CN114002846B - Micro-light imaging auxiliary driving system based on EMCCD - Google Patents
Micro-light imaging auxiliary driving system based on EMCCD Download PDFInfo
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- CN114002846B CN114002846B CN202111259378.XA CN202111259378A CN114002846B CN 114002846 B CN114002846 B CN 114002846B CN 202111259378 A CN202111259378 A CN 202111259378A CN 114002846 B CN114002846 B CN 114002846B
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- G—PHYSICS
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- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
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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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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/0138—Head-up displays characterised by optical features comprising image capture systems, e.g. camera
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/014—Head-up displays characterised by optical features comprising information/image processing systems
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Abstract
The invention discloses an EMCCD-based low-light imaging auxiliary driving system, which comprises an objective lens assembly and an EMCCD imaging assembly; the objective lens component acquires an original image optical signal and transmits the original image optical signal to the EMCCD imaging component; in the EMCCD imaging component, the driving module drives the EMCCD micro-light imaging module to receive an original image light signal, convert the original image light signal into an original image electric signal and transmit the original image electric signal to the image acquisition module under the control of the control processing module; the image acquisition module outputs a digital signal of an image through AD conversion, the control processing module processes the digital signal of the image, the image acquisition module outputs an enhanced frame image to the image encoding module for image encoding format conversion, and the image encoding module outputs an enhanced video signal to the display screen for display. The invention can extract the effective information of the driving environment with low visibility and low illumination, and provide the effective information for the driver in a short time, thereby greatly improving the safety of the vehicle running in the low illumination environment and the perception of surrounding targets.
Description
Technical Field
The invention relates to the technical field of driving assistance, in particular to a micro-light imaging driving assistance system based on an EMCCD.
Background
For a long time, for auxiliary driving in a very weak light environment, three methods are mainly divided, wherein the first method is active light source auxiliary driving, which is also one method for directly solving the problem of dark environment driving, namely, a light source is actively projected to a road surface through an LED illuminating headlight arranged above a vehicle, the method often needs a high-power LED lamp, the detection distance of the method is in direct proportion to the power of an LED and the like, and the most fatal method is that the vehicle itself needing to be driven in a hidden way is directly exposed; the second method adopts the vacuum devices such as an image intensifier and the like as auxiliary drivers of core devices, and the method has the defect of damaging the devices when strong light exists in the daytime or in the field of view, and secondly, because of the imaging of a single-color fluorescent screen, the looking sense of a driver is poor; the third method is to use solid-state devices such as infrared devices, CMOS devices and CCD devices, wherein the infrared devices can see a heat source target in an extremely dark environment, but the CMOS devices have serious picture distortion effect when a vehicle moves due to the rolling shutter characteristics of the CMOS devices, and the ordinary CCD devices have weak sensing capability on a low-light environment and cannot effectively cope with the dark environment. Therefore, we want to find a driving assistance system that can effectively enhance the environmental perception of the driver in a severe environment, and obtain higher, more accurate and richer environmental information of the road structure.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide an EMCCD-based low-light imaging auxiliary driving system which can extract effective information of a driving environment under low visibility and low illumination, and provide the effective information for a driver in a short time, so that the driving safety of a vehicle under the low illumination environment and the perception of surrounding targets are greatly improved.
The invention adopts the technical scheme that: an EMCCD-based low-light imaging assisted driving system comprises an objective lens assembly and an EMCCD imaging assembly;
the objective lens component acquires an original image optical signal and transmits the original image optical signal to the EMCCD imaging component;
the EMCCD imaging component comprises an EMCCD micro-light imaging module, a control processing module, a driving module, an image acquisition module, an image coding module and a display screen;
the driving module drives the EMCCD micro-light imaging module to receive the original image light signal under the control of the control processing module; the EMCCD micro-light imaging module converts the received original image optical signals into original image electric signals and transmits the original image electric signals to the image acquisition module; the image acquisition module outputs digital signals of the image to the control processing module through AD conversion; the control processing module processes the received image digital signals and outputs the enhanced frame images; the image coding module is connected with the output end of the control processing module, performs image coding format conversion according to the received enhanced frame image, and outputs an enhanced video signal to the display screen for display.
Optionally, the objective lens assembly comprises a reflecting prism and an objective lens, and the objective lens is arranged between the reflecting prism and the EMCCD micro-light imaging module; the original image light signal enters the objective lens after passing through the reflecting prism, and is focused on the EMCCD micro-light imaging module after passing through the objective lens.
Optionally, the system further comprises an optical display assembly, wherein the optical display assembly comprises a half-reflecting half-lens and a curvature reflector which are arranged in a dark box; an observation window is arranged on the side wall of the camera bellows;
the reflecting surface of the curvature reflecting mirror is a concave surface and faces the display screen; the semi-reflecting semi-transparent mirror is obliquely arranged between the display screen and the curvature reflecting mirror, and one surface of the semi-reflecting semi-transparent mirror faces the observation window; the curvature of the curvature reflector and the inclination angle of the half-reflecting and half-reflecting lens can enable the display screen to output a virtual image formed by the half-reflecting and half-reflecting lens and the curvature reflector, and the size of the virtual image is consistent with the size of the image when the human eye directly looks at the display screen when the human eye directly looks through the observation window.
Optionally, one end of the half-reflecting semi-transparent mirror facing the curvature reflector is connected with one side of the curvature reflector, which is away from the observation window, and one end of the half-reflecting semi-transparent mirror facing the display screen is inclined towards one side of the observation window and is positioned above one side of the curvature reflector, which is close to the observation window.
In the scheme, the projection light path of the display screen reaches the curvature reflector through the semi-reflecting semi-transparent mirror obliquely arranged in the middle of the camera bellows and is reflected, reflected light can reach the semi-reflecting semi-transparent mirror and then is reflected to the observation window of the camera bellows, and a virtual image formed by the whole set of optical system can be clearly seen through the observation window by human eyes. The curvature reflector can stretch the image formed by the display screen, so that the ratio of the virtual image of the object seen by the human eye to the image of the real object reaches 1:1, the size of the object is reflected most truly, so that the judgment of the distance by the human brain is closest to the real situation.
Optionally, a light shield is configured at the periphery of the observation window of the camera bellows, and is used for shielding stray light of an external environment, so that influence on human eye observation is reduced.
Optionally, the driving module includes a register configuration unit and a gain voltage control unit;
the control processing module performs gray statistics on the image digital signals output by the image acquisition module, determines the electronic gain multiple of the EMCCD micro-light imaging module according to a gray statistics result, transmits corresponding numerical values as register configuration values to the register configuration unit, and configures the register of the gain voltage control unit according to the received register configuration values, so that the gain voltage control unit adjusts the electronic gain multiple of the EMCCD micro-light imaging module according to the configured register values.
Optionally, the control processing module adopts an FPGA, the EMCCD imaging assembly further includes an external clock and a RAM memory, and the FPGA includes a clock signal input end for accessing an external clock signal and a RAM memory connection end;
the FPGA comprises a gray level statistics unit, a threshold value comparison unit, an automatic gain control unit, a frame buffer control unit and an image processing unit; the gray level statistics unit receives the image digital signal output by the image acquisition module to carry out gray level statistics, transmits a gray level statistics result to the threshold value comparison unit, and transmits a gray level statistics result and a complete frame image to the frame buffer unit;
the automatic gain control unit searches a mapping relation table of preset gray level and register value according to the threshold comparison result, determines a register configuration value to be configured and transmits the register configuration value to the register configuration unit;
the image processing unit carries out enhancement processing on the frame image received by the frame buffer unit, the frame buffer unit accesses the received frame image and the frame image generated in the enhancement processing process through the RAM memory, and the frame image after the enhancement processing is output to the image coding module.
On the other hand, the invention also provides an automatic gain control method of the EMCCD micro-light imaging module in the micro-light imaging auxiliary driving system based on the EMCCD, which is executed by a control processing module and comprises the following steps:
acquiring digital signals of the image acquired by the EMCCD micro-light imaging module in real time;
carrying out gray statistics on the acquired image digital signals;
and determining the electronic gain multiple of the EMCCD micro-light imaging module according to the gray level statistical result, and outputting the corresponding numerical value as a register configuration value, so that the external register configuration unit can configure a register of the external gain voltage control unit according to the received register configuration value after receiving the corresponding numerical value, and the gain voltage control unit can adjust the electronic gain multiple of the EMCCD micro-light imaging module according to the configured register value.
Further, the determining the electronic gain multiple of the EMCCD micro-light imaging module according to the gray level statistics result includes:
matching the gray level statistical result with a set gray level threshold value or a gray level threshold value range to obtain a matched gray level threshold value or gray level threshold value range;
searching a mapping relation table of preset gray level and register value according to the matched gray level threshold value or gray level threshold value range, determining the register value corresponding to the matched gray level threshold value or gray level threshold value range, and taking the register value as a register configuration value with configuration;
the mapping relation table of the gray level and the register value records mapping relation between a plurality of gray level thresholds and a plurality of register values, or mapping relation data between a plurality of gray level threshold ranges and a plurality of register values.
Advantageous effects
According to the invention, the EMCCD micro-light imaging module is adopted to acquire external information, the real-time processing of the image information is carried out through the devices with control processing functions such as the FPGA and the like, the effective information of the driving environment under low visibility and low illumination is extracted, the effective information can be provided for a driver in a video form in a short time, and the safety of vehicle running under the low illumination environment and the perception of surrounding targets are greatly improved.
Meanwhile, the invention realizes head-up display of the driving system through the optical display assembly, so that the virtual image of the object in the environment where the vehicle is positioned after passing through the optical display assembly is consistent with the size imaged by the driver in direct vision, thereby truly reflecting the size of the object, enabling the judgment of the human brain on the distance to be closest to the real situation, and effectively enhancing the environment perception capability of the driver.
Drawings
FIG. 1 is a schematic diagram of an embodiment of an EMCCD microimaging driving assisting system according to the present invention;
FIG. 2 is a schematic diagram of the driving assisting system for micro-imaging of EMCCD according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the operation of the control processing module FPGA in one embodiment of the EMCCD micro-light imaging driving assisting system according to the present invention;
FIG. 4 is a schematic diagram showing the comparison of the propagation of light signals between a direct-view target and the driving assistance system of the present invention;
in the figure, 1-object, 12-object virtual image, 2-reflecting prism, 3-objective, 4-EMCCD photosensitive element (EMCCD micro-light imaging module), 5-part imaging component (including FPGA, image acquisition module, driving module and image coding module), 6-flat cable, 7-display screen, 8-camera bellows, 9-light shield, 10-curvature reflector, 11-semi-transparent mirror.
Detailed Description
Further description is provided below in connection with the drawings and the specific embodiments.
Example 1
This embodiment describes an EMCCD micro-light imaging assisted driving system, referring to fig. 1, the system includes an objective lens assembly and an EMCCD imaging assembly;
the objective lens assembly comprises a reflecting prism 2 and an objective lens 3; the system acquires an original image light signal through a periscope device outside the vehicle body, the original image light signal enters an objective lens after passing through a reflecting prism, and is focused on an EMCCD micro-light imaging module 4, and photoelectric conversion is realized through a photoelectric sensor.
As shown in fig. 2, the EMCCD imaging assembly comprises an EMCCD micro-light imaging module 4, a control processing module, a driving module, an image acquisition module, an image coding module, a display screen 6 and a power supply module; the control processing module adopts an FPGA, and the power supply module is used for providing power supply required by the operation of each module in the EMCCD imaging assembly.
The driving module drives the EMCCD micro-light imaging module to receive the original image light signal under the control of the FPGA module; the EMCCD micro-light imaging module converts the received original image optical signals into original image electric signals and transmits the original image electric signals to the image acquisition module; the acquisition module outputs digital signals of the image to the FPGA module through AD conversion; the FPGA module processes the received image digital signals and outputs the enhanced frame images; the image coding module is connected with the output end of the FPGA module, performs image coding conversion format according to the received enhanced frame image, and outputs the enhanced video signal to the display screen for display.
The original image optical signal passes through the EMCCD imaging component to realize the processing of photoelectric conversion, electron multiplication, image enhancement and the like.
Referring to fig. 3, in the present embodiment, the driving module includes a register configuration unit and a gain voltage control unit; the control processing module adopts an FPGA, the EMCCD imaging component further comprises an external clock and a RAM memory, and the FPGA comprises a clock signal input end for accessing an external clock signal and a RAM memory connecting end;
the FPGA performs gray statistics on the image digital signals output by the image acquisition module, determines the electronic gain multiple of the EMCCD micro-light imaging module according to a gray statistics result, transmits corresponding numerical values as register configuration values to the register configuration unit, and the register configuration unit configures the register of the gain voltage control unit according to the received register configuration values, so that the gain voltage control unit adjusts the electronic gain multiple of the EMCCD micro-light imaging module according to the configured register values.
Specifically, the FPGA comprises a gray level statistics unit, a threshold value comparison unit, an automatic gain control unit, a frame buffer control unit and an image processing unit; the gray level statistics unit receives the image digital signal output by the image acquisition module to carry out gray level statistics, transmits a gray level statistics result to the threshold value comparison unit, and transmits a gray level statistics result and a complete frame image to the frame buffer unit;
the automatic gain control unit searches a mapping relation table of preset gray level and register value according to the threshold comparison result, determines a register configuration value to be configured and transmits the register configuration value to the register configuration unit;
the image processing unit carries out enhancement processing on the frame image received by the frame buffer unit, the frame buffer unit accesses the received frame image and the frame image generated in the enhancement processing process through the RAM memory, and the frame image after the enhancement processing is output to the image coding module. Referring to fig. 3, the frame buffer unit performs enhancement processing of an image by joint call to the RAM and the image processing unit, and outputs the enhanced frame image to the image encoder.
The embodiment can realize the efficient acquisition, processing and display of the images in the low-visibility and low-illumination driving environment where the vehicle is located, and provide the images for a driver in a video mode, so that the safety of the vehicle running in the low-illumination environment and the perception of surrounding targets are improved.
Example 2
In order to realize head-up display of the driving system, referring to fig. 1 and 2, the present embodiment further provides an optical display assembly based on embodiment 1, where the optical display assembly includes a half-reflecting half-lens 11 and a curvature mirror 10 disposed inside a camera bellows 8; an observation window 9 is arranged on the side wall of the camera bellows 8;
the reflective surface of the curvature mirror is concave as in fig. 1 and faces the display screen 7; the semi-reflecting semi-transparent mirror is obliquely arranged between the display screen and the curvature reflecting mirror, and one surface of the semi-reflecting semi-transparent mirror faces the observation window; the curvature of the curvature reflector and the inclination angle of the half-reflecting and half-reflecting lens can enable the display screen to output a virtual image formed by the half-reflecting and half-reflecting lens and the curvature reflector, and the size of the virtual image is consistent with the size of the image when the human eye directly looks at the display screen when the human eye directly looks through the observation window.
In this embodiment, one end of the half-reflecting semi-transparent mirror facing the curvature reflecting mirror is connected to one side of the curvature reflecting mirror facing away from the observation window, and one end of the half-reflecting semi-transparent mirror facing the display screen is inclined to one side of the observation window and located above one side of the curvature reflecting mirror close to the observation window. The specific inclination angle can be set through experiments and experience, so that the head-up display function can adapt to the normal visual angle of a driver.
In the scheme, the projection light path of the display screen reaches the curvature reflector through the semi-reflecting semi-transparent mirror obliquely arranged in the middle of the camera bellows and is reflected, reflected light can reach the semi-reflecting semi-transparent mirror and then is reflected to the observation window of the camera bellows, and a virtual image formed by the whole set of optical system can be clearly seen through the observation window by human eyes. The curvature reflector can stretch the image formed by the display screen, so that the ratio of the virtual image of the object seen by the human eye to the image of the real object reaches 1:1, the size of the object is reflected most truly, so that the judgment of the distance by the human brain is closest to the real situation.
As shown in fig. 4, in normal direct viewing of an object, the size of an image formed by the object in the field of view is only related to the distance traveled by the object to the optical path of the human eye, but in this embodiment, the light of the object is converted by photoelectricity, and when reproduced on the display screen, the information of the distance of the object is lost, so that the ratio of the virtual image 12 of the object seen by the human eye to the image 1 of the real object is 1 by adding a mirror having a certain curvature to the display screen and the human eye: 1, the size of the object is reflected most truly, so that the judgment of the human brain on the distance is closest to the real situation, and the real distance information of the object is reserved.
Furthermore, a light shield 9 is arranged at the periphery of the observation window of the camera bellows and used for shielding stray light of the external environment, so that the influence on human eye observation is reduced.
When the embodiment is applied, as in embodiment 1, the emccd imaging assembly is a core part of a whole set of driving system, and transmits weak light signals in a dark environment to human eyes in a mode of weak light information acquisition, signal amplification, image processing and digital image reproduction, and the method comprises the following steps: the method comprises the steps that external ambient light is focused on a light sensitive surface of an EMCCD device through an objective lens system, an EMCCD driving module finishes level conversion under an FPGA driving signal to provide necessary charge transfer time sequence for the EMCCD to finish charge carrying, an image acquisition module converts the charge level into a digital signal through AD conversion and transmits the digital signal to the FPGA for image processing, the FPGA finishes frame image storage and reading through an external RAM, the processed frame image is transmitted to an image coding chip, the coding chip converts naked video data into MIPI format, finally, the image acquired by the EMCCD is reproduced through a universal display screen, and an optical system formed by a rear-end optical display assembly is a human eye observation presentation 1:1, a clear virtual image.
Example 3
The embodiment introduces an automatic gain control method of an EMCCD micro-light imaging module in an EMCCD-based micro-light imaging assisted driving system, which is executed by a control processing module and comprises the following steps:
acquiring digital signals of the image acquired by the EMCCD micro-light imaging module in real time;
carrying out gray statistics on the acquired image digital signals;
and determining the electronic gain multiple of the EMCCD micro-light imaging module according to the gray level statistical result, and outputting the corresponding numerical value as a register configuration value, so that the external register configuration unit can configure a register of the external gain voltage control unit according to the received register configuration value after receiving the corresponding numerical value, and the gain voltage control unit can adjust the electronic gain multiple of the EMCCD micro-light imaging module according to the configured register value.
Further, the determining the electronic gain multiple of the EMCCD micro-light imaging module according to the gray level statistics result includes:
matching the gray level statistical result with a set gray level threshold value or a gray level threshold value range to obtain a matched gray level threshold value or gray level threshold value range;
searching a mapping relation table of preset gray level and register value according to the matched gray level threshold value or gray level threshold value range, determining the register value corresponding to the matched gray level threshold value or gray level threshold value range, and taking the register value as a register configuration value with configuration;
the mapping relation table of the gray level and the register value records mapping relation between a plurality of gray level thresholds and a plurality of register values, or mapping relation data between a plurality of gray level threshold ranges and a plurality of register values.
When the system is applied, the EMCCD micro-light imaging module in the embodiment can enable the driving system to achieve day and night compatibility by adjusting gain voltage (electronic gain multiple). The principle is as follows: after the conversion of the awakening photoelectric signals of the EMCCD micro-light imaging module, the image acquisition module acquires and transmits the gray level image after the AD conversion to the FPGA, the gray level statistics unit counts the gray level value of the previous frame image, the statistics result is sent to the threshold comparison unit, meanwhile, the complete frame image and the statistics result are sent to the frame buffer unit, and the frame buffer module realizes the visual enhancement of the video image through the joint calling of the external RAM and the image processing unit. The threshold comparison unit compares the set threshold value and inputs the compared result to the automatic gain control unit, the automatic gain control unit outputs the corresponding register configuration value to the register configuration module in a table look-up mode, and the register configuration module carries out voltage configuration on the register of the peripheral gain voltage control chip according to the command sent by the automatic gain control unit. Because the gray value acquired by the image acquisition module will change (become higher or lower) due to the adjustment of the gain voltage, the adjusted new frame of image is sent to the gray statistics module to complete the process continuously, and the closed loop feedback of the whole automatic gain control is formed, so that the gray interval of the final image will be in the preset gray interval.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are all within the scope of the present invention.
Claims (7)
1. An EMCCD-based low-light imaging assisted driving system is characterized by comprising an objective lens assembly and an EMCCD imaging assembly;
the objective lens component acquires an original image optical signal and transmits the original image optical signal to the EMCCD imaging component;
the EMCCD imaging component comprises an EMCCD micro-light imaging module, a control processing module, a driving module, an image acquisition module, an image coding module and a display screen;
the driving module drives the EMCCD micro-light imaging module to receive the original image light signal under the control of the control processing module; the EMCCD micro-light imaging module converts the received original image optical signals into original image electric signals and transmits the original image electric signals to the image acquisition module; the image acquisition module outputs digital signals of the image to the control processing module through AD conversion; the control processing module processes the received image digital signals and outputs the enhanced frame images; the image coding module is connected with the output end of the control processing module, performs image coding format conversion according to the received enhanced frame image, and outputs an enhanced video signal to the display screen for display;
the driving module comprises a register configuration unit and a gain voltage control unit;
the control processing module performs gray level statistics on the image digital signals output by the image acquisition module, determines the electronic gain multiple of the EMCCD micro-light imaging module according to a gray level statistics result, transmits corresponding numerical values as register configuration values to the register configuration unit, and configures a register of the gain voltage control unit according to the received register configuration values so that the gain voltage control unit adjusts the electronic gain multiple of the EMCCD micro-light imaging module according to the configured register values;
the determining the electronic gain multiple of the EMCCD micro-light imaging module according to the gray level statistical result comprises the following steps:
matching the gray level statistical result with a set gray level threshold value or a gray level threshold value range to obtain a matched gray level threshold value or gray level threshold value range;
searching a mapping relation table of preset gray level and register value according to the matched gray level threshold value or gray level threshold value range, determining the register value corresponding to the matched gray level threshold value or gray level threshold value range, and taking the register value as a register configuration value with configuration;
the mapping relation table of the gray level and the register value records mapping relation between a plurality of gray level thresholds and a plurality of register values, or mapping relation data between a plurality of gray level threshold ranges and a plurality of register values.
2. The EMCCD low-light imaging assisted driving system according to claim 1, wherein the objective lens assembly comprises a reflecting prism and an objective lens, the objective lens being disposed between the reflecting prism and the EMCCD low-light imaging module; the original image light signal enters the objective lens after passing through the reflecting prism, and is focused on the EMCCD micro-light imaging module after passing through the objective lens.
3. The EMCCD low-light imaging driver assistance system of claim 1, further comprising an optical display assembly comprising a half-mirror and a curvature mirror disposed inside a camera bellows; an observation window is arranged on the side wall of the camera bellows;
the reflecting surface of the curvature reflecting mirror is a concave surface and faces the display screen; the semi-reflecting semi-transparent mirror is obliquely arranged between the display screen and the curvature reflecting mirror, and one surface of the semi-reflecting semi-transparent mirror faces the observation window; the curvature of the curvature reflector and the inclination angle of the half-reflecting and half-reflecting lens can enable the display screen to output a virtual image formed by the half-reflecting and half-reflecting lens and the curvature reflector, and the size of the virtual image is consistent with the size of the image when the human eye directly looks at the display screen when the human eye directly looks through the observation window.
4. The EMCCD low-light imaging driving-assisting system according to claim 3, wherein one end of the half-reflecting and half-transmitting mirror facing the curvature reflecting mirror is connected to one side of the curvature reflecting mirror facing away from the observation window, and one end of the half-reflecting and half-transmitting mirror facing the display screen is inclined to one side of the observation window and is located above one side of the curvature reflecting mirror near the observation window.
5. The EMCCD low-light imaging assisted driving system according to claim 3, wherein a light shield is provided around the observation window of the camera bellows.
6. The micro-light imaging driving assisting system of the EMCCD according to claim 1, wherein the control processing module adopts an FPGA, the EMCCD imaging component further comprises an external clock and a RAM memory, and the FPGA comprises a clock signal input end for accessing an external clock signal and a RAM memory connecting end;
the FPGA comprises a gray level statistics unit, a threshold value comparison unit, an automatic gain control unit, a frame buffer control unit and an image processing unit; the gray level statistics unit receives the image digital signal output by the image acquisition module to carry out gray level statistics, transmits a gray level statistics result to the threshold value comparison unit, and transmits a gray level statistics result and a complete frame image to the frame buffer unit;
the automatic gain control unit searches a mapping relation table of preset gray level and register value according to the threshold comparison result, determines a register configuration value to be configured and transmits the register configuration value to the register configuration unit;
the image processing unit carries out enhancement processing on the frame image received by the frame buffer unit, the frame buffer unit accesses the received frame image and the frame image generated in the enhancement processing process through the RAM memory, and the frame image after the enhancement processing is output to the image coding module.
7. The automatic gain control method of an EMCCD-based micro-imaging module in an EMCCD-based micro-imaging assisted driving system according to any one of claims 1 to 6, executed by a control processing module, comprising:
acquiring digital signals of the image acquired by the EMCCD micro-light imaging module in real time;
carrying out gray statistics on the acquired image digital signals;
determining the electronic gain multiple of the EMCCD micro-light imaging module according to the gray level statistics result, and outputting the corresponding value as a register configuration value, so that after the external register configuration unit receives the corresponding value, the external register configuration unit can configure a register of the external gain voltage control unit according to the received register configuration value, and the gain voltage control unit can adjust the electronic gain multiple of the EMCCD micro-light imaging module according to the configured register value;
the determining the electronic gain multiple of the EMCCD micro-light imaging module according to the gray level statistical result comprises the following steps:
matching the gray level statistical result with a set gray level threshold value or a gray level threshold value range to obtain a matched gray level threshold value or gray level threshold value range;
searching a mapping relation table of preset gray level and register value according to the matched gray level threshold value or gray level threshold value range, determining the register value corresponding to the matched gray level threshold value or gray level threshold value range, and taking the register value as a register configuration value with configuration;
the mapping relation table of the gray level and the register value records mapping relation between a plurality of gray level thresholds and a plurality of register values, or mapping relation data between a plurality of gray level threshold ranges and a plurality of register values.
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