CN113276772B - Automobile electronic exterior rearview mirror system and control method - Google Patents
Automobile electronic exterior rearview mirror system and control method Download PDFInfo
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- CN113276772B CN113276772B CN202110723984.6A CN202110723984A CN113276772B CN 113276772 B CN113276772 B CN 113276772B CN 202110723984 A CN202110723984 A CN 202110723984A CN 113276772 B CN113276772 B CN 113276772B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- 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
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
- B60R1/1207—Mirror assemblies combined with other articles, e.g. clocks with lamps; with turn indicators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/106—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using night vision cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8046—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for replacing a rear-view mirror system
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Abstract
The invention discloses an automobile electronic outside rear-view mirror system and a control method, relating to the field of automobile driving safety, wherein the system comprises a light intensity sensor, a light source and a controller, wherein the light intensity sensor is used for detecting the light intensity of the environment where a vehicle is located in real time, and the controller is used for: when the detected light intensity is larger than a set threshold value, the electronic rearview mirror controller drives a common camera on a bracket at the outer side of the vehicle to work and displays a shot image on a display screen; when the detected light intensity is not greater than a set threshold value, the electronic rearview mirror controller drives a light supplement lamp, a night vision camera and a common camera on a bracket at the outer side of the vehicle to work, and images shot by the night vision camera and the common camera are fused and then displayed on a display screen; wherein, night vision camera and ordinary camera all are used for shooing the vehicle rear image. The invention can effectively ensure the definition of the picture of the electronic exterior rearview mirror when the light is dark and ensure the driving safety of the vehicle.
Description
Technical Field
The invention relates to the field of automobile driving safety, in particular to an automobile electronic outside rearview mirror system and a control method.
Background
At present, the technology of the electronic outside rear-view mirror is mature day by day, the traditional outside rear-view mirror is replaced by the camera, and the acquired image information is displayed on the liquid crystal screen in the vehicle, so that the rear road condition of the vehicle is displayed in real time, and the safe driving of the vehicle is realized. The electronic outside rearview mirror can effectively improve the definition and the visual angle of a vehicle rear image, and is matched with an indicator light and the operation of backing a vehicle, so that the display range is automatically enlarged or moved, and the vehicle owner is helped to better observe the situation behind the vehicle.
However, in some road sections with insufficient light, such as rural roads at night, due to the limitation of the performance of the electronic rearview mirror camera, the image behind the vehicle cannot be shot and displayed well, thereby affecting the driving safety of the vehicle.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the automobile electronic outside rear-view mirror system and the control method, which can effectively ensure the definition of the picture of the electronic outside rear-view mirror when the light is dark and ensure the driving safety of a vehicle.
In order to achieve the above purpose, the invention provides a control method of an automobile electronic outside rear-view mirror, which specifically comprises the following steps:
based on light intensity sensor, detect the light intensity of the environment that the vehicle is located in real time to based on the testing result:
when the detected light intensity is larger than a set threshold value, the electronic rearview mirror controller drives a common camera on a bracket at the outer side of the vehicle to work and displays a shot image on a display screen;
when the detected light intensity is not greater than a set threshold value, the electronic rearview mirror controller drives a light supplement lamp, a night vision camera and a common camera on a bracket at the outer side of the vehicle to work, and images shot by the night vision camera and the common camera are fused and then displayed on a display screen;
wherein, night vision camera and ordinary camera all are used for shooing the vehicle rear image.
On the basis of the technical proposal, the device comprises a shell,
the bracket comprises a left bracket and a right bracket;
the left bracket is provided with a light supplement lamp, a light intensity sensor, a night vision camera and a common camera;
the right bracket is provided with a light supplement lamp, a light intensity sensor, a night vision camera and a common camera;
the display screen comprises a left display screen arranged on the left side of the vehicle cab and a right display screen arranged on the right side of the vehicle cab.
On the basis of the technical scheme, the electronic rearview mirror controller drives a common camera on the vehicle outer side bracket to work and displays a shot image on a display screen, and the specific steps comprise:
the electronic rearview mirror controller drives the common camera on the left bracket to work and drives the common camera on the right bracket to work;
the electronic rearview mirror controller displays images shot by the common camera on the left support on the left display screen, and displays images shot by the common camera on the right support on the right display screen.
On the basis of the technical scheme, the electronic rearview mirror controller drives the light supplement lamp, the night vision camera and the common camera on the vehicle outer side support to work, images shot by the night vision camera and the common camera are fused and then displayed on the display screen, and the electronic rearview mirror controller comprises the following specific steps:
the electronic rearview mirror controller drives the night vision camera and the common camera on the left bracket to work and drives the night vision camera and the common camera on the right bracket to work;
the electronic rearview mirror controller fuses images shot by the night vision camera and the common camera on the left support and then displays the fused images on the left display screen, and fuses images shot by the night vision camera and the common camera on the right support and then displays the fused images on the right display screen.
On the basis of the technical scheme, images shot by the night vision camera and the common camera are fused and then displayed on the display screen, wherein the specific steps of fusing the images shot by the night vision camera and the common camera are as follows:
based on a bilateral filter, performing denoising processing on an image shot by a common camera to obtain a first image, and performing denoising processing on an image shot by a night vision camera to obtain a second image;
carrying out target detection on the dynamic areas of the first image and the second image to obtain a moving target in the first image and a moving target in the second image;
performing wavelet decomposition on the first image and the second image to form a tower-shaped structure;
taking a weighted average value of top-layer low-frequency approximate components of the tower-shaped structures of the first image and the second image to obtain a low-frequency component of the fused image;
detecting high-frequency components of the tower-shaped structure of the first image in different directions under different scales to obtain a high-frequency coefficient edge image of the first image, and detecting high-frequency components of the tower-shaped structure of the second image in different directions under different scales to obtain a high-frequency coefficient edge image of the second image;
the pixel point with the median value of 1 in the high-frequency coefficient edge image of the first image corresponds to the pixel point with the median value of 1 in the corresponding high-frequency subgraph, and the pixel point with the median value of 1 in the high-frequency coefficient edge image of the second image corresponds to the pixel point with the median value of 1 in the corresponding high-frequency subgraph;
enhancing the pixel points of the moving target area in the first image, keeping the pixel points of the non-moving target area unchanged to obtain an enhanced image of the first image, enhancing the pixel points of the moving target area in the second image, keeping the pixel points of the non-moving target area unchanged to obtain an enhanced image of the second image;
adding the enhanced image of the first image and the enhanced image of the second image, or adding the high-frequency coefficient edge image of the first image and the high-frequency coefficient edge image of the second image to obtain the high-frequency component of the fused image;
and performing wavelet inverse transformation on the obtained low-frequency component and high-frequency component to obtain a fused image.
On the basis of the above technical solution, the target detection is performed on the dynamic regions of the first image and the second image to obtain the moving target in the first image and the moving target in the second image, wherein the specific step of obtaining the moving target in the image includes:
determining a lane where the vehicle is located based on the road indication lines on the ground in the image, thereby determining a dynamic region of the image;
sequentially scanning each pixel point of the frame difference image corresponding to the image, calculating the variance of a window where the central pixel point is located, and determining the pixel point of a moving target area in the frame difference image to obtain a constraint area;
and performing spatial domain segmentation on the constrained region so as to extract and obtain a moving target in the image.
The invention provides an automobile electronic outside rear-view mirror system which comprises an electronic rear-view mirror controller, a display screen and brackets arranged on two sides outside a vehicle, wherein each bracket is provided with a light supplementing lamp, a light intensity sensor, a night vision camera and a common camera;
the night vision camera and the common camera are both used for shooting images behind the vehicle;
the light supplementing lamp is used for supplementing light to shooting ranges of the night vision camera and the common camera;
the light intensity sensor is used for detecting the light intensity of the environment where the vehicle is located;
the electronic rearview mirror controller is used for ordering about the work of the common camera and displaying the shot image on the display screen when the light intensity detected by the light intensity sensor is greater than a set threshold value, and ordering about the work of the light supplement lamp, the night vision camera and the common camera when the light intensity detected by the light intensity sensor is not greater than the set threshold value, and displaying the fused image shot by the night vision camera and the common camera on the display screen.
On the basis of the technical proposal, the device comprises a shell,
the bracket comprises a left bracket and a right bracket;
the left bracket is provided with a light supplement lamp, a light intensity sensor, a night vision camera and a common camera;
and a light supplementing lamp, a light intensity sensor, a night vision camera and a common camera are arranged on the right bracket.
On the basis of the technical proposal, the device comprises a shell,
the night vision camera and the common camera on the left bracket are used for shooting images of the left rear side of the vehicle;
the light supplement lamp on the left bracket is used for supplementing light for shooting ranges of the night vision camera and the common camera on the left bracket;
the night vision camera and the common camera on the right bracket are used for shooting images of the right rear side of the vehicle;
and the light supplementing lamp on the right bracket is used for supplementing light to the shooting range of the night vision camera and the common camera on the right bracket.
On the basis of the technical proposal, the device comprises a shell,
the display screen comprises a left display screen arranged on the left side of the vehicle cab and a right display screen arranged on the right side of the vehicle cab;
the left display screen is used for displaying images shot by the common camera on the left bracket and displaying fused images corresponding to the night vision camera and the common camera on the left bracket;
and the right display screen is used for displaying images shot by the common camera on the right bracket and displaying fused images corresponding to the night vision camera and the common camera on the right bracket.
Compared with the prior art, the invention has the advantages that: realize the detection to the light intensity of vehicle environment through light intensity sensor, when the light intensity that obtains when detecting is greater than and sets for the threshold value, only use ordinary camera to shoot and show, when the light intensity that obtains when detecting is not more than and sets for the threshold value, then start the light filling lamp simultaneously, night vision camera and ordinary camera, and show after fusing the image of night vision camera and ordinary camera shooting, the definition that electron outside rear-view mirror picture appears when effectively guaranteeing light is dark, guarantee the driving safety of vehicle.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural view of an electronic exterior mirror for an automobile according to an embodiment of the present invention;
FIG. 2 is a schematic view of a stent in an embodiment of the present invention;
fig. 3 is a flowchart of a method for controlling an electronic exterior mirror of an automobile according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a control method of an automobile electronic exterior rearview mirror, which is characterized in that the light intensity of the environment where a vehicle is located is detected through a light intensity sensor, when the detected light intensity is greater than a set threshold value, only a common camera is used for shooting and displaying, when the detected light intensity is not greater than the set threshold value, a light supplementing lamp, a night vision camera and the common camera are started simultaneously, images shot by the night vision camera and the common camera are fused and displayed, the image presentation definition of the electronic exterior rearview mirror is effectively ensured when the light is dark, and the driving safety of the vehicle is ensured. The embodiment of the invention correspondingly provides an automobile electronic outside rear-view mirror system.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, an electronic exterior mirror system for an automobile according to an embodiment of the present invention includes an electronic mirror controller, a display screen, and brackets disposed on both sides of the exterior of the automobile, and each bracket is provided with a fill light, a light intensity sensor, a night vision camera, and a general camera. Night vision camera and ordinary camera all are used for shooing the vehicle rear image, and ordinary camera is ordinary optical camera, and night vision camera is infrared camera.
The light filling lamp is used for filling light into the shooting range of the night vision camera and the shooting range of the common camera. The light intensity sensor is used for detecting the light intensity of the environment where the vehicle is located; the electronic rearview mirror controller is used for ordering about the work of the common camera and displaying the shot image on the display screen when the light intensity detected by the light intensity sensor is greater than a set threshold value, and ordering about the work of the light supplement lamp, the night vision camera and the common camera when the light intensity detected by the light intensity sensor is not greater than the set threshold value, and displaying the fused image shot by the night vision camera and the common camera on the display screen. When light intensity is greater than the set threshold value, it indicates that the light of the environment that the vehicle is located this moment is bright, need not to carry out the light filling through the light filling lamp, is not greater than the set threshold value when light intensity, indicates that the light of the environment that the vehicle is located this moment is darker, needs carry out the light filling through the light filling lamp.
In the embodiment of the invention, the bracket comprises a left bracket and a right bracket; the left bracket is provided with a light supplement lamp, a light intensity sensor, a night vision camera and a common camera; and a light supplementing lamp, a light intensity sensor, a night vision camera and a common camera are arranged on the right bracket. The mounting position of the left bracket on the vehicle is the mounting position of the traditional mirror surface left rearview mirror of the vehicle, and the mounting position of the right bracket on the vehicle is the mounting position of the traditional mirror surface right rearview mirror of the vehicle.
In the embodiment of the invention, the night vision camera and the common camera on the left bracket are used for shooting the image of the left rear side of the vehicle; the light supplement lamp on the left bracket is used for supplementing light for shooting ranges of the night vision camera and the common camera on the left bracket; the night vision camera and the common camera on the right bracket are used for shooting images on the right rear side of the vehicle; and the light supplement lamp on the right bracket is used for supplementing light to the shooting range of the night vision camera and the common camera on the right bracket.
The display screen comprises a left display screen arranged on the left side of the vehicle cab and a right display screen arranged on the right side of the vehicle cab; the left display screen is used for displaying images shot by the common camera on the left support and displaying fused images corresponding to the night vision camera and the common camera on the left support; the right display screen is used for displaying images shot by the common camera on the right support and displaying fused images corresponding to the night vision camera and the common camera on the right support.
In the practical working process of the automobile electronic outside rear-view mirror system in the embodiment of the invention, under the control of the electronic rear-view mirror controller, the light supplement lamp, the light intensity sensor, the night vision camera and the common camera on the left bracket are a group of working units, the light supplement lamp, the light intensity sensor, the night vision camera and the common camera on the right bracket are a group of working units, and the two groups of working units work independently. The light intensity sensor on the left bracket works to detect the light intensity in real time, when the detected light intensity is greater than a set threshold value, the electronic rearview mirror controller drives the common camera on the left bracket to work and displays a shot image on the left display screen, when the detected light intensity is not greater than the set threshold value, the electronic rearview mirror controller drives the light supplement lamp, the night vision camera and the common camera on the left bracket to work, and images shot by the night vision camera and the common camera are fused and displayed on the left display screen; light intensity sensor work on the support of the right side, carry out light intensity's detection in real time, when the light intensity that obtains that detects is greater than and sets for the threshold value, electronic rearview mirror controller orders about the work of ordinary camera on the support of the right side and shows the image of shooing on right display screen, when the light intensity that obtains that detects is not more than and sets for the threshold value, electronic rearview mirror controller orders about the light filling lamp on the support of the right side, night vision camera and ordinary camera work, and show the image fusion back that night vision camera and ordinary camera were shot on right display screen.
To the arrangement of light filling lamp, light intensity sensor, night vision camera and ordinary camera on the support, see fig. 2 and show, light filling lamp, night vision camera and ordinary camera arrange on same face, and this face is to vehicle rear, and light intensity sensor is located the top of support. In fig. 2, 1 is a general camera, 2 is a light intensity sensor, 3 is a night vision camera, 4 is a light supplement lamp, and 5 is a bracket.
According to the automobile electronic outside rear-view mirror system provided by the embodiment of the invention, the light intensity of the environment where the automobile is located is detected through the light intensity sensor, when the detected light intensity is greater than the set threshold value, only the common camera is used for shooting and displaying, when the detected light intensity is not greater than the set threshold value, the light supplementing lamp, the night vision camera and the common camera are started simultaneously, images shot by the night vision camera and the common camera are fused and displayed, the definition of the picture of the electronic outside rear-view mirror is effectively ensured when the light is dark, and the driving safety of the automobile is ensured.
Referring to fig. 3, a method for controlling an electronic exterior mirror of an automobile according to an embodiment of the present invention is used for controlling the electronic exterior mirror system of an automobile, and the method for controlling an electronic exterior mirror of an automobile according to an embodiment of the present invention specifically includes the following steps:
s1: detecting the light intensity of the environment where the vehicle is located in real time based on the light intensity sensor, and based on the detection result, turning to S2 when the detected light intensity is greater than a set threshold, and turning to S3 when the detected light intensity is not greater than the set threshold;
s2: the electronic rearview mirror controller drives a common camera on a bracket outside the vehicle to work and displays a shot image on a display screen;
s3: the electronic rearview mirror controller drives the light supplement lamp, the night vision camera and the common camera on the vehicle outer side support to work, and images shot by the night vision camera and the common camera are fused and then displayed on the display screen. Night vision camera and ordinary camera all are used for shooing the vehicle rear image. For the fused image displayed on the display screen, the color information collected by the common camera is reserved, and meanwhile, the outline information collected by the night vision camera is also reserved.
In the embodiment of the invention, the bracket comprises a left bracket and a right bracket; the left bracket is provided with a light supplement lamp, a light intensity sensor, a night vision camera and a common camera; a light supplement lamp, a light intensity sensor, a night vision camera and a common camera are arranged on the right bracket; the display screen comprises a left display screen arranged on the left side of the vehicle cab and a right display screen arranged on the right side of the vehicle cab.
In the embodiment of the invention, the electronic rearview mirror controller drives a common camera on a bracket at the outer side of a vehicle to work and displays a shot image on a display screen, and the specific steps comprise:
s201: the electronic rearview mirror controller drives the common camera on the left bracket to work and drives the common camera on the right bracket to work;
s203: the electronic rearview mirror controller displays images shot by the common camera on the left support on the left display screen, and displays images shot by the common camera on the right support on the right display screen.
In the embodiment of the invention, the electronic rearview mirror controller drives the light supplement lamp, the night vision camera and the common camera on the bracket at the outer side of the vehicle to work, and images shot by the night vision camera and the common camera are fused and then displayed on a display screen, and the electronic rearview mirror controller specifically comprises the following steps:
s301: the electronic rearview mirror controller drives the night vision camera and the common camera on the left bracket to work and drives the night vision camera and the common camera on the right bracket to work;
s302: the electronic rearview mirror controller fuses images shot by the night vision camera and the common camera on the left support and then displays the fused images on the left display screen, and fuses images shot by the night vision camera and the common camera on the right support and then displays the fused images on the right display screen.
In the actual working process, under the control of the electronic rearview mirror controller, the light supplement lamp, the light intensity sensor, the night vision camera and the common camera on the left support are a group of working units, the light supplement lamp, the light intensity sensor, the night vision camera and the common camera on the right support are a group of working units, and the two groups of working units work independently. The light intensity sensor on the left bracket works to detect the light intensity in real time, when the detected light intensity is greater than a set threshold value, the electronic rearview mirror controller drives the common camera on the left bracket to work and displays a shot image on the left display screen, when the detected light intensity is not greater than the set threshold value, the electronic rearview mirror controller drives the light supplement lamp, the night vision camera and the common camera on the left bracket to work, and images shot by the night vision camera and the common camera are fused and displayed on the left display screen; light intensity sensor work on the support of the right side, carry out light intensity's detection in real time, when the light intensity that obtains that detects is greater than and sets for the threshold value, electronic rearview mirror controller orders about the work of ordinary camera on the support of the right side and shows the image of shooing on right display screen, when the light intensity that obtains that detects is not more than and sets for the threshold value, electronic rearview mirror controller orders about the light filling lamp on the support of the right side, night vision camera and ordinary camera work, and show the image fusion back that night vision camera and ordinary camera were shot on right display screen.
In the embodiment of the invention, images shot by the night vision camera and the common camera are fused and then displayed on the display screen, wherein the specific steps of fusing the images shot by the night vision camera and the common camera are as follows:
a: based on a bilateral filter, performing denoising processing on an image shot by a common camera to obtain a first image, and performing denoising processing on an image shot by a night vision camera to obtain a second image; the image is denoised to filter out interference noise signals on the image and retain edge information of the image.
B: carrying out target detection on the dynamic areas of the first image and the second image to obtain a moving target in the first image and a moving target in the second image;
c: performing wavelet decomposition on the first image and the second image to form a tower-shaped structure; performing wavelet decomposition on the first image, decomposing each region into four subgraphs including information changing along the column direction, the row direction and the diagonal direction to form a tower-shaped structure; and performing wavelet decomposition on the second image, and decomposing each region into four subgraphs, wherein the subgraphs contain information changing along the column direction, the row direction and the diagonal direction to form a tower-shaped structure.
D: taking a weighted average value of top-layer low-frequency approximate components of the tower-shaped structures of the first image and the second image to obtain a low-frequency component of the fused image;
e: detecting high-frequency components of the tower-shaped structure of the first image in different directions under different scales to obtain a high-frequency coefficient edge image of the first image, and detecting high-frequency components of the tower-shaped structure of the second image in different directions under different scales to obtain a high-frequency coefficient edge image of the second image;
f: the pixel point with the median value of 1 in the high-frequency coefficient edge image of the first image corresponds to the pixel point with the median value of 1 in the corresponding high-frequency subgraph, and the pixel point with the median value of 1 in the high-frequency coefficient edge image of the second image corresponds to the pixel point with the median value of 1 in the corresponding high-frequency subgraph;
g: and carrying out enhancement processing on the pixel points of the moving target area in the first image, keeping the pixel points of the non-moving target area unchanged to obtain an enhanced image of the first image, carrying out enhancement processing on the pixel points of the moving target area in the second image, keeping the pixel points of the non-moving target area unchanged to obtain an enhanced image of the second image. The enhancement processing is to multiply the pixel point of the moving target area by a coefficient, thereby realizing the enhancement processing.
H: adding the enhanced image of the first image and the enhanced image of the second image, or adding the high-frequency coefficient edge image of the first image and the high-frequency coefficient edge image of the second image to obtain the high-frequency component of the fused image;
i: and performing wavelet inverse transformation on the obtained low-frequency component and high-frequency component to obtain a fused image.
In the embodiment of the present invention, target detection is performed on dynamic areas of a first image and a second image to obtain a moving target in the first image and a moving target in the second image, where the specific step of obtaining the moving target in the images includes:
(1) determining a lane where the vehicle is located based on the road indication lines on the ground in the image, thereby determining a dynamic region of the image;
(2) and scanning each pixel point of the frame difference image corresponding to the image in sequence, calculating the variance of a window where the central pixel point is positioned, and determining the pixel point of the moving target area in the frame difference image to obtain a constraint area. It should be noted that the moving object in the embodiment of the present invention is a vehicle that moves behind the current vehicle. Since the moving speed of a vehicle moving rearward with respect to the night vision camera is small, whether a pixel in the frame difference image belongs to the background or a moving object can be determined by the threshold value.
(3) And performing spatial domain segmentation on the constrained region so as to extract and obtain a moving target in the image. The approximate position of the moving target can be marked through the step (2), so that the constrained region of the moving target in the image can be determined, and on the basis, the constrained region where the moving target is located is subjected to spatial domain segmentation, so that the moving target in the image can be extracted.
In the embodiment of the invention, for the fusion of images shot by a night vision camera and a common camera, the key points are to adopt a bilateral filter to carry out denoising processing on the images and an image fusion processing method based on wavelet transformation, in particular to detect and enhance pixel points of a moving target region.
According to the control method of the electronic exterior rear view mirror of the automobile, the light intensity of the environment where the automobile is located is detected through the light intensity sensor, when the detected light intensity is larger than the set threshold value, only the ordinary camera is used for shooting and displaying, when the detected light intensity is not larger than the set threshold value, the light supplementing lamp, the night vision camera and the ordinary camera are started simultaneously, images shot by the night vision camera and the ordinary camera are fused and displayed, the image display definition of the electronic exterior rear view mirror is effectively guaranteed when the light is dark, and the driving safety of the automobile is guaranteed.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (8)
1. A control method for an automobile electronic exterior rearview mirror is characterized by comprising the following steps:
based on light intensity sensor, detect the light intensity of the environment that the vehicle is located in real time to based on the testing result:
when the detected light intensity is larger than a set threshold value, the electronic rearview mirror controller drives a common camera on a bracket at the outer side of the vehicle to work and displays a shot image on a display screen;
when the detected light intensity is not greater than a set threshold value, the electronic rearview mirror controller drives a light supplement lamp, a night vision camera and a common camera on a bracket at the outer side of the vehicle to work, and images shot by the night vision camera and the common camera are fused and then displayed on a display screen;
the night vision camera and the common camera are used for shooting images behind the vehicle;
the image that will night vision camera and ordinary camera shoot fuses the back and shows on the display screen, wherein, the image that will night vision camera and ordinary camera shoot fuses the concrete step does:
based on a bilateral filter, performing denoising processing on an image shot by a common camera to obtain a first image, and performing denoising processing on an image shot by a night vision camera to obtain a second image;
carrying out target detection on the dynamic areas of the first image and the second image to obtain a moving target in the first image and a moving target in the second image;
performing wavelet decomposition on the first image and the second image to form a tower-shaped structure;
taking a weighted average value of top-layer low-frequency approximate components of the tower-shaped structures of the first image and the second image to obtain a low-frequency component of the fused image;
detecting high-frequency components of the tower-shaped structure of the first image in different directions under different scales to obtain a high-frequency coefficient edge image of the first image, and detecting high-frequency components of the tower-shaped structure of the second image in different directions under different scales to obtain a high-frequency coefficient edge image of the second image;
the pixel point with the median value of 1 in the high-frequency coefficient edge image of the first image corresponds to the pixel point with the median value of 1 in the corresponding high-frequency subgraph, and the pixel point with the median value of 1 in the high-frequency coefficient edge image of the second image corresponds to the pixel point with the median value of 1 in the corresponding high-frequency subgraph;
enhancing the pixel points of the moving target area in the first image, keeping the pixel points of the non-moving target area unchanged to obtain an enhanced image of the first image, enhancing the pixel points of the moving target area in the second image, keeping the pixel points of the non-moving target area unchanged to obtain an enhanced image of the second image;
adding the enhanced image of the first image and the enhanced image of the second image, or adding the high-frequency coefficient edge image of the first image and the high-frequency coefficient edge image of the second image to obtain the high-frequency component of the fused image;
performing wavelet inverse transformation on the obtained low-frequency component and high-frequency component to obtain a fused image;
the target detection is performed on the dynamic areas of the first image and the second image to obtain a moving target in the first image and a moving target in the second image, wherein the specific step of obtaining the moving target in the image comprises:
determining a lane where the vehicle is located based on the road indication lines on the ground in the image, thereby determining a dynamic region of the image;
sequentially scanning each pixel point of the frame difference image corresponding to the image, calculating the variance of a window where the central pixel point is located, and determining the pixel point of a moving target area in the frame difference image to obtain a constraint area;
and performing spatial domain segmentation on the constrained region so as to extract and obtain a moving target in the image.
2. The control method of an electronic exterior mirror for an automobile according to claim 1, wherein:
the bracket comprises a left bracket and a right bracket;
the left bracket is provided with a light supplement lamp, a light intensity sensor, a night vision camera and a common camera;
the right bracket is provided with a light supplement lamp, a light intensity sensor, a night vision camera and a common camera;
the display screen comprises a left display screen arranged on the left side of the vehicle cab and a right display screen arranged on the right side of the vehicle cab.
3. The method as claimed in claim 2, wherein the electronic rearview mirror controller drives a general camera on the outer bracket of the vehicle to operate and displays the photographed image on a display screen, and the method comprises the following steps:
the electronic rearview mirror controller drives the common camera on the left bracket to work and drives the common camera on the right bracket to work;
the electronic rearview mirror controller displays images shot by the common camera on the left support on the left display screen, and displays images shot by the common camera on the right support on the right display screen.
4. The method as claimed in claim 2, wherein the electronic rearview mirror controller drives a fill light, a night vision camera and a normal camera on the outer bracket of the vehicle to work, and displays the fused images on the display screen, the method comprising the following steps:
the electronic rearview mirror controller drives the night vision camera and the common camera on the left bracket to work and drives the night vision camera and the common camera on the right bracket to work;
the electronic rearview mirror controller fuses images shot by the night vision camera and the common camera on the left support and then displays the fused images on the left display screen, and fuses images shot by the night vision camera and the common camera on the right support and then displays the fused images on the right display screen.
5. An automobile electronic outside rear-view mirror system is characterized by comprising an electronic rear-view mirror controller, a display screen and brackets arranged on two sides outside a vehicle, wherein each bracket is provided with a light supplementing lamp, a light intensity sensor, a night vision camera and a common camera;
the night vision camera and the common camera are both used for shooting images behind the vehicle;
the light supplementing lamp is used for supplementing light to shooting ranges of the night vision camera and the common camera;
the light intensity sensor is used for detecting the light intensity of the environment where the vehicle is located;
the electronic rearview mirror controller is used for driving the common camera to work and displaying a shot image on the display screen when the light intensity detected by the light intensity sensor is greater than a set threshold value, and driving the light supplement lamp, the night vision camera and the common camera to work and displaying an image shot by the night vision camera and the common camera on the display screen after the image is fused when the light intensity detected by the light intensity sensor is not greater than the set threshold value;
the image that will night vision camera and ordinary camera shoot fuses the back and shows on the display screen, wherein, the image that will night vision camera and ordinary camera shoot fuses the concrete step does:
based on a bilateral filter, performing denoising processing on an image shot by a common camera to obtain a first image, and performing denoising processing on an image shot by a night vision camera to obtain a second image;
carrying out target detection on the dynamic areas of the first image and the second image to obtain a moving target in the first image and a moving target in the second image;
performing wavelet decomposition on the first image and the second image to form a tower-shaped structure;
taking a weighted average value of top-layer low-frequency approximate components of the tower-shaped structures of the first image and the second image to obtain a low-frequency component of the fused image;
detecting high-frequency components of the tower-shaped structure of the first image in different directions under different scales to obtain a high-frequency coefficient edge image of the first image, and detecting high-frequency components of the tower-shaped structure of the second image in different directions under different scales to obtain a high-frequency coefficient edge image of the second image;
the pixel point with the median value of 1 in the high-frequency coefficient edge image of the first image corresponds to the pixel point with the median value of 1 in the corresponding high-frequency subgraph, and the pixel point with the median value of 1 in the high-frequency coefficient edge image of the second image corresponds to the pixel point with the median value of 1 in the corresponding high-frequency subgraph;
enhancing the pixel points of the moving target area in the first image, keeping the pixel points of the non-moving target area unchanged to obtain an enhanced image of the first image, enhancing the pixel points of the moving target area in the second image, keeping the pixel points of the non-moving target area unchanged to obtain an enhanced image of the second image;
adding the enhanced image of the first image and the enhanced image of the second image, or adding the high-frequency coefficient edge image of the first image and the high-frequency coefficient edge image of the second image to obtain the high-frequency component of the fused image;
performing wavelet inverse transformation on the obtained low-frequency component and high-frequency component to obtain a fused image;
the target detection is performed on the dynamic areas of the first image and the second image to obtain a moving target in the first image and a moving target in the second image, wherein the specific step of obtaining the moving target in the image comprises:
determining a lane where the vehicle is located based on the road indication lines on the ground in the image, thereby determining a dynamic region of the image;
sequentially scanning each pixel point of the frame difference image corresponding to the image, calculating the variance of a window where the central pixel point is located, and determining the pixel point of a moving target area in the frame difference image to obtain a constraint area;
and performing spatial domain segmentation on the constrained region so as to extract and obtain a moving target in the image.
6. An automotive electronic exterior mirror system according to claim 5, characterized in that:
the bracket comprises a left bracket and a right bracket;
the left bracket is provided with a light supplement lamp, a light intensity sensor, a night vision camera and a common camera;
and a light supplementing lamp, a light intensity sensor, a night vision camera and a common camera are arranged on the right bracket.
7. An automotive electronic exterior mirror system according to claim 6, characterized in that:
the night vision camera and the common camera on the left bracket are used for shooting images of the left rear side of the vehicle;
the light supplement lamp on the left bracket is used for supplementing light for shooting ranges of the night vision camera and the common camera on the left bracket;
the night vision camera and the common camera on the right bracket are used for shooting images of the right rear side of the vehicle;
and the light supplementing lamp on the right bracket is used for supplementing light to the shooting range of the night vision camera and the common camera on the right bracket.
8. An automotive electronic exterior mirror system according to claim 7, characterized in that:
the display screen comprises a left display screen arranged on the left side of the vehicle cab and a right display screen arranged on the right side of the vehicle cab;
the left display screen is used for displaying images shot by the common camera on the left bracket and displaying fused images corresponding to the night vision camera and the common camera on the left bracket;
and the right display screen is used for displaying images shot by the common camera on the right bracket and displaying fused images corresponding to the night vision camera and the common camera on the right bracket.
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