vehicle to be aligned with the front part, and the environment image around the vehicle is obtained (shot).
Example 2: when a driver backs a car, the image acquisition and processing controller can start and adjust an outer camera positioned at the rear part of the car to acquire an image of the surrounding environment at the rear part of the car after receiving a gear shifting instruction of a gear box for gear shifting.
Example 3: when a driver turns the head to the right side to watch scenery on the right side of the vehicle, the camera on the right side outside the vehicle can be started and adjusted in angle, and images of the environment around the right side of the vehicle are obtained.
Example 4: when the driver points the hand to the left side, after the image acquisition processing controller received the gesture instruction, the left camera outside the car can start, angle regulation, acquires the image of vehicle left side surrounding environment.
Example 5: when the vehicle is in a vehicle locking state, when the state of the vehicle changes, including but not limited to when the vibration amplitude of the vehicle reaches or exceeds a threshold value, or when one or more doors of the vehicle are illegally opened, after the image acquisition processing controller receives a relevant instruction of peripheral equipment, all cameras of the vehicle are completely started, and an image of the surrounding environment of the vehicle is acquired and uploaded to a display storage terminal to inform a driver of the loss of the vehicle.
Claims (4)
1. An on-vehicle camera system characterized in that: the system comprises vehicle-mounted camera system hardware and vehicle-mounted camera system software;
the vehicle-mounted camera system hardware is arranged on a vehicle and comprises an external camera (1), an internal camera (2), an image acquisition processing controller (3), a display storage terminal (4) and peripheral equipment (5); the image acquisition processing controller (3) is the core of the vehicle-mounted camera system, and the external camera (1), the internal camera (2), the display storage terminal (4) and the peripheral equipment (5) are connected with the image acquisition processing controller (3) in a wired or wireless mode;
the external camera (1) and the internal camera (2) are used for acquiring images, the external camera (1) is installed outside the vehicle, the internal camera (2) is installed inside the vehicle, the external camera (1) is used for acquiring images of scenery outside the vehicle, and the internal camera (2) is used for acquiring images of scenery inside the vehicle, including but not limited to images of a driver;
the image acquisition processing controller (3) is used for acquiring and processing images and managing and controlling other equipment to work cooperatively; the image acquisition processing controller (3) appoints one or more cameras and controls the cameras to acquire images of scenery at proper angles and focal lengths and processes the acquired images, and the process is automatically completed by the image acquisition processing controller; meanwhile, the process can be intervened through an external instruction, and the image acquisition processing controller (3) can receive the external instruction to control one or more cameras;
the display storage terminal (4) is used for displaying and/or storing images;
the peripheral device (5) is a device for generating instructions;
the vehicle-mounted camera system software is used for completing corresponding functions in cooperation with hardware.
2. The on-vehicle imaging system according to claim 1, characterized in that: the external camera (1) and the internal camera (2) are one or more, are fixed-focus or zooming and are fixed or rotate.
3. The on-vehicle imaging system according to claim 1, characterized in that: the external camera (1) comprises a front camera (11), a right camera (12), a left camera (13) and a rear camera (14).
4. An image acquisition method of an in-vehicle camera system according to claim 1, comprising the steps of:
1.1 method for calculating gaze direction and visual angle of driver
The gaze direction of the driver is determined by the driver's face normal direction and the driver's gaze direction; the visual angle of the driver is determined by the up-down pitching direction of the normal of the face of the driver;
1.1.1 driver's face Normal Direction
The driver's face normal direction may be determined by the left-right direction of the face normal and the up-down pitch direction of the face normal;
a. the left and right directions of the normal line of the face of the driver can be determined by the relative position relationship between the longitudinal center line of the face of the driver and the longitudinal center line of the human body, namely the left side of the longitudinal center line of the face and the longitudinal center line of the human body represents that the face turns to the left side; on the contrary, the right side of the longitudinal center line of the face and the longitudinal center line of the human body represents that the face turns to the right side;
the width of the face image of the driver can determine a horizontal included angle A between the normal of the face and the vehicle head; determining the positive and negative of the included angle A according to the left and right directions of the normal line of the face, wherein the positive value is when the face faces to the left, and the negative value is when the face faces to the right;
b. the up-down pitch angle B of the normal line of the face of the driver can be determined by the connecting line of the centers of the left eye pupil and the right eye pupil of the driver and the connecting line of the mouth angle and the distance between the two parallel lines;
c. the included angle between the normal of the face of the driver and the direction of the vehicle head can be determined through the included angle A and the pitch angle B;
1.1.2 the driver's gaze direction, is the normal direction to the driver's face
The included angle between the sight line of the driver and the normal line of the face can be determined through the left, right, up and down positions of the pupils of the eyes of the driver;
a. the horizontal included angle between the sight line of the driver and the normal line of the face can be determined through the left and right positions of the pupils of the eyes of the driver in the eyes;
b. the up-down pitch angle of the sight line and the normal line of the face of the driver can be determined through the up-down positions of the pupils of the eyes of the driver in the eyes;
1.1.3 gaze direction, forward direction relative to vehicle
The gaze direction of the driver may be determined by the driver's face normal direction and the driver's gaze direction;
1.2, determining the visual angle of the driver
The visual angle of the driver is determined by the up-down pitching direction of the normal of the face of the driver;
1.3 implementation of gaze direction of driver in vehicle-mounted camera system
The method comprises the following steps that an in-vehicle camera acquires image information of a driver in real time, an image acquisition processing controller determines the gaze direction of the driver according to the method 1.1 through an image recognition technology, and the shooting direction of the camera is consistent with the gaze direction of the driver; in addition, the up-down pitching direction of the normal of the face of the driver is determined according to the method 1.2, and the visual angle shot by the camera is determined according to the up-down pitching direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911093141.1A CN110803109A (en) | 2019-11-11 | 2019-11-11 | Vehicle-mounted camera system and image acquisition method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911093141.1A CN110803109A (en) | 2019-11-11 | 2019-11-11 | Vehicle-mounted camera system and image acquisition method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110803109A true CN110803109A (en) | 2020-02-18 |
Family
ID=69501923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911093141.1A Pending CN110803109A (en) | 2019-11-11 | 2019-11-11 | Vehicle-mounted camera system and image acquisition method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110803109A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111505207A (en) * | 2020-04-17 | 2020-08-07 | 一汽奔腾轿车有限公司 | Vehicle-mounted environment monitoring device |
| CN112115797A (en) * | 2020-08-21 | 2020-12-22 | 东风电驱动***有限公司 | Man-machine interaction system and method for intelligent driving |
| CN113507559A (en) * | 2021-05-19 | 2021-10-15 | 北京瞰瞰科技有限公司 | Intelligent camera shooting method and system applied to vehicle and vehicle |
| TWI758717B (en) * | 2020-04-26 | 2022-03-21 | 新煒科技有限公司 | Vehicle-mounted display device based on automobile a-pillar, method, system and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323343A (en) * | 2017-06-14 | 2017-11-07 | 深圳市保千里电子有限公司 | A kind of safe driving method for early warning and system, automobile and readable storage medium storing program for executing |
| CN109878429A (en) * | 2018-12-10 | 2019-06-14 | 戴姆勒股份公司 | Automotive camera system |
| CN211543392U (en) * | 2019-11-11 | 2020-09-22 | 一汽奔腾轿车有限公司 | Vehicle-mounted camera system |
-
2019
- 2019-11-11 CN CN201911093141.1A patent/CN110803109A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323343A (en) * | 2017-06-14 | 2017-11-07 | 深圳市保千里电子有限公司 | A kind of safe driving method for early warning and system, automobile and readable storage medium storing program for executing |
| CN109878429A (en) * | 2018-12-10 | 2019-06-14 | 戴姆勒股份公司 | Automotive camera system |
| CN211543392U (en) * | 2019-11-11 | 2020-09-22 | 一汽奔腾轿车有限公司 | Vehicle-mounted camera system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111505207A (en) * | 2020-04-17 | 2020-08-07 | 一汽奔腾轿车有限公司 | Vehicle-mounted environment monitoring device |
| TWI758717B (en) * | 2020-04-26 | 2022-03-21 | 新煒科技有限公司 | Vehicle-mounted display device based on automobile a-pillar, method, system and storage medium |
| CN112115797A (en) * | 2020-08-21 | 2020-12-22 | 东风电驱动***有限公司 | Man-machine interaction system and method for intelligent driving |
| CN113507559A (en) * | 2021-05-19 | 2021-10-15 | 北京瞰瞰科技有限公司 | Intelligent camera shooting method and system applied to vehicle and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110803109A (en) | Vehicle-mounted camera system and image acquisition method thereof | |
| US9077861B2 (en) | Image processing apparatus, electronic apparatus, and image processing method | |
| EP2700566B1 (en) | Method and system for operating a vehicle with monitoring of the head orientation and/or line-of-sight of an operator with the aid of a camera device of a mobile operating device | |
| CN109941277A (en) | The method, apparatus and vehicle of display automobile pillar A blind image | |
| CN105829938B (en) | Equipment for making scene image | |
| WO2015106867A1 (en) | Method for autonomous parking of a vehicle, driver assistance device for carrying out the method, and vehicle comprising the driver assistance device | |
| CN106379239A (en) | 3D panoramic vehicle-mounted inside rear view mirror and shooting method thereof | |
| WO2017197818A1 (en) | Method and apparatus for adjusting rearview mirrors of vehicle, electronic device, and vehicle | |
| CN108621947A (en) | A kind of vehicle-mounted head-up-display system of automatic adjusument | |
| CN109089086B (en) | Panoramic camera system | |
| CN106143307A (en) | A kind of drive assist system and vehicle | |
| CN211543392U (en) | Vehicle-mounted camera system | |
| CN109591703A (en) | A kind of electronic rear view mirror system of automobile and its display methods | |
| CN108995591A (en) | Vehicle panoramic has an X-rayed display methods, system and the vehicle with it | |
| JP6130118B2 (en) | Image processing system, image processing apparatus, image processing method, and program | |
| CN109285120A (en) | A kind of image mosaic, image calibration method, vehicle and calibration facility | |
| US20200282909A1 (en) | Vehicle imaging system and method for a parking solution | |
| JP5811623B2 (en) | Vehicle monitoring device | |
| KR102190892B1 (en) | Environment monitoring apparatus and method for vehicle | |
| DE102017217784A1 (en) | Method and system for supporting a maneuvering process of a vehicle | |
| CN114132259A (en) | Automobile exterior rearview mirror adjusting method and device and automobile | |
| CN113347351A (en) | Scenic spot along-the-way shooting method | |
| CN208530425U (en) | A kind of vehicle | |
| CN112115797A (en) | Man-machine interaction system and method for intelligent driving | |
| CN114115246B (en) | Remote driving auxiliary system and method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200317 Address after: 130000 No. 4888 Weishan Road, Changchun High-tech Zone, Jilin Province Applicant after: FAW Pentium Car Co., Ltd Address before: 130000 No. 4888 Weishan Road, Changchun High-tech Zone, Jilin Province Applicant before: FAW Car Ltd. |
|
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |