CN109305105A - A-pillar blind spot monitoring device, vehicle and method - Google Patents
A-pillar blind spot monitoring device, vehicle and method Download PDFInfo
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- CN109305105A CN109305105A CN201811445458.2A CN201811445458A CN109305105A CN 109305105 A CN109305105 A CN 109305105A CN 201811445458 A CN201811445458 A CN 201811445458A CN 109305105 A CN109305105 A CN 109305105A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000012806 monitoring device Methods 0.000 title claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 38
- 238000004364 calculation method Methods 0.000 claims description 22
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 2
- 230000004927 fusion Effects 0.000 abstract 1
- 210000001508 eye Anatomy 0.000 description 57
- 238000010586 diagram Methods 0.000 description 9
- 210000003128 head Anatomy 0.000 description 9
- 210000001747 pupil Anatomy 0.000 description 8
- 230000003287 optical effect Effects 0.000 description 7
- 230000000007 visual effect Effects 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 5
- 210000005252 bulbus oculi Anatomy 0.000 description 4
- 230000010365 information processing Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004438 eyesight Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000004313 glare Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- 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
-
- 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
- B60R2300/802—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 monitoring and displaying vehicle exterior blind spot views
- B60R2300/8026—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 monitoring and displaying vehicle exterior blind spot views in addition to a rear-view mirror system
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Abstract
本申请提供了一种A柱盲区监测装置、车辆及方法，其中，该装置包括：摄像头、红外摄像头、图像处理模块以及显示模块；所述摄像头设置于车辆A柱的车外侧，所述图像处理模块设置于所述车辆的中控平台中，所述显示模块以及所述红外摄像头设置于所述A柱的车内侧，所述摄像头用于采集所述A柱车外侧的图像，所述红外摄像头用于采集驾驶员的眼部信息，所述图像处理模块用于根据所述眼部信息处理所述图像，所述显示模块用于显示处理后的所述图像。其可以实时显示与驾驶员人眼信息相应的画面，从而实现显示给驾驶员的图像与驾驶员通过车窗观察到的图像相融合。
The application provides an A-pillar blind spot monitoring device, vehicle and method, wherein the device includes: a camera, an infrared camera, an image processing module and a display module; the camera is arranged on the outside of the vehicle A-pillar, and the image processing The module is arranged in the central control platform of the vehicle, the display module and the infrared camera are arranged on the inner side of the A-pillar, and the camera is used to collect the image of the outer side of the A-pillar, and the infrared camera It is used for collecting the driver's eye information, the image processing module is used for processing the image according to the eye information, and the display module is used for displaying the processed image. It can display the picture corresponding to the driver's eye information in real time, so as to realize the fusion of the image displayed to the driver and the image observed by the driver through the window.
Description
Technical field
This application involves technical field of vehicle, more particularly, to a kind of pillar A blind monitoring device, vehicle and method.
Background technique
With the development and progress of society, vehicle has become people's vehicles indispensable daily, the peace of driving
Full property and comfort type are always the target that Vehicle Industry is pursued.But with the development of economy, the vehicle of traffic route is more and more,
Road conditions are increasingly sophisticated, there are problems that the blind area of vehicle itself between people and vehicle and vehicle and vehicle in the process of moving, to lead
The greatly security risk caused.Vehicle A column there are problems that blocking pilot's line of vision, and many depots of this problem, which all infuse, to be arrived, but simultaneously
A transparent quarter window is arranged below vehicle A column to improve this problem in none effective solution method, some depots, but
Actual effect is limited, and there is no the blind zone problems for really eliminating vehicle A column.
In the related technology, the image that blind area outside A column is shown by console screen in the car, but if in practical drive the cross
Driver attention is transferred on console screen in journey, can generate bigger security risk.Publication number CN1962315's is special
Benefit proposes for display screen to be arranged on the inside of A column, can improve driver's seat in this way, but in the car due to each driver
Head position is all unfixed, and head position can be mobile with situation, and different location has different blind areas, needs hand
Dynamic adjustment display image, this method have certain drawbacks in driving procedure.The patent of publication number CN202879353 is to be based on
The method of publication number CN1962315 improves head and eyes problem, but in practical application, camera is in acquisition driver
May have when information and be blocked by copilot, can not effectively inform the danger of driver blind area.
Summary of the invention
In view of this, the application's is designed to provide a kind of pillar A blind monitoring device, vehicle and method, to reduce vehicle
Influence of the pillar A blind to driver.
In a first aspect, the embodiment of the present application provides a kind of pillar A blind monitoring device, wherein include:
Camera, infrared camera, image processing module and display module；
The camera is set on the outside of the vehicle of vehicle A column, and described image processing module is set to the middle control of the vehicle
In platform, the display module and the infrared camera are set to the interior side of the A column, and the camera is for acquiring
Image on the outside of the A column vehicle, the infrared camera are used to acquire the eye information of driver, and described image processing module is used
According to the eye information processing described image, the display module is for the described image that shows that treated.
With reference to first aspect, the embodiment of the present application provides the first possible embodiment of first aspect, wherein institute
The output end of the output end and the infrared camera of stating camera is connect with the input terminal of described image processing module respectively,
The output end of described image processing module is connect with the input terminal of the display module.
With reference to first aspect, the embodiment of the present application provides second of possible embodiment of first aspect, wherein institute
Stating image processing module includes early warning processor and image processor；
The output end of the camera is connect with the input terminal of the early warning processor, the output end of the early warning processor
And the output end of the infrared camera is connect with the input terminal of described image processor respectively, described image processor it is defeated
Outlet is connect with the input terminal of the display module.
With reference to first aspect, the embodiment of the present application provides the third possible embodiment of first aspect, wherein institute
Display module is stated to be made of at least one piece of flexible display screen and optical inductor；
The flexible display screen both ends have splicing mouth, and the adjacent flexible display screen is connected by the splicing mouth；
The output end of the optical inductor is connect with the input terminal of the flexible display screen.
With reference to first aspect, the embodiment of the present application provides the 4th kind of possible embodiment of first aspect, wherein institute
Stating device further includes display control module；
The display control module is set in the middle control platform；
The display control module is according to the speed of vehicle and the direction of motion of vehicle controls opening for the display module
It closes.
Second aspect, the embodiment of the present application also provides a kind of vehicles using above-mentioned pillar A blind monitoring device.
The third aspect, the embodiment of the present application also provide a kind of pillar A blind monitoring method, wherein include:
Obtain image to be processed and the human eye information of driver；
According to the human eye information, from the image to be processed, image corresponding with the human eye information is intercepted；
Show image corresponding with the human eye information.
In conjunction with the third aspect, the embodiment of the present application provides the first possible embodiment of the third aspect, wherein root
According to the human eye information, from the image to be processed, image corresponding with the human eye information is intercepted, comprising:
According to the human eye information, the relative position of the human eye Yu A column is identified；
Depending on that relative position, according to the preset rule of correspondence, interception and the relative position pair from described image
The region answered obtains image corresponding with the human eye information.
In conjunction with the possible embodiment of the first of the third aspect and the third aspect, the embodiment of the present application is provided
The possible embodiment of second of the third aspect, wherein the method also includes:
Identify the target in described image；
According to the type and the distance between target and vehicle of the target, by blind-spot detection algorithm (BSD) to institute
It states target to be detected and carries out collision calculation, obtain collision calculation result.
It is provided in conjunction with the third aspect and second of possible embodiment of the third aspect, the embodiment of the present application
The third possible embodiment of the third aspect, wherein display image corresponding with the human eye information, comprising:
It is highlighted target and shows the collision calculation result of the target.
In conjunction with the third aspect, the embodiment of the present application provides the 4th kind of possible embodiment of the third aspect, wherein institute
The human eye information includes pupil position and corneal reflection parameter.
A kind of pillar A blind monitoring device, vehicle and method provided by the embodiments of the present application, using camera, infrared photography
Head, image processing module and display module；The camera is set on the outside of the vehicle of vehicle A column, described image processing module
It is set in the middle control platform of the vehicle, the display module and the infrared camera are set to the car of the A column
Side, the camera are used to acquire the image on the outside of the A column vehicle, and the infrared camera is used to acquire the eye letter of driver
Breath, described image processing module are used for according to the eye information processing described image, and the display module is handled for display
Described image afterwards can be shown to driver's to realize with real-time display picture corresponding with driver's human eye information
Image and driver are blended by the image that vehicle window is observed.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of schematic diagram of pillar A blind monitoring device provided by the embodiment of the present application；
Fig. 2 shows cameras provided by the embodiment of the present application, and the schematic diagram on the outside of A column vehicle is arranged in；
Fig. 3 shows display module provided by the embodiment of the present application in the arrangement schematic diagram of A column；
Fig. 4 shows a kind of flow chart of pillar A blind monitoring method provided by the embodiment of the present application；
Fig. 5 shows the schematic diagram of Virtual Space coordinate system provided by the embodiments of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application for usually describing and showing in attached drawing here is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall in the protection scope of this application.
In view of in the related technology, the image of blind area outside A column being shown by console screen in the car, but if in reality
Driver attention is transferred on console screen in driving procedure, can generate bigger security risk.Publication number CN1962315
Patent, propose by display screen be arranged on the inside of A column, driver's seat can be improved in this way, but since each driver is in vehicle
Interior head position is all unfixed, and head position can be mobile with situation, and different location has different blind areas, needs
Display image is manually adjusted, this method there are certain drawbacks in driving procedure.The patent of publication number CN202879353 is
Method based on publication number CN1962315 improves head and eyes problem, but in practical application, infrared camera is being adopted
It may be blocked by copilot when collecting driver information, influence system judgement, show and shift so as to cause picture, Wu Fayou
Effect informs that driver blind area is dangerous.Based on this, the embodiment of the present application provides a kind of pillar A blind monitoring device, vehicle and method,
It is described below by embodiment.
To monitor fill to a kind of pillar A blind disclosed in the embodiment of the present application first convenient for understanding the present embodiment
It sets and describes in detail.
The purpose of the present invention is solving vision dead zone caused by vehicle A column bring visual occlusion, and in blind area
When in the presence of the barrier for influencing vehicle driving, danger early warning is given a warning, informs that its blind area of driver will cause danger, early
Driver is reminded to pay attention to condition of road surface.
Fig. 1 is a kind of schematic diagram of pillar A blind monitoring device provided by the embodiments of the present application, as shown in Figure 1, a kind of A column
Blind area monitoring device includes:
Camera, infrared camera, image processing module and display module；
The camera is set on the outside of the vehicle of vehicle A column, and described image processing module is set to the middle control of the vehicle
In platform, the display module and the infrared camera are set to the interior side of the A column, and the camera is for acquiring
Image on the outside of the A column vehicle, the infrared camera are used to acquire the eye information of driver, and described image processing module is used
According to the eye information processing described image, the display module is for the described image that shows that treated.
Specifically, Fig. 2 is that the schematic diagram on the outside of A column vehicle is arranged in camera provided by the embodiments of the present application, such as Fig. 2 institute
Show, camera is set on the outside of the vehicle of vehicle two sides A column, for acquiring the image in front of A column.Infrared camera is mounted on vehicle
The interior side of two sides A column, human eye information of the infrared camera for driver in collecting vehicle, in position and human eye including human eye
The direction of visual lines of eyeball.Image processing module is used for the direction of visual lines according to eyeball in the position of the human eye of driver and human eye,
By image processing algorithm, the image of camera acquisition is cut, scaled and splice etc. is handled.
It should be noted that the coverage that camera obtains includes and is greater than the range of pillar A blind.
Optionally, pillar A blind monitoring device further includes storage module, and storage module is used to store the image of camera acquisition
Or the image of display on the display module.
Using the method for the embodiment of the present application, pass through camera, infrared camera, image processing module and display mould
Block；The camera is set on the outside of the vehicle of vehicle A column, and described image processing module is set to the middle control platform of the vehicle
In, the display module and the infrared camera are set to the interior side of the A column, and the camera is described for acquiring
Image on the outside of A column vehicle, the infrared camera are used to acquire the eye information of driver, and described image processing module is used for root
According to the eye information processing described image, the display module is for the described image that shows that treated.It can show in real time
Show picture corresponding with driver's human eye information, to realize that the image for being shown to driver and driver are observed by vehicle window
Image blend.
In the embodiment of the present application, the output end of the output end of the camera and the infrared camera respectively with institute
State the input terminal connection of image processing module, the input terminal company of the output end of described image processing module and the display module
It connects.
In the embodiment of the present application, described image processing module includes early warning processor and image processor；
The output end of the camera is connect with the input terminal of the early warning processor, the output end of the early warning processor
And the output end of the infrared camera is connect with the input terminal of described image processor respectively, described image processor it is defeated
Outlet is connect with the input terminal of the display module.
Specifically, image processing module includes early warning processor and image processor, early warning processor is used for according to camera shooting
The image of head shooting is calculated, and obtains collision calculation as a result, exporting described image and the collision calculation result to display mould
Block, display module is by collision calculation as the result is shown in the picture on corresponding position.Wherein, collision calculation result include vehicle with
The distance between barrier information, and anti-collision warning corresponding with the range information prompt, by the range information and with this
The corresponding anti-collision warning prompt display of range information is on the image.
Image processing module be used for obtain camera acquisition image, identify image in target type and target with
The distance between vehicle further according to the type and the distance between target and vehicle of target, is calculated by image procossing
Method, is cut, scaled and splice etc. to the image of camera acquisition and handled, and real-time display is corresponding to driver's human eye information
Picture, thus realize be shown to driver image and driver blended by the image that vehicle window is observed.
Specifically, the type of target in the image of camera acquisition is identified by recognizers such as machine vision, and, inspection
Measure the range information of target and vehicle.Wherein, target type can be the barrier of pedestrian, vehicle and other influences vehicle driving
Hinder object.The target is calculated by BSD alarm algorithm according to the range information and the target type of the target and vehicle
As a result, i.e. according to current driving trace, whether which can collide collision calculation with vehicle with vehicle.When collision is counted
Result is calculated when thinking that the target can collide with vehicle, highlighted mark is carried out to the target, show the target and vehicle away from
From, and show early warning, remind driver to pay attention to hiding.
The human eye information of driver is acquired by infrared camera, human eye information includes pupil position and the angle of driver
Film reflection parameters construct Virtual Space coordinate system depending on pupil position, corneal reflection parameter and image.Fig. 3 is that the application is real
The schematic diagram of the Virtual Space coordinate system of example offer is provided, as shown in figure 3, pupil position is the origin of Virtual Space coordinate system, it will
The origin of the Virtual Space coordinate system is compared with the origin of preset source Virtual Space coordinate system, calculates deviation letter
Breath.When deviation information is less than preset deviation threshold, the region of the corresponding image of interception current spatial coordinate system, as interception
Image afterwards, and export the image；When deviation information is more than or equal to preset deviation threshold, to the region of the interception image
Be adjusted, when Virtual Space coordinate system origin at a distance from image compared to preset source Virtual Space coordinate system
When the distance of origin image is closer, interception area is reduced；When the origin of Virtual Space coordinate system and the relative position of image are compared
When the relative position of the origin image of preset source Virtual Space coordinate system is more top, the interception area of respective distance is moved up
Domain, other situations and so on, details are not described herein.Further further according to corneal reflection parameter to the distance of above-mentioned movement into
Row adjustment.
In the embodiment of the present application, the display module is made of at least one piece of flexible display screen and optical inductor；
The flexible display screen both ends have splicing mouth, and the adjacent flexible display screen is connected by the splicing mouth；
The output end of the optical inductor is connect with the input terminal of the flexible display screen.
Specifically, Fig. 4 is arrangement schematic diagram of the display module provided by the embodiments of the present application in A column, as shown in figure 4, institute
The interior infrared eye stated is mainly used for acquiring the position of human eye and canthus of driver at the upper side of flexible display screen
Direction of visual lines, so that display image is adjusted suitable image with the position of human eye of driver and the direction of visual lines at canthus and draw
Face connects so that A column shows that image coincide with the scene outside front windshield and driver's cabin left and right sides glass, no matter allowing driver
Where all feeling that A column is also transparent glass, so that the wide viewing angle of driver can achieve to greatest extent, to disappear
Except A column blind area.Optical inductor is set to the other side above flexible display screen, and optical inductor can be according to interior environment light feelings
Condition adjusts the brightness of flexible display screen, avoids the glare from influencing the traffic safety of driver.Flexible display screen and A column size
Shape is coincide, and the output end of optical inductor and the input terminal of flexible display screen connect, to realize according to the strong of environment inside car light
It spends to adjust the brightness of display screen.
In the embodiment of the present application, described device further includes vehicle speed sensor, rotation direction sensor and the first display control
Module；
The output end of the output end of the vehicle speed sensor and the rotation direction sensor respectively with the display control module
Input terminal connection, the output end of the display control module connect with the input terminal of the display module.
Specifically, the display control module obtains the direction information of the speed and direction disk of vehicle, when vehicle is in
When static or lower-speed state, display control module control flexible display screen is opened, and, when vehicle is in it is static when, display
Control module controls image processor and flexible display screen output is equal to the image-region of driver's eyes pillar A blind；Work as vehicle
When in low-speed forward state, the display control module control image processor and flexible display screen output front are greater than driving
The image-region of member's eyes pillar A blind, and forward speed is bigger, the image-region forward extent of output is bigger.When the speed of vehicle
When degree is greater than preset threshold value, display control module controls flexible display screen and closes.
In the embodiment of the present application, described device further includes the second display control module, controls in the vehicle and sets on platform
There is key；
The key is connect with second display control module；
The key adjusts the image that the display module is shown by second display control module.
It is alternatively possible to which the display brightness of described image is manually adjusted by the console of vehicle by HMI mechanism.
In order to make its arrange space it is more compact, the display control module, image processor and early warning processor and
The middle control platform intergration of vehicle is together.
In the embodiment of the present application, described device further includes alarm module；
The output end of described image processing module is connect with the input terminal of the alarm module, and the alarm module includes bee
Ring alarm and stroboscopic alarm.
In the embodiment of the present application, the display module is mounted in the A column.
In the embodiment of the present application, a kind of vehicle using above-mentioned pillar A blind monitoring device is additionally provided.
In addition, it is necessary to which explanation, can pass through wired connection mode between above-mentioned modules, camera and display screen
Connection, can also be connected by radio connection, for example, bluetooth connection etc..
Fig. 5 is a kind of flow chart of pillar A blind monitoring method provided by the embodiments of the present application, as shown in figure 5, pillar A blind
Monitoring method the following steps are included:
S110, image to be processed and the human eye information of driver are obtained；
S120, according to the human eye information, from the image to be processed, intercept and corresponding with the human eye information scheme
Picture；
S130, display image corresponding with the human eye information.
Specifically, camera is set on the outside of the vehicle of vehicle two sides A column, for acquiring the image in front of A column.Infrared photography
Head is mounted on the interior side of vehicle two sides A column, human eye information of the infrared camera for driver in collecting vehicle, including human eye
The direction of visual lines of eyeball in position and human eye.Image processing module is used for according to eyeball in the position of the human eye of driver and human eye
Direction of visual lines processing, the reality such as cut, scaled and splice to the image of camera acquisition by image processing algorithm
When corresponding with the driver's human eye information picture of display, to realize that the image for being shown to driver and driver pass through vehicle window sight
The image observed blends.
Using the method for the embodiment of the present application, by the image for obtaining camera acquisition；According to described image, pass through early warning
Processor carries out collision calculation to the target to be detected in described image, obtains collision calculation result；It is shown by display module
Described image, and the collision calculation result is shown in described image.It can be with real-time display and driver's human eye information phase
The picture answered, to realize that the image for being shown to driver and driver are blended by the image that vehicle window is observed.
In the embodiment of the present application, according to the human eye information, from the image to be processed, interception is believed with the human eye
Cease corresponding image, comprising:
According to the human eye information, the relative position of the human eye Yu A column is identified；
Depending on that relative position, according to the preset rule of correspondence, interception and the relative position pair from described image
The region answered obtains image corresponding with the human eye information.
In the embodiment of the present application, the method also includes:
Identify the target in described image；
According to the type and the distance between target and vehicle of the target, by blind-spot detection algorithm (BSD) to institute
It states target to be detected and carries out collision calculation, obtain collision calculation result.
In the embodiment of the present application, image corresponding with the human eye information is shown, comprising:
It is highlighted target and shows the collision calculation result of the target.
In the embodiment of the present application, the human eye information includes pupil position and corneal reflection parameter.
Specifically, early warning processor is used for root specifically, image processing module includes early warning processor and image processor
Calculated according to the image that camera is shot, obtain collision calculation as a result, by described image and the collision calculation result export to
Display module, display module is by collision calculation as the result is shown in the picture on corresponding position.Wherein, collision calculation result includes
The distance between vehicle and barrier information, and anti-collision warning corresponding with the range information prompt, by the range information with
And anti-collision warning prompt display corresponding with the range information is on the image.
Image processing module be used for obtain camera acquisition image, identify image in target type and target with
The distance between vehicle further according to the type and the distance between target and vehicle of target, is calculated by image procossing
Method, is cut, scaled and splice etc. to the image of camera acquisition and handled, and real-time display is corresponding to driver's human eye information
Picture, thus realize be shown to driver image and driver blended by the image that vehicle window is observed.
Specifically, the type of target in the image of camera acquisition is identified by recognizers such as machine vision, and, inspection
Measure the range information of target and vehicle.Wherein, target type can be the barrier of pedestrian, vehicle and other influences vehicle driving
Hinder object.The target is calculated by BSD alarm algorithm according to the range information and the target type of the target and vehicle
As a result, i.e. according to current driving trace, whether which can collide collision calculation with vehicle with vehicle.When collision is counted
Result is calculated when thinking that the target can collide with vehicle, highlighted mark is carried out to the target, show the target and vehicle away from
From, and show early warning, remind driver to pay attention to hiding.
The human eye information of driver is acquired by infrared camera, human eye information includes pupil position and the angle of driver
Film reflection parameters construct Virtual Space coordinate system depending on pupil position, corneal reflection parameter and image.Fig. 3 is that the application is real
The schematic diagram of the Virtual Space coordinate system of example offer is provided, as shown in figure 3, pupil position is the origin of Virtual Space coordinate system, it will
The origin of the Virtual Space coordinate system is compared with the origin of preset source Virtual Space coordinate system, calculates deviation letter
Breath.When deviation information is less than preset deviation threshold, the region of the corresponding image of interception current spatial coordinate system, as interception
Image afterwards, and export the image；When deviation information is more than or equal to preset deviation threshold, to the region of the interception image
Be adjusted, when Virtual Space coordinate system origin at a distance from image compared to preset source Virtual Space coordinate system
When the distance of origin image is closer, interception area is reduced；When the origin of Virtual Space coordinate system and the relative position of image are compared
When the relative position of the origin image of preset source Virtual Space coordinate system is more top, the interception area of respective distance is moved up
Domain, other situations and so on, details are not described herein.Further further according to corneal reflection parameter to the distance of above-mentioned movement into
Row adjustment.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Finally, it should be noted that embodiment described above, only a specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, those skilled in the art should understand that: anyone skilled in the art
In the technical scope disclosed by the present invention, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention.Should all it cover in protection of the invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
Priority Applications (1)
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| CN201811445458.2A CN109305105A (en) | 2018-11-29 | 2018-11-29 | A-pillar blind spot monitoring device, vehicle and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811445458.2A CN109305105A (en) | 2018-11-29 | 2018-11-29 | A-pillar blind spot monitoring device, vehicle and method |
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| CN109305105A true CN109305105A (en) | 2019-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811445458.2A Pending CN109305105A (en) | 2018-11-29 | 2018-11-29 | A-pillar blind spot monitoring device, vehicle and method |
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| CN110099268A (en) * | 2019-05-28 | 2019-08-06 | 吉林大学 | The blind area perspectiveization display methods of color Natural matching and viewing area natural fusion |
| CN110481432A (en) * | 2019-09-22 | 2019-11-22 | 贾实 | A column dynamic visual system |
| CN111016786A (en) * | 2019-12-17 | 2020-04-17 | 天津理工大学 | Automobile A column shielding area display method based on 3D sight estimation |
| CN111731187A (en) * | 2020-06-19 | 2020-10-02 | 杭州视为科技有限公司 | Automobile A-pillar blind area image display system and method |
| CN112606765A (en) * | 2020-12-25 | 2021-04-06 | 广州小鹏自动驾驶科技有限公司 | Vehicle transparent A-pillar display method and device, vehicle and readable storage medium |
| CN113438466A (en) * | 2021-06-30 | 2021-09-24 | 东风汽车集团股份有限公司 | Method, system, device and computer readable storage medium for widening external view field |
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| CN113815534A (en) * | 2021-11-05 | 2021-12-21 | 吉林大学重庆研究院 | Method for dynamically processing graphics based on response to changes in the position of human eyes |
| CN113968186A (en) * | 2020-07-22 | 2022-01-25 | 华为技术有限公司 | A display method, device and system |
| CN114559878A (en) * | 2022-03-16 | 2022-05-31 | 安徽君尚信息科技有限公司 | Be applied to vehicle and turn to blind area and detect early warning device |
| CN115063486A (en) * | 2021-03-09 | 2022-09-16 | 虹软科技股份有限公司 | Calibration parameter acquisition method, image processing method and device, and electronic device |
| CN115071688A (en) * | 2021-03-16 | 2022-09-20 | 广州汽车集团股份有限公司 | A-column display screen-based obstacle detection method and device |
| CN115675289A (en) * | 2022-12-30 | 2023-02-03 | 深圳曦华科技有限公司 | Image display method and device based on driver visual field state in driving scene |
| CN116311667A (en) * | 2022-12-22 | 2023-06-23 | 支付宝(杭州)信息技术有限公司 | Intelligent container, processing method and system for object display |
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| CN111016786A (en) * | 2019-12-17 | 2020-04-17 | 天津理工大学 | Automobile A column shielding area display method based on 3D sight estimation |
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| CN111731187A (en) * | 2020-06-19 | 2020-10-02 | 杭州视为科技有限公司 | Automobile A-pillar blind area image display system and method |
| CN113968186A (en) * | 2020-07-22 | 2022-01-25 | 华为技术有限公司 | A display method, device and system |
| CN112606765A (en) * | 2020-12-25 | 2021-04-06 | 广州小鹏自动驾驶科技有限公司 | Vehicle transparent A-pillar display method and device, vehicle and readable storage medium |
| CN115063486A (en) * | 2021-03-09 | 2022-09-16 | 虹软科技股份有限公司 | Calibration parameter acquisition method, image processing method and device, and electronic device |
| CN115071688A (en) * | 2021-03-16 | 2022-09-20 | 广州汽车集团股份有限公司 | A-column display screen-based obstacle detection method and device |
| CN113438466A (en) * | 2021-06-30 | 2021-09-24 | 东风汽车集团股份有限公司 | Method, system, device and computer readable storage medium for widening external view field |
| CN113665485A (en) * | 2021-08-30 | 2021-11-19 | 东风汽车集团股份有限公司 | Anti-glare system for front windshield of automobile and control method |
| CN113665485B (en) * | 2021-08-30 | 2023-12-26 | 东风汽车集团股份有限公司 | Anti-glare system for automobile front windshield and control method |
| CN113815534A (en) * | 2021-11-05 | 2021-12-21 | 吉林大学重庆研究院 | Method for dynamically processing graphics based on response to changes in the position of human eyes |
| CN114559878A (en) * | 2022-03-16 | 2022-05-31 | 安徽君尚信息科技有限公司 | Be applied to vehicle and turn to blind area and detect early warning device |
| CN116311667A (en) * | 2022-12-22 | 2023-06-23 | 支付宝(杭州)信息技术有限公司 | Intelligent container, processing method and system for object display |
| CN115675289A (en) * | 2022-12-30 | 2023-02-03 | 深圳曦华科技有限公司 | Image display method and device based on driver visual field state in driving scene |
| CN118219985A (en) * | 2024-05-06 | 2024-06-21 | 深圳市星野信息技术有限公司 | Virtual reality display method and system |
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| CN119376670A (en) * | 2024-10-10 | 2025-01-28 | 上海外高桥造船有限公司 | Display device, method, electronic device and program product |
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