TW202414333A - Vehicle surrounding image display method - Google Patents
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Abstract
Description
本發明涉及行車影像技術領域，具體涉及一種車輛環景影像顯示方法。The present invention relates to the field of vehicle imaging technology, and in particular to a vehicle surround image display method.
一般車輛亦或可裝設額外的攝影機於車輛各個位置。舉例來說，攝影機可安裝在車輛的前、側及後面，採集周圍環境的各個區域的影像。對於車輛行駛中的不同環境或停車場場域需要更多的影像視野來提供給駕駛，然而，受限於攝影機的安裝位置會受到車輛本身的遮蔽，但增加額外的攝影機來採集整體車輛周圍環境，往往會產生較高的成本。此外，受到環境光線的影響，車輛本身會產生投影於地面的陰影或是因車燈開啟照射地面產生光斑，若這些影像被用來產生車輛環景影像，往往會產生不良的影像品質，特別是用來產生攝影機視野被遮蔽的影像，又若以人工智慧判斷車輛陰影或是車燈造成的光斑並加以改善，則會需要大量的影像訓練資料，可能造成影像的誤判或因此抹除環境中重要的影像訊息。Ordinary vehicles can be equipped with additional cameras at various locations on the vehicle. For example, cameras can be installed on the front, side, and rear of the vehicle to capture images of various areas of the surrounding environment. Different environments or parking lots while the vehicle is driving require more image views to provide to the driver. However, due to the limitation that the installation location of the camera will be blocked by the vehicle itself, adding additional cameras to capture the entire vehicle surrounding environment often incurs higher costs. In addition, affected by ambient light, the vehicle itself will cast a shadow on the ground or produce a light spot when the headlights are turned on. If these images are used to generate vehicle surrounding images, poor image quality will often be produced, especially when used to generate images where the camera's field of view is obstructed. If artificial intelligence is used to judge and improve the shadows of vehicles or the light spots caused by headlights, a large amount of image training data will be required, which may cause image misjudgment or erase important image information in the environment.
為解決上述技術問題而提供了一種車輛環景影像顯示方法。In order to solve the above technical problems, a vehicle surround image display method is provided.
本發明的目的可以透過以下的技術方案來實現：一種車輛環景影像顯示方法，包含：通過裝設於一車輛上的複數個攝影機擷取所述車輛移動時的周圍環境影像以產生連續影像幀，通過所述連續影像幀的即時影像組成對應於所述車輛外側區域的第一影像，接收所述車輛的行車資料，計算所述行車資料來得到所述連續影像幀的延遲影像，通過對所述連續影像幀的延遲影像進行增益運算組成對應於所述車輛的底盤區域的第二影像，通過拼接所述第一影像及所述第二影像即時產生一車輛環景影像，顯示所述車輛環景影像。The object of the present invention can be achieved through the following technical solutions: A vehicle surrounding image display method, comprising: capturing the surrounding environment images of a vehicle when it moves through a plurality of cameras installed on a vehicle to generate continuous image frames, composing a first image corresponding to the outer area of the vehicle through the real-time images of the continuous image frames, receiving the driving data of the vehicle, calculating the driving data to obtain the delayed images of the continuous image frames, composing a second image corresponding to the chassis area of the vehicle by performing gain calculation on the delayed images of the continuous image frames, generating a vehicle surrounding image in real time by splicing the first image and the second image, and displaying the vehicle surrounding image.
根據本案構想，車輛外側區域還包括一影像比對區域，通過比對在所述影像比對區域中的所述連續影像幀的即時影像與所述連續影像幀的延遲影像來調整所述第一影像或第二影像。According to the concept of the present invention, the outer area of the vehicle further includes an image comparison area, and the first image or the second image is adjusted by comparing the real-time image of the continuous image frame in the image comparison area with the delayed image of the continuous image frame.
根據本案構想，還包括將所述連續影像幀從第一視角執行座標轉換為第二視角。According to the concept of the present invention, the method also includes converting the coordinates of the continuous image frames from a first viewing angle to a second viewing angle.
根據本案構想，所述車輛的行車資料至少包含所述車輛的轉向角、車速及檔位。According to the concept of the present invention, the driving data of the vehicle at least includes the steering angle, speed and gear position of the vehicle.
根據本案構想，所述影像比對區域相鄰所述車輛的底盤區域。According to the concept of this case, the image comparison area is adjacent to the chassis area of the vehicle.
根據本案構想，所述增益運算包含調整所述連續影像幀的延遲影像在每一幀的影像透明度變化。According to the concept of the present invention, the gain calculation includes adjusting the image transparency change of the delayed image of the continuous image frames in each frame.
本發明具有以下優點： 1、通過對安裝車輛外側的攝影機擷取的連續影像幀的延遲影像進行增益運算可產生成對應於車輛的底盤區域的影像，除了無需增加安裝在車輛底盤下方的攝影機，使車輛在行駛中，如攝影機視野無遮蔽般行駛，同時可以減少車輛陰影或車燈造成的光斑對於組成車輛環景影像的影響。 2、透過影像在拼接時特定區域的比對，可降低車輛外部區域影像與對應車輛底盤的影像間因車輛移動的時間先後造成的影像拼接差異，並可以藉此調整車輛外部區域的影像，降低此區域因車輛造成的陰影及車燈造成的光斑。 The invention has the following advantages: 1. By performing gain calculation on the delayed images of the continuous image frames captured by the camera installed on the outside of the vehicle, an image corresponding to the chassis area of the vehicle can be generated. In addition to not needing to add a camera installed under the chassis of the vehicle, the vehicle can be driven as if the camera's field of view is unobstructed. At the same time, the influence of the vehicle's shadow or the light spot caused by the headlights on the formation of the vehicle's surrounding image can be reduced. 2. By comparing specific areas during image stitching, the image stitching difference between the image of the vehicle's external area and the image of the corresponding vehicle chassis caused by the time sequence of vehicle movement can be reduced, and the image of the vehicle's external area can be adjusted to reduce the shadows caused by the vehicle and the light spots caused by the headlights in this area.
為使本發明實施方式的目的、技術方案和優點更加清楚，下面將結合本發明實施方式中的附圖，對本發明實施方式中的技術方案進行清楚、完整地描述，顯然，所描述的實施方式是本發明一部分實施方式，而不是全部的實施方式。基於本發明中的實施方式，本領域普通技術人員在沒有作出創造性勞動前提下所獲得的所有其他實施方式，都屬於本發明保護的範圍。因此，以下對在附圖中提供的本發明的實施方式的詳細描述並非旨在限制要求保護的本發明的範圍，而是僅僅表示本發明的選定實施方式。基於本發明中的實施方式，本領域普通技術人員在沒有作出創造性勞動前提下所獲得的所有其他實施方式，都屬於本發明保護的範圍。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative labor are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative labor are within the scope of protection of the present invention.
在本發明的描述中，需要理解的是，術語“上”、“下”等指示的方位或位置關係為基於附圖所示的方位或位置關係，僅是為了便於描述本發明和簡化描述，而不是指示或暗示所指的設備或元件必須具有特定的方位、以特定的方位構造和操作，因此不能理解為對本發明的限制。In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "upper" and "lower" etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the equipment or components referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as a limitation on the present invention.
在本發明的描述中，“多個”的含義是兩個或兩個以上，除非另有明確具體的限定。In the description of the present invention, “plurality” means two or more than two, unless otherwise clearly and specifically defined.
在本發明中，除非另有明確的規定和限定，術語“安裝”、“相連”、“連接”、“固定”等術語應做廣義理解，例如，可以是固定連接，也可以是可拆卸連接，或成一體；可以是機械連接，也可以是電連接；可以是直接相連，也可以通過中間媒介間接相連，可以是兩個元件內部的連通或兩個元件的相互作用關係。對於本領域的普通技術人員而言，可以根據具體情況理解上述術語在本發明中的具體含義。In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
下面結合附圖與具體實施方式對本發明作進一步詳細描述：The present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods:
請參考圖1，本發明公開了一種車輛環景影像顯示系統100安裝在一車輛上，包括影像訊息接收模組101、攝影機102、處理單元103、車輛訊息總成介面104以及儲存模組105。1 , the present invention discloses a vehicle surround image display system 100 installed on a vehicle, including an image information receiving module 101, a camera 102, a processing unit 103, a vehicle information assembly interface 104 and a storage module 105.
影像訊息接收模組101用來獲取來自安裝在車輛多顆的攝影機102所擷取的連續影像幀，特別是用來獲取車輛移動時的周圍環境影像幀以產生連續影像幀。影像訊息接收模組101通常具有影像處理單元(ISP, Image Signal Processor)，可處理如鏡頭矯正、像素矯正、顏色插值、Bayer 雜訊去除、 白平衡矯正、 色彩矯正、gamma 矯正、色彩空間轉換等功能。影像訊息接收模組101一般可具有LVDS(Low Voltage Differential Signaling，低電壓差分信號)或MIPI CSI傳輸介面(未標示)，為了能獲取較好的影像品質，影像訊息可以為LVDS格式訊息。The image information receiving module 101 is used to obtain continuous image frames captured by multiple cameras 102 installed on the vehicle, and is particularly used to obtain the surrounding environment image frames when the vehicle moves to generate continuous image frames. The image information receiving module 101 usually has an image processing unit (ISP, Image Signal Processor), which can process functions such as lens correction, pixel correction, color interpolation, Bayer noise removal, white balance correction, color correction, gamma correction, color space conversion, etc. The image information receiving module 101 may generally have a LVDS (Low Voltage Differential Signaling) or MIPI CSI transmission interface (not shown). In order to obtain better image quality, the image information may be in LVDS format.
複數個攝影機102被安裝在車輛上，如可被安裝在車輛的前側(例如，前表面)的前攝影機，被安裝在車輛的相對後側的後攝影機，以及車輛左右外側的左、右攝影機，由於這些攝影機102通常具備影像感測器並透過廣角鏡頭或魚眼鏡頭從環境接收影像。影像感測器包含各自擷取光以產生影像資料的像素的水準及垂直列。來自像素的影像資料可結合以形成以產生連續影像幀。在本發明中，複數個攝影機102設置在車輛的不同側，可拍攝車輛外側的周圍影像並具有不同的視野，整體而言，這些不同視野的影像可構成車輛外側周圍環境完整的影像視野，並經由影像訊息接收模組101傳送至處理單元103。A plurality of cameras 102 are mounted on a vehicle, such as a front camera that may be mounted on the front side (e.g., the front surface) of the vehicle, a rear camera that may be mounted on the opposite rear side of the vehicle, and left and right cameras on the left and right outer sides of the vehicle, as these cameras 102 are typically equipped with image sensors and receive images from the environment through a wide-angle lens or a fisheye lens. The image sensor includes horizontal and vertical rows of pixels that each capture light to generate image data. The image data from the pixels may be combined to form a continuous image frame. In the present invention, a plurality of cameras 102 are disposed on different sides of the vehicle to capture images of the surroundings outside the vehicle with different fields of view. Overall, these images of different fields of view can constitute a complete image field of view of the surrounding environment outside the vehicle and are transmitted to the processing unit 103 via the image information receiving module 101.
本發明的處理單元103為本發明的主要的運算單元，如一或多個通用處理器、如數位訊號處理器(DSPs)的專用處理器或其他數文書處理電路。處理單元103與影像訊息接收模組101連接，可接收且處理從複數個攝影機102接收的連續影像幀，並運算自影像訊息接收模組101轉換後的連續影像幀。同時，處理單元103可透過通訊路徑 (例如，一或多個電纜，以利控制器區域網路匯流排的通訊匯流排實施於其上)與車輛控制系統通訊連接，更進一步是透過車輛訊息總成介面104連接車輛CAN匯流排，從車輛控制系統接收車輛資料，如車輛速度、轉向角等及其他有關車輛的行車資料。儲存模組105可用來儲存影像。舉例來說，處理單元103可維持一或多個影像緩衝記憶體，並儲存從複數個攝影機102接收的連續影像幀於儲存模組105中。此外，儲存模組105可儲存來自車輛的各式感測訊息或其他有關車輛的行車資料。儲存模組104可以是內建的積體電路的記憶體，也可以是外接式的存儲裝置，如SSD或SD卡。The processing unit 103 of the present invention is the main computing unit of the present invention, such as one or more general-purpose processors, dedicated processors such as digital signal processors (DSPs) or other digital data processing circuits. The processing unit 103 is connected to the image information receiving module 101, and can receive and process continuous image frames received from a plurality of cameras 102, and calculate the continuous image frames converted from the image information receiving module 101. At the same time, the processing unit 103 can be connected to the vehicle control system through a communication path (e.g., one or more cables, so that the communication bus of the controller area network bus is implemented thereon), and further connected to the vehicle CAN bus through the vehicle information assembly interface 104 to receive vehicle data from the vehicle control system, such as vehicle speed, steering angle, and other driving data related to the vehicle. The storage module 105 can be used to store images. For example, the processing unit 103 can maintain one or more image buffer memories and store continuous image frames received from multiple cameras 102 in the storage module 105. In addition, the storage module 105 can store various sensing information from the vehicle or other driving data related to the vehicle. The storage module 104 can be a built-in integrated circuit memory or an external storage device such as an SSD or an SD card.
請一併參考圖1至圖7根據本發明的一種車輛環景影像顯示系統100安裝於一車輛上運作的實施方式。根據該系統100可以產生車輛環景影像300，其中車輛環景影像300又可分為車輛外側區域301的影像(本發明的第一影像)及車輛的底盤區域302的影像(本發明的第二影像)，而本發明的系統100產生這兩區域影像的方法具有以下步驟：Please refer to FIG. 1 to FIG. 7 for an embodiment of a vehicle surround image display system 100 installed on a vehicle for operation. The system 100 can generate a vehicle surround image 300, wherein the vehicle surround image 300 can be divided into an image of an outer area 301 of the vehicle (a first image of the present invention) and an image of a chassis area 302 of the vehicle (a second image of the present invention). The method of generating the two area images of the system 100 of the present invention comprises the following steps:
步驟S01，擷取車輛移動時的周圍環境影像以產生連續影像幀並組成對應於所述車輛外側區域的第一影像。Step S01, capturing the surrounding environment image of the moving vehicle to generate continuous image frames and compose a first image corresponding to the outer area of the vehicle.
安裝在車輛各個位置的複數個攝影機102，舉例來說，可安裝在車輛的前、後及/或側面，各自由不同的安裝視角擷取車輛移動時周圍環境影像以產生連續影像幀。由於這些不同安裝視角的攝影機102安裝在車輛外側，因此各攝影機所擷取分別的連續影像幀，在本發明中主要可構成車輛外側區域301的影像，即對應車輛外側區域301的第一影像，如圖3所示。更進一步來說，個別的攝影機102所擷取的影像通常是攝影機光軸方向所拍攝的前視角影像。對應於不同攝影機的前視角影像，本發明的處理單元103在組合所有對應於車輛外側區域301的第一影像之前，須將各攝影機102擷取車輛移動時的周圍環境影像幀的第一視角(即個別攝影機的前視角)執行座標轉換為第二視角(即共同視角)，其中第二視角通常為反映車輛由上往下的視角，或稱為鳥瞰視角，如此可讓車輛駕駛方便由這些不同攝影機的視角經座標轉換後的共同視角來觀察車輛外側周圍的影像，當然這些來自不同視角的攝影機102所擷取的連續影像幀是經同步時間處理且為即時拍攝的影像。值得一提的是，為了能反映車輛行駛過程中的即時影像與真實車輛周圍環境，在對應車輛外側區域301的第一影像中，因車輛本身投射地面的陰影或是車燈產生的光斑等現象，是不經由影像運算或是人工智慧處理被抹去。The plurality of cameras 102 installed at various positions of the vehicle, for example, can be installed at the front, rear and/or side of the vehicle, and each captures the image of the surrounding environment when the vehicle moves from a different installation angle to generate a continuous image frame. Since these cameras 102 with different installation angles are installed on the outside of the vehicle, the respective continuous image frames captured by each camera can mainly constitute the image of the outer area 301 of the vehicle in the present invention, that is, the first image corresponding to the outer area 301 of the vehicle, as shown in FIG3. Furthermore, the image captured by the individual camera 102 is usually a front view angle image taken in the direction of the camera optical axis. Corresponding to the front-view images of different cameras, the processing unit 103 of the present invention must perform coordinate conversion on the first view angle (i.e., the front view angle of each camera) of the surrounding environment image frames captured by each camera 102 when the vehicle moves, into a second view angle (i.e., a common view angle) before combining all the first images corresponding to the outer area 301 of the vehicle. The second view angle is usually a view angle reflecting the vehicle from top to bottom, or called a bird's-eye view angle. This allows the driver to conveniently observe the images of the surrounding outside of the vehicle from the common view angle after the coordinate conversion of the view angles of these different cameras. Of course, the continuous image frames captured by these cameras 102 with different view angles are processed in a synchronized time and are real-time images. It is worth mentioning that in order to reflect the real-time images of the vehicle during driving and the real environment around the vehicle, in the first image corresponding to the outer area 301 of the vehicle, the shadow cast by the vehicle itself on the ground or the light spot produced by the headlights are erased without image calculation or artificial intelligence processing.
其中，處理單元103將各攝影機102擷取車輛移動時的周圍環境影像幀的第一視角(即個別攝影機的前視角)執行座標轉換為第二視角(即共同視角)的具體做法，請一併參考圖4。如圖4中所示，以其中一個攝影機102為例，通過攝影機所擷取的影像，可包含在坐標系中，如在攝影機的前視角的平面401中沿著向量403的點X1的影像資料(例如，像素)。向量403延伸在平面401中的點X1與在鳥瞰視角對應的目標平面402中的對應點Xπ之間，其中目標平面402在本發明中即為地平面。由於向量403被繪製於攝影機的前視角平面401上的點與目標平面402之間，所以向量403可表示攝影機被安裝在車輛上且朝向地面的角度。The specific method of the processing unit 103 performing coordinate conversion of the first view angle (i.e., the front view angle of each camera) of the surrounding environment image frame captured by each camera 102 when the vehicle moves into the second view angle (i.e., the common view angle) is also referred to FIG4. As shown in FIG4, taking one of the cameras 102 as an example, the image captured by the camera can be included in the coordinate system, such as the image data (e.g., pixels) of the point X1 along the
在攝影機的前視角的平面401通過攝影機所擷取的連續影像幀，可根據矩陣公式Xπ = H * X1而轉換(例如，投影)至目標平面402上。矩陣「H」可通過對於攝影機的校正程式來計算及決定。舉例來說，攝影機可安裝在車輛上的所需位置，且校正影像可用以產生已知環境的影像。在這種情況下，可以獲得若干對在平面401及目標平面402中的對應點(例如，點X1及點Xπ可構成一對)，而「H」可基於已知的點來計算。Continuous image frames captured by the camera in the
作為實例，點X1可通過平面401的坐標系統而被定義為
，而點Xπ可通過目標平面402的坐標系統而被定義為
。在這種情況下，矩陣「H」可被定義為如在方程式1中所示，點X1與點Xπ之間的關係可被定義為如在方程式2中所示。
As an example, point X1 may be defined by the coordinate system of
方程式1： Equation 1:
方程式2： Equation 2:
安裝在車輛的各攝影機102，可通過處理單元103計算各攝影機102的前視角的平面401執行座標轉換為目標平面402的各個矩陣「H」，而校正轉換至目標平面402上。也就是說，在複數個攝影機102被安裝在車輛的前、後及側面的情況中，處理單元103可根據各攝影機預先決定的各個轉換矩陣而加以校正，再通過該等轉換矩陣將該複數個攝影機102擷取的連續影像幀從第一視角(即個別攝影機的前視角)執行座標轉換為第二視角(即共同視角)，經過影像拼接得到共同的平面影像，如本發明圖3中對應車輛的鳥瞰視角的影像300。最後處理單元103將這些經座標轉換後的連續影像幀的即時影像組成對應於車輛外側區域301的第一影像，同時將這些經座標轉換後的連續影像幀儲存於儲存模組105中，以作為本發明後續步驟所使用。Each camera 102 installed on the vehicle can be calibrated and converted to the
顯然地，由於本發明中複數個攝影機102安裝於車輛外側，即使其搭載廣角鏡頭或是魚眼鏡頭，但仍受到車輛本身的遮擋，視野因而產生遮蔽，如圖3中車輛所在的區域，或進一步說，在圖3中的鳥瞰影像，複數個攝影機102受到車輛本身所遮蔽的區域投影至地平面的區域，即為對應車輛的底盤區域302。因此，在後續步驟S02至S04為本發明藉由在S01步驟中所儲存經座標轉換後的連續影像幀，產生被車輛本身所遮蔽的區域(車輛的底盤區域302)影像(本發明的第二影像)的方法。Obviously, since the plurality of cameras 102 in the present invention are installed on the outside of the vehicle, even if they are equipped with wide-angle lenses or fish-eye lenses, they are still blocked by the vehicle itself, and the field of vision is thus blocked, such as the area where the vehicle is located in FIG3 , or more specifically, in the bird's-eye view image in FIG3 , the area where the plurality of cameras 102 are blocked by the vehicle itself is projected onto the ground plane, which is the chassis area 302 corresponding to the vehicle. Therefore, the subsequent steps S02 to S04 are a method of the present invention to generate an image (the second image of the present invention) of the area blocked by the vehicle itself (the chassis area 302 of the vehicle) by storing the continuous image frames after coordinate conversion in step S01.
步驟S02，接收車輛的行車資料。Step S02, receiving vehicle driving data.
在此步驟中，車輛的行車資料可通過控制及/或監測系統(例如，經通訊路徑如控制器區域網路匯流排，controller area network bus，CAN bus)來提供，最後經由車輛訊息總成介面104傳送至處理單元103。行車資料，舉例如車輛的轉向角、速度、檔位等，即足以識別車輛的移動狀態的資料，這些資料將被處理單元計算並判定在步驟S01先前擷取並儲存的連續影像幀的哪個部分，可以用來產生車輛本身所遮蔽的區域(車輛的底盤區域302)的影像。In this step, the driving data of the vehicle can be provided by the control and/or monitoring system (for example, via a communication path such as a controller area network bus, CAN bus), and finally transmitted to the processing unit 103 via the vehicle information assembly interface 104. The driving data, such as the steering angle, speed, gear position, etc. of the vehicle, that is, data sufficient to identify the moving state of the vehicle, will be calculated by the processing unit to determine which part of the continuous image frame previously captured and stored in step S01 can be used to generate an image of the area blocked by the vehicle itself (the chassis area 302 of the vehicle).
步驟S03，計算行車資料來得到連續影像幀的延遲影像。Step S03, calculating the driving data to obtain the delayed image of the continuous image frame.
圖5描述計算行車資料來得到連續影像幀的延遲影像的實施示意圖。其中，Φ為轉向角 (例如，平均前輪角度)、V為車速及L為車輛軸距長度 (亦即，在車輛前及後輪之間的長度)。在此步驟中，主要是計算車輛的移動，藉由車輛的行車資料可以獲得未來時間點的車輛位置，並由先前擷取並儲存的連續影像幀根據計算後的車輛位置來得到連續影像幀的延遲影像，以用來產生對應於車輛的底盤區域302的影像。FIG5 is a schematic diagram of an implementation of calculating driving data to obtain delayed images of continuous image frames. In which, Φ is the steering angle (e.g., the average front wheel angle), V is the vehicle speed, and L is the vehicle wheelbase length (i.e., the length between the front and rear wheels of the vehicle). In this step, the movement of the vehicle is mainly calculated. The vehicle position at a future time point can be obtained from the driving data of the vehicle, and the delayed images of the continuous image frames are obtained according to the calculated vehicle position from the previously captured and stored continuous image frames to generate an image corresponding to the chassis area 302 of the vehicle.
車輛的角速度可基於目前的車輛速度V、軸距長度L及轉向角Φ(例如，如在方程式3中所示)來計算。The angular velocity of the vehicle may be calculated based on the current vehicle speed V, the wheelbase length L, and the steering angle Φ (eg, as shown in Equation 3).
方程式3： Equation 3:
對於各位置，對應的未來位置可基於預測移動量Δyi來計算。預測移動量Δyi可基於距車輛的旋轉半徑的中心O i的位置的X軸距離r xi及Y軸距離L xi以及車輛角速度來計算(例如，根據方程式4)。 For each position, the corresponding future position can be calculated based on the predicted movement Δyi. The predicted movement Δyi can be calculated based on the X-axis distance rxi and Y-axis distance Lxi from the center Oi of the rotation radius of the vehicle and the vehicle angular velocity (for example, according to Equation 4).
方程式4： Equation 4:
對於車輛本身所遮蔽的區域(車輛的底盤區域302)的影像內的各位置，預測移動量Δyi可用以決定預測的未來位置是否落在車輛周圍環境的目前可見區域(例如，車輛外側區域301)內。如果預測的車輛移動位置是位於目前可見區域內，則在車輛移動至預測位置時，根據本發明，處理單元103可計算在步驟S01已由複數個攝影機102擷取並儲存車輛移動時的周圍環境的連續影像幀中，對應於預測移動量Δyi的區塊，而對應區塊的連續影像幀便可以用來產生車輛本身所遮蔽的區域(即車輛的底盤區域302)的影像。因此，對於車輛移動至未來時間點時，相較於車輛外側區域301的影像(第一影像)是由攝影機102擷取的連續影像幀的即時影像所組成，這些被用作產生車輛本身所遮蔽的區域(即車輛的底盤區域302)對應區塊的影像，則可視為前述連續影像幀的延遲影像，亦即在預測車輛移動對應的已儲存的連續影像幀。For each position in the image of the area occluded by the vehicle itself (the vehicle chassis area 302), the predicted movement Δyi can be used to determine whether the predicted future position falls within the currently visible area of the vehicle's surroundings (e.g., the vehicle's outer area 301). If the predicted vehicle movement position is within the currently visible area, then when the vehicle moves to the predicted position, according to the present invention, the processing unit 103 can calculate the block corresponding to the predicted movement amount Δyi in the continuous image frames of the surrounding environment when the vehicle moves, which have been captured and stored by multiple cameras 102 in step S01, and the continuous image frames corresponding to the block can be used to generate an image of the area obscured by the vehicle itself (i.e., the chassis area 302 of the vehicle). Therefore, when the vehicle moves to a future time point, compared to the image of the outer area 301 of the vehicle (the first image), which is composed of real-time images of the continuous image frames captured by the camera 102, these images used to generate the corresponding blocks of the area obscured by the vehicle itself (i.e., the chassis area 302 of the vehicle) can be regarded as delayed images of the aforementioned continuous image frames, that is, the stored continuous image frames corresponding to the predicted vehicle movement.
同樣地，由於這些對應車輛移動所預先儲存的連續影像幀可能仍然具有車輛本身投射地面的陰影或是車燈產生的光斑，如因此做為產生車輛的底盤區域302的影像時，會造成該區域302的影像品質不良，如原有連續影像幀的陰影產生的不連續、光斑的過曝，進一步對駕駛造成不良的視覺干擾，或是誤判該區域302在地面上有障礙物等不良影響。因此，在下一步驟中，將針對這些預先儲存的連續影像幀進行處理。Similarly, since these pre-stored continuous image frames corresponding to vehicle movement may still have the shadow cast by the vehicle itself on the ground or the light spot produced by the headlights, if they are used to generate the image of the chassis area 302 of the vehicle, the image quality of the area 302 will be poor, such as discontinuity caused by the shadow of the original continuous image frames, overexposure of the light spot, further causing adverse visual interference to the driver, or misjudging the area 302. Therefore, in the next step, these pre-stored continuous image frames will be processed.
步驟S04，對連續影像幀的延遲影像進行增益運算組成對應於所述車輛的底盤區域的第二影像。Step S04, performing gain calculation on the delayed images of the continuous image frames to form a second image corresponding to the chassis area of the vehicle.
基於前一步驟S03，為了將用來產生車輛的底盤區域302的預先儲存的連續影像幀(即連續影像幀的延遲影像)進行處理，以減少車輛陰影或是車燈對於影像品質的影響。因此，本發明的處理單元103可針對這些預先儲存的連續影像幀進行增益運算組成對應於車輛的底盤區域302的影像(第二影像)。為了清楚說明增益運算的作法，請一併參考圖6，預先儲存的連續影像幀的延遲圖像對應在車輛的外側區域301，此時，在區域301可能會存在有車輛本身造成的陰影或是車燈造成的光斑，本發明的處理單元103則對連續影像幀的延遲影像進行增益運算，以車輛側邊方向的影像增益運算為例(A-A’方向)，增益運算的方式，舉例可以如圖6(a)中，預先排除車身向外延伸距離s所形成的範圍內的影像，亦即增益w為0，也就是說，連續影像幀的延遲影像在離車身s距離內的範圍內的部分，也就是車輛本身造成的陰影或是車燈造成的光斑最容易發生的區域範圍，在車輛移動後不作為產生車輛的底盤區域302的影像。而增益w不為0時，可視為將連續影像幀的延遲影像作權重值的調整，例如調整連續影像幀的延遲影像在每一幀的影像透明度變化，直到增益w為1(此時透明度為0)。一般而言，s可以為由車身外側起算40公分至60公分的距離，或是進一步可以根據車輛行駛的狀態，如白天或夜間時段、環境光線的亮度、室外或室內、GPS定位訊號等，由處理單元103內建的預設值進行調整。如同圖6(a)做法，為了淡化車輛陰影或車燈造成光斑的影像，除了預先排除連續影像幀的延遲影像在離車身s距離內的範圍內的部分，在圖6(b)的增益w是往遠離車身方向以線性方式遞增；圖6(c)的增益w則是以二次曲線方程往遠離車身方向遞增，同樣地，這些增益的運算可內建於處理單元103成為預設值。詳細來說，如在車輛移動到下一位置時，期間所被使用到的連續影像幀的延遲影像的每一幀都可透過前述的增益計算來降低車輛陰影或是車燈對於影像品質的影響，最後，通過處理單元103將這些經過增益運算後的連續影像幀的延遲影像組成對應於車輛的底盤區域的影像(即本發明的第二影像)，且儲存於儲存單元105。以上本發明的增益運算僅以本實施方式舉例說明，但不限於前述增益運算的方法。對於預先儲存的連續影像幀的延遲影像可根據對應於車輛的外側區域301作整體的增益運算，換言之，不僅是車輛側邊方向的區域作增益運算，還包括整個對應於車輛的外側區域301的影像。Based on the previous step S03, in order to process the pre-stored continuous image frames (i.e., delayed images of the continuous image frames) used to generate the chassis area 302 of the vehicle to reduce the impact of the vehicle shadow or headlights on the image quality, the processing unit 103 of the present invention can perform gain calculation on these pre-stored continuous image frames to form an image (second image) corresponding to the chassis area 302 of the vehicle. To clearly explain the gain calculation method, please refer to FIG. 6 . The pre-stored delayed image of the continuous image frame corresponds to the outer area 301 of the vehicle. At this time, there may be a shadow caused by the vehicle itself or a light spot caused by the headlights in the area 301. The processing unit 103 of the present invention performs a gain calculation on the delayed image of the continuous image frame. Taking the image gain calculation in the side direction of the vehicle as an example (A-A’ direction), The gain calculation method can be, for example, as shown in FIG6(a), pre-excluding the image within the range formed by the vehicle body extending outward by a distance s, that is, the gain w is 0, that is, the portion of the delayed image of the continuous image frame within the range of s from the vehicle body, that is, the area where the shadow caused by the vehicle itself or the light spot caused by the headlights is most likely to occur, is not used as the image of the chassis area 302 of the vehicle after the vehicle moves. When the gain w is not 0, it can be regarded as adjusting the weight value of the delayed image of the continuous image frame, for example, adjusting the image transparency change of the delayed image of the continuous image frame in each frame until the gain w is 1 (the transparency is 0 at this time). Generally speaking, s can be a distance of 40 cm to 60 cm from the outside of the vehicle body, or can be further adjusted by the default value built into the processing unit 103 according to the driving status of the vehicle, such as daytime or nighttime, the brightness of the ambient light, outdoor or indoor, GPS positioning signal, etc. As in FIG6(a), in order to weaken the image of the shadow of the vehicle or the light spot caused by the headlights, in addition to pre-excluding the part of the delayed image of the continuous image frame within the range of the distance s from the vehicle body, the gain w in FIG6(b) increases linearly in the direction away from the vehicle body; the gain w in FIG6(c) increases in the direction away from the vehicle body according to the quadratic curve equation. Similarly, the calculation of these gains can be built into the processing unit 103 as default values. Specifically, when the vehicle moves to the next position, each delayed image of the continuous image frames used during the period can reduce the impact of the vehicle shadow or headlights on the image quality through the aforementioned gain calculation. Finally, the delayed images of the continuous image frames after the gain calculation are combined into an image corresponding to the chassis area of the vehicle (i.e., the second image of the present invention) through the processing unit 103 and stored in the storage unit 105. The gain calculation of the present invention is only illustrated by this embodiment, but is not limited to the aforementioned gain calculation method. The delayed image of the pre-stored continuous image frames can be subjected to an overall gain calculation based on the outer region 301 corresponding to the vehicle. In other words, the gain calculation is performed not only on the region in the side direction of the vehicle, but also on the entire image corresponding to the outer region 301 of the vehicle.
步驟S05，通過拼接第一影像及第二影像即時產生一車輛環景影像。In step S05, a vehicle surrounding image is generated in real time by splicing the first image and the second image.
針對車輛移動時經由連續影像幀的即時影像組成對應於車輛外側區域301的第一影像，以及通過對連續影像幀的延遲影像進行增益運算組成對應於所述車輛的底盤區域302的第二影像，在此步驟中，處理單元103便將第一影像及第二影像進行拼接以形成本發明的車輛環景影像300。由於本發明可通過結合在步驟S01期間的先前所儲存的連續影像幀，並根據行車資料預測車輛位置，加以計算後用來產生對應車輛的底盤區域302的影像，因此在任何時間，除了在車輛移動時可即時顯示車輛外側區域301的影像外，儘管車輛擋住攝影機視野的部分周圍環境(即車輛的底盤區域302)，透過本發明步驟S01~步驟S05可實現彷佛車輛行駛過程中，攝影機視野無任何遮蔽般。本發明進一步考慮影像拼接的品質而言，對應於車輛外側區域301的第一影像是車輛行駛的當下連續影像幀的即時影像，而對應於所述車輛的底盤區域302的第二影像是連續影像幀的延遲影像，也就是車輛在稍早的位置預先儲存的連續影像幀，由於兩者影像有著時間順序上的差異，因此在將影像進行拼接時，可能會造成影像的不連續，特別是發生在車輛移動時所伴隨的車輛陰影或是當車輛的車燈造成的光斑明顯時，即第一影像具有車輛陰影或是車燈造成的光斑，而第二影像在本發明中則是淡化車輛陰影或是車燈造成的光斑。因此在本發明中，處理單元103還可以進一步比對第一影像及第二影像間的影像差異，並進行影像的調整，如亮度、對比或是伽瑪值(gamma)等相關影像參數。具體作法如圖7，處理單元103可以計算第一影像及第二影像在拼接處附近區域的影像值，如車輛外側區域301還包括一影像比對區域303，該影像比對區域303相鄰車輛的底盤區域302，以本發明的實施方式可以由車身側向外延伸30公分以內所形成的區域範圍。通過比對在影像比對區域303中的連續影像幀的即時影像與連續影像幀的延遲影像來調整車輛外側區域301的第一影像或車輛的底盤區域302的第二影像，使第一影像及第二影像在拼接時不產生太大的影像差異，甚至可因本步驟的比對，調整第一影像存在車輛陰影或是車燈造成的光斑時的影像，藉以提升車輛環景影像的品質。When the vehicle moves, a first image corresponding to the outer area 301 of the vehicle is formed by the real-time image of the continuous image frame, and a second image corresponding to the chassis area 302 of the vehicle is formed by performing gain calculation on the delayed image of the continuous image frame. In this step, the processing unit 103 splices the first image and the second image to form the vehicle surrounding image 300 of the present invention. Since the present invention can generate an image corresponding to the chassis area 302 of the vehicle by combining the continuous image frames previously stored during step S01 and predicting the vehicle position based on the driving data, therefore, at any time, in addition to being able to display the image of the outer area 301 of the vehicle in real time when the vehicle is moving, even though the vehicle blocks part of the surrounding environment (i.e., the chassis area 302 of the vehicle) from the camera's field of view, through steps S01 to S05 of the present invention, it can be achieved as if the camera's field of view is not obstructed during the driving process of the vehicle. The present invention further considers the quality of image stitching. The first image corresponding to the outer area 301 of the vehicle is a real-time image of the continuous image frame at the time when the vehicle is driving, and the second image corresponding to the chassis area 302 of the vehicle is a delayed image of the continuous image frame, that is, a continuous image frame pre-stored at an earlier position of the vehicle. Since the two images have a difference in time sequence, image discontinuity may be caused when the images are stitched, especially when the vehicle shadow accompanying the movement of the vehicle or when the light spot caused by the vehicle headlights is obvious, that is, the first image has the vehicle shadow or the light spot caused by the headlights, while the second image in the present invention is to fade the vehicle shadow or the light spot caused by the headlights. Therefore, in the present invention, the processing unit 103 can further compare the image difference between the first image and the second image, and adjust the image, such as brightness, contrast or gamma and other related image parameters. The specific method is shown in Figure 7. The processing unit 103 can calculate the image value of the first image and the second image in the vicinity of the splicing point. For example, the outer area 301 of the vehicle further includes an image comparison area 303. The image comparison area 303 is adjacent to the chassis area 302 of the vehicle. In the embodiment of the present invention, the area range can be formed by extending from the side of the vehicle to the outside within 30 cm. By comparing the real-time image of the continuous image frames in the image comparison area 303 with the delayed image of the continuous image frames, the first image of the vehicle outer area 301 or the second image of the vehicle chassis area 302 is adjusted so that the first image and the second image do not produce too great an image difference when they are stitched together. The comparison in this step can even adjust the first image when there is a vehicle shadow or a light spot caused by a headlight, thereby improving the quality of the vehicle surrounding image.
步驟S06，顯示車輛環景影像。Step S06, displaying the vehicle surrounding image.
經由前述步驟S01至步驟S05，當處理單元103已完成影像的拼接後，可透過連接一顯示模組(未示出)以作為車輛環景影像300的輸出顯示，實作上，顯示模組可以是LCD、OLED、PLED或Micro LED監視器。優選地，顯示模組亦可以具有可以互動的觸控功能。影像顯示的方式，除了可顯示拼接後的車輛環景影像300，也可以顯示車輛的框架，可以為半透明顯示或完全不顯示車輛的框架，可依照駕駛員喜好，透過顯示模組選擇即可。After the processing unit 103 has completed the image stitching through the aforementioned steps S01 to S05, it can be connected to a display module (not shown) as an output display of the vehicle surround image 300. In practice, the display module can be an LCD, OLED, PLED or Micro LED monitor. Preferably, the display module can also have an interactive touch function. In addition to displaying the stitched vehicle surround image 300, the image display method can also display the frame of the vehicle. The frame of the vehicle can be displayed semi-transparently or not at all. The driver can choose through the display module according to his preference.
以上所述，僅是本發明的較佳實施例，並非對本發明作任何形式上的限制，雖然本發明已以較佳實施例揭露如上，然而並非用以限定本發明,任何熟悉本專業的技術人員,在不脫離本發明技術方案範圍內，當可利用上述揭示的方法及技術內容作出些許的更動或修飾為等同變化的等效實施例，但凡是未脫離本發明技術方案的內容，依據本發明的技術實質對以上實施例所作的任何簡單修改、等同變化與修飾，均仍屬於本發明技術方案的範圍內。The above is only the preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as the preferred embodiment, it is not intended to limit the present invention. Any technician familiar with the profession can make slight changes or modifications to the methods and technical contents disclosed above within the scope of the technical solution of the present invention. Any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.
100:車輛環景影像顯示系統 101:影像訊息接收模組 102:攝影機 103:處理單元 104:車輛訊息總成介面 105:儲存模組 300:車輛環景影像 301:車輛外側區域 302:車輛的底盤區域 303:影像比對區域 401:攝影機的前視角的平面 402:目標平面 403:影像點在攝影機的前視角的平面與目標平面的延伸向量 100: Vehicle surround image display system 101: Image information receiving module 102: Camera 103: Processing unit 104: Vehicle information assembly interface 105: Storage module 300: Vehicle surround image 301: Vehicle exterior area 302: Vehicle chassis area 303: Image comparison area 401: Camera front view plane 402: Target plane 403: Extension vector of image point on camera front view plane and target plane
圖1是本發明的一種車輛環景影像顯示系統的結構示意圖； 圖2是本發明的一種車輛環景影像顯示的方法流程圖； 圖3是本發明的一種車輛環景影像顯示區域的實施示意圖； 圖4是本發明在連續影像幀執行座標轉換視角的實施示意圖； 圖5是在計算行車資料來得到連續影像幀的延遲影像的實施示意圖； 圖6是本發明通過對連續影像幀的延遲影像進行增益運算的實施示意圖； 圖7是本發明在車輛外側區域包括一影像比對區域的實施示意圖。 FIG1 is a schematic diagram of the structure of a vehicle surround image display system of the present invention; FIG2 is a flow chart of a vehicle surround image display method of the present invention; FIG3 is a schematic diagram of an implementation of a vehicle surround image display area of the present invention; FIG4 is a schematic diagram of the implementation of the present invention in performing coordinate conversion view angle in a continuous image frame; FIG5 is a schematic diagram of the implementation of calculating driving data to obtain a delayed image of a continuous image frame; FIG6 is a schematic diagram of the implementation of the present invention by performing gain calculation on the delayed image of a continuous image frame; FIG7 is a schematic diagram of the implementation of the present invention in an outer area of a vehicle including an image comparison area.
S01~S06:步驟 S01~S06: Steps
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