CN104859562A - Method and device for detecting barriers behind vehicle - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—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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- 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
- B60R2300/806—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 aiding parking
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Abstract
本发明提供一种用于检测车辆后方障碍物的方法及装置，所述方法包括：从摄像头采集到的第一图像中提取条形激光器输出的采样线形成的第二图像；根据所述第二图像中采样线的像素点的坐标，确定障碍物与车辆的距离信息；将所述距离信息发送至终端设备，以使终端设备显示或者播报所述距离信息。应用本发明实施例，当车辆后面有障碍物时，可以从摄像头采集到的图像中提取出条形激光器输出的采样线，并根据这些采样线的像素点的坐标，确定障碍物与车辆的距离信息，总体而言，本发明实施例可以较准确地识别车辆后方的障碍物，以及还可以确定车辆与障碍物的距离信息，为车辆驾驶提供安全保障。
The present invention provides a method and device for detecting obstacles behind a vehicle. The method includes: extracting a second image formed by a sampling line output by a strip laser from a first image collected by a camera; according to the second The coordinates of the pixel points of the sampling line in the image are used to determine the distance information between the obstacle and the vehicle; and the distance information is sent to the terminal device, so that the terminal device displays or broadcasts the distance information. Applying the embodiment of the present invention, when there is an obstacle behind the vehicle, the sampling lines output by the bar laser can be extracted from the image collected by the camera, and the distance between the obstacle and the vehicle can be determined according to the pixel coordinates of these sampling lines Generally speaking, the embodiments of the present invention can more accurately identify obstacles behind the vehicle, and can also determine the distance information between the vehicle and the obstacle, so as to provide safety guarantee for vehicle driving.
Description
技术领域technical field
本发明涉及路况检测技术领域，尤其涉及一种用于检测车辆后方障碍物的方法及装置。The invention relates to the technical field of road condition detection, in particular to a method and device for detecting obstacles behind a vehicle.
背景技术Background technique
随着科学技术的发展，汽车安全驾驶和便捷操作已成为汽车工业的主流发展趋势。众所周知，对于驾驶员而言，在驾车过程中存在很多视野盲区，这些视野盲区无疑成为驾驶员获取准确路面信息的最大障碍。就汽车后盲区而言，驾驶员在倒车过程中，如果不能够准确获取车后方的障碍物信息，可能会与汽车后方的障碍物发生碰撞，导致损坏汽车车身以及影响驾驶员人身安全。With the development of science and technology, safe driving and convenient operation of automobiles have become the mainstream development trend of the automobile industry. As we all know, for drivers, there are many blind spots in the driving process, which undoubtedly become the biggest obstacle for drivers to obtain accurate road surface information. As far as the rear blind spot of the car is concerned, if the driver cannot accurately obtain the obstacle information behind the car during the reversing process, he may collide with the obstacle behind the car, resulting in damage to the car body and affecting the personal safety of the driver.
发明内容Contents of the invention
本发明的实施例提供一种用于检测车辆后方障碍物的方法及装置，能够准确检测车辆后方障碍物的距离信息，为车辆驾车提供安全保障。Embodiments of the present invention provide a method and device for detecting obstacles behind a vehicle, which can accurately detect distance information of obstacles behind a vehicle, and provide safety guarantee for driving a vehicle.
为达到上述目的，本发明的实施例采用如下技术方案：In order to achieve the above object, embodiments of the present invention adopt the following technical solutions:
一种用于检测车辆后方障碍物的方法，包括：A method for detecting obstacles behind a vehicle, comprising:
从摄像头采集到的第一图像中提取条形激光器输出的采样线形成的第二图像；extracting a second image formed by sampling lines output by the strip laser from the first image collected by the camera;
根据所述第二图像中采样线的像素点的坐标，确定障碍物与车辆的距离信息；Determine the distance information between the obstacle and the vehicle according to the coordinates of the pixel points of the sampling line in the second image;
将所述距离信息发送至终端设备，以使终端设备显示或者播报所述距离信息。The distance information is sent to the terminal device, so that the terminal device displays or broadcasts the distance information.
一种用于检测车辆后方障碍物的装置，包括：A device for detecting obstacles behind a vehicle, comprising:
图像提取单元，用于从摄像头采集到的第一图像中提取条形激光器输出的采样线形成的第二图像；The image extraction unit is used to extract the second image formed by the sampling line output by the strip laser from the first image collected by the camera;
距离确定单元，用于根据所述第二图像中采样线的像素点的坐标，确定障碍物与车辆的距离信息；a distance determination unit, configured to determine distance information between the obstacle and the vehicle according to the coordinates of the pixel points of the sampling line in the second image;
信息发送单元，用于将所述距离信息发送至终端设备，以使终端设备显示或者播报所述距离信息。An information sending unit, configured to send the distance information to the terminal device, so that the terminal device displays or broadcasts the distance information.
本发明实施例提供的一种用于检测车辆后方障碍物的方法及装置，当车辆后面有障碍物时，可以从摄像头采集到的图像中提取出条形激光器输出的采样线，并根据这些采样线的像素点的坐标，确定障碍物与车辆的距离信息，总体而言，本发明实施例可以较准确地识别车辆后方的障碍物，以及还可以确定车辆与障碍物的距离信息，为车辆驾驶提供安全保障。The embodiment of the present invention provides a method and device for detecting obstacles behind a vehicle. When there is an obstacle behind the vehicle, the sampling line output by the strip laser can be extracted from the image collected by the camera, and based on these samples The coordinates of the pixel points of the line determine the distance information between the obstacle and the vehicle. Generally speaking, the embodiment of the present invention can more accurately identify the obstacle behind the vehicle, and can also determine the distance information between the vehicle and the obstacle. Provide security.
附图说明Description of drawings
图1为本发明示例性实施例提供的一种用于检测车辆后方障碍物的方法的流程图；FIG. 1 is a flow chart of a method for detecting obstacles behind a vehicle provided by an exemplary embodiment of the present invention;
图2为本发明示例性实施例提供的一种用于检测车辆后方障碍物的装置的结构框图；Fig. 2 is a structural block diagram of a device for detecting obstacles behind a vehicle provided by an exemplary embodiment of the present invention;
图3为本发明示例性实施例提供的一种用于检测车辆后方障碍物的系统的结构框图；Fig. 3 is a structural block diagram of a system for detecting obstacles behind a vehicle provided by an exemplary embodiment of the present invention;
图4为本发明示例性实施例提供的一种摄像头与条形激光器的位置关系示意图；FIG. 4 is a schematic diagram of the positional relationship between a camera and a bar laser provided by an exemplary embodiment of the present invention;
图5为本发明示例性实施例提供的一应用场景示意图；Fig. 5 is a schematic diagram of an application scenario provided by an exemplary embodiment of the present invention;
图6为本发明示例性实施例提供的另一应用场景示意图；FIG. 6 is a schematic diagram of another application scenario provided by an exemplary embodiment of the present invention;
图7为本发明示例性实施例提供的另一应用场景示意图。Fig. 7 is a schematic diagram of another application scenario provided by an exemplary embodiment of the present invention.
具体实施方式Detailed ways
在驾车过程中，驾驶员的视线范围和视线角度受限，导致很难发现车辆后方的障碍物，从而容易发生安全事故。本发明提供了一种用于检测车辆后面障碍物的方法、装置和系统，通过条形激光器输出的条形激光形成一个检测图像，当车辆后方有障碍物时，检测图像将可以成像在障碍物表面，摄像头可以采集到车辆后方的场景图像，该场景图像包括该检测图像，并将该图像传输给图像处理装置(例如，单片机)，以使该图像处理装置通过图像处理提取出检测图像，并通过激光三角法，计算出障碍物与车辆之间的距离信息，并将该距离信息发送给设置在车辆内的终端设备，例如，显示器，以使得该终端设备将距离信息展示给驾驶员，还可以通过语音播报等告知驾驶员，从而使驾驶员获得准确的障碍物信息。During the driving process, the driver's sight range and angle of sight are limited, making it difficult to find obstacles behind the vehicle, which is prone to safety accidents. The invention provides a method, device and system for detecting obstacles behind a vehicle. A detection image is formed by the strip laser outputted by a strip laser. When there is an obstacle behind the vehicle, the detection image can be imaged on the obstacle On the surface, the camera can collect a scene image behind the vehicle, the scene image includes the detection image, and transmit the image to an image processing device (for example, a single-chip microcomputer), so that the image processing device extracts the detection image through image processing, and The distance information between the obstacle and the vehicle is calculated by laser triangulation, and the distance information is sent to a terminal device installed in the vehicle, such as a display, so that the terminal device displays the distance information to the driver, and also The driver can be notified through voice announcements, etc., so that the driver can obtain accurate obstacle information.
下面结合附图对本发明实施例一种用于检测车辆后方障碍物的方法、装置和系统进行详细描述。A method, device and system for detecting obstacles behind a vehicle according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
图1为本发明示例性实施例提供的一种用于检测车辆后方障碍物的方法的流程图。如图1所示，一种用户检测车辆后方障碍物的方法，该方法包括：Fig. 1 is a flowchart of a method for detecting obstacles behind a vehicle provided by an exemplary embodiment of the present invention. As shown in Figure 1, a method for a user to detect an obstacle behind a vehicle, the method includes:
步骤S110，从摄像头采集到的第一图像中提取条形激光器输出的采样线形成的第二图像。Step S110, extracting the second image formed by the sampling lines output by the strip laser from the first image collected by the camera.
本发明实施例中，第一图像是在摄像头的视场范围内的车辆后方的场景图像，第二图像是条形激光器输出的采样线，即条形激光线条，形成的检测图像，该检测图像包括但不限于一条激光线条、十字结构激光线条或者网格状激光线条，当车辆后方有障碍物时，第二图像会成像在障碍物的表面，则第一图像局域将包括第二图像。In the embodiment of the present invention, the first image is the scene image behind the vehicle within the field of view of the camera, and the second image is the detection image formed by the sampling line output by the strip laser, that is, the strip laser line. The detection image Including but not limited to a laser line, a cross-structured laser line or a grid-shaped laser line, when there is an obstacle behind the vehicle, the second image will be imaged on the surface of the obstacle, and the first image local area will include the second image.
根据本发明的优选实施例，如图4所示，摄像头与条形激光器的底部固定在车身上，根据激光三角法原理，摄像头的中心线与条形激光器的中心线需形成一个锐角A，具体而言，第二图像是由设置在摄像头横向和纵向的多个条形激光器输出的采样线形成，且每个条形激光器的头部位置方向均偏向于摄像头，需要说明的是，图4中仅仅示意了条形激光器与摄像头的位置关系，不对条形激光器的个数、锐角A的大小、条形激光器与摄像头的距离形成限制。摄像头可以将采集到的第一图像发送给图像处理装置，例如，单片机或中央处理芯片等，该图像处理装置将所第一图像中提取出第二图像，具体地，从第一图像中提取第二图像可以包括：从第二图像中提取出与条形激光器的预置颜色一致，且长度大于或者等于第一预设像素值，且其宽度大于零像素小于或者等于第二预设像素值的采样线。According to a preferred embodiment of the present invention, as shown in Figure 4, the bottom of the camera and the bar-shaped laser is fixed on the vehicle body. According to the principle of laser triangulation, the centerline of the camera and the centerline of the bar-shaped laser need to form an acute angle A, specifically As far as the second image is concerned, the second image is formed by sampling lines output by multiple bar lasers arranged in the horizontal and vertical directions of the camera, and the head position direction of each bar laser is biased towards the camera. It should be noted that, in Fig. 4 It only shows the positional relationship between the bar lasers and the camera, and does not limit the number of bar lasers, the size of the acute angle A, or the distance between the bar lasers and the camera. The camera can send the collected first image to an image processing device, such as a single-chip microcomputer or a central processing chip, etc., and the image processing device extracts a second image from the first image, specifically, extracts the second image from the first image. The second image may include: extracting from the second image the image that is consistent with the preset color of the bar laser, and whose length is greater than or equal to the first preset pixel value, and whose width is greater than zero pixels and less than or equal to the second preset pixel value sample line.
举例来说，条形激光器的预置颜色为红色，其RGB值分别为R＝200，G＝30，B＝30，在从第二图像中提取第一图像时，首先需提取满足该RGB值的图像，其次，条形激光器输出的是激光线条，而该提取的图像中可以不仅包括线条，还可能有较多的噪声点、噪声光斑，要从含有大量噪声点、噪声光斑的图像中识别出有效的激光线条，可以通过对图像的长度和宽度进行限制，如上述限制其长度大于或者等于第一预设像素值，其宽度大于零像素小于或者等于第二预设像素值，比如，第一预设像素值＝30个像素，第二预设像素值＝10个像素，则上述提取的图像中长度满足大于或者等于30个像素值，宽度大于零个像素值小于或者等于10个像素值的图像为有效的激光线条，即为条形激光器输出的采样线形成的第二图像(或者检测图像)。For example, the preset color of the bar laser is red, and its RGB values are respectively R=200, G=30, and B=30. When extracting the first image from the second image, it is first necessary to extract Secondly, the strip laser outputs laser lines, and the extracted image may not only include lines, but also may have more noise points and noise spots. It is necessary to identify them from images containing a large number of noise points and noise spots. To produce an effective laser line, you can limit the length and width of the image. As mentioned above, the length is greater than or equal to the first preset pixel value, and the width is greater than zero pixels and less than or equal to the second preset pixel value. For example, the first One preset pixel value = 30 pixels, the second preset pixel value = 10 pixels, then the length of the image extracted above is greater than or equal to 30 pixel values, and the width is greater than zero and the pixel value is less than or equal to 10 pixel values The image of is an effective laser line, that is, the second image (or detection image) formed by the sampling line output by the bar laser.
步骤S120，根据第二图像中采样线的像素点的坐标，确定障碍物与车辆的距离信息。Step S120, according to the pixel coordinates of the sampling line in the second image, determine the distance information between the obstacle and the vehicle.
在本步骤中，进一步可以包括：以所述采样线的像素点的坐标，通过激光三角法计算所述采样线中每个像素点与所述车辆的距离；将最小的距离确定为所述障碍物与车辆的距离信息。In this step, it may further include: using the coordinates of the pixel points of the sampling line, calculating the distance between each pixel point in the sampling line and the vehicle by laser triangulation; determining the minimum distance as the obstacle Distance information between objects and vehicles.
下面参见如下示例，如图5所示，包括摄像头和条形激光器，还可以障碍物平面以及设置在摄像头前端的图像放大透镜，其中图像放大透镜的焦距为f，摄像头与图像放大透镜之间的中心距离为M，条形激光器输出的采样线在摄像头上的成像偏移其中心的距离为m，摄像头和条形激光器的中心线夹角为A，摄像头中心线与图像放大透镜的夹角为a，且a＝90°-A，需要计算的距离为图像放大透镜与障碍物之间的距离L，可以通过如下等式计算出距离信息L：Refer to the following example below, as shown in Figure 5, including a camera and a bar laser, an obstacle plane and an image magnifying lens arranged at the front end of the camera, wherein the focal length of the image magnifying lens is f, and the distance between the camera and the image magnifying lens The distance between the centers is M, the distance between the center line of the sampling line output by the bar laser on the camera is m, the angle between the center line of the camera and the bar laser is A, and the angle between the center line of the camera and the image magnifying lens is a, and a=90°-A, the distance to be calculated is the distance L between the image magnification lens and the obstacle, and the distance information L can be calculated by the following equation:
L＝M/(cot a+m/f)＝M/(cot(90°-A)+m/f)＝M/(tan(A)+m/f)…式(1)L＝M/(cot a+m/f)＝M/(cot(90°-A)+m/f)＝M/(tan(A)+m/f)…Formula (1)
下面通过如图6和图7所示的实施例，进一步举例说明。The following uses the embodiments shown in FIG. 6 and FIG. 7 for further illustration.
图6为本发明示例性实施例提供的一应用场景示意图，图7为本发明示例性实施例提供的另一应用场景示意图。FIG. 6 is a schematic diagram of an application scenario provided by an exemplary embodiment of the present invention, and FIG. 7 is a schematic diagram of another application scenario provided by an exemplary embodiment of the present invention.
如图6所示，以一条采样线为例，当车辆后方出现障碍物，且采样线未变形时，假设第二图像在摄像头310的光敏面成像大小为Y1×Z1(可以是长为Y1，宽为Z1)，图6中所示采样线B的横坐标为x，则m＝x-(Y1/2)，再结合式(1)即可计算出距离L。同样地，如图7所示，为车辆后方障碍物导致该采样线的横向形变的情况，采样线B1发生形变位置的像素点横坐标最大为x1，未发生形变处的横坐标为x2，根据m＝x-(Y/2)，可以得到x1对应的m1值较大，x2对应的m2较小，基于m1和式(1)计算得到的L1值较大，则以L1作为一个距离。As shown in FIG. 6 , taking a sampling line as an example, when an obstacle appears behind the vehicle and the sampling line is not deformed, it is assumed that the size of the second image on the photosensitive surface of the camera 310 is Y1×Z1 (the length may be Y1, The width is Z1), the abscissa of the sampling line B shown in Figure 6 is x, then m=x-(Y1/2), and then the distance L can be calculated in combination with formula (1). Similarly, as shown in Figure 7, it is the case where the obstacle behind the vehicle causes the lateral deformation of the sampling line, the maximum abscissa of the pixel point where the deformation occurs on the sampling line B1 is x1, and the abscissa of the position where no deformation occurs is x2, according to m=x-(Y/2), it can be obtained that the value of m1 corresponding to x1 is relatively large, and the value of m2 corresponding to x2 is relatively small, and the value of L1 calculated based on m1 and formula (1) is relatively large, so L1 is used as a distance.
需要说明的是，根据本发明优选实施例，对于竖直放置的柱体障碍物，例如，圆柱形障碍物或者方体障碍物，由于设置在摄像头纵向的条形激光器输出的采样线成像在这类障碍物上，是不会发生形变的，从而无法准确地检测出该障碍物与车身的距离信息，因此，可以通过设置在摄像头横向的条形激光器输出的采样线进行检测；同理地，对于横向放置的障碍物，例如，横向放置的柱体障碍物，设置在摄像头横向的条形激光器输出的采样线成像在这类障碍物上，也是不会发生形变的，所以，可以通过设置在摄像头纵向的条形激光器输出的采样线进行检测；而对于形状比较复杂且没有规则的障碍物，则可以结合横向和纵向的条形激光器输出的采样线，对该障碍物进行检测，从而得到较准确的距离信息。It should be noted that, according to a preferred embodiment of the present invention, for a vertically placed columnar obstacle, for example, a cylindrical obstacle or a square obstacle, since the sampling line output by the strip laser arranged in the longitudinal direction of the camera is imaged here There will be no deformation on such obstacles, so that the distance information between the obstacle and the vehicle body cannot be accurately detected. Therefore, it can be detected through the sampling line output by the bar laser set in the transverse direction of the camera; similarly, For obstacles placed horizontally, for example, cylindrical obstacles placed horizontally, the sampling line output by the bar laser set in the horizontal direction of the camera will not be deformed when imaged on such obstacles. Therefore, it can be set in The sampling line output by the longitudinal strip laser of the camera is used for detection; for obstacles with complex shapes and irregular shapes, the obstacle can be detected by combining the sampling lines output by the horizontal and vertical strip lasers, so as to obtain a relatively Accurate distance information.
综上所述，如果为横向和纵向的多条采样线，与上述一条采样线的计算方法与过程相同，在此不再一一赘述，基于多条采样线并通过式(1)计算出多个距离后，可以通过比较多个距离，选择最小的距离作为障碍物与车辆的距离信息。步骤S130，将距离信息发送至终端设备，以使终端设备显示或者播报所述距离信息。To sum up, if there are multiple horizontal and vertical sampling lines, the calculation method and process are the same as the above-mentioned one sampling line, and will not be described here one by one. Based on multiple sampling lines and through formula (1), multiple After a distance, the smallest distance can be selected as the distance information between the obstacle and the vehicle by comparing multiple distances. Step S130, sending the distance information to the terminal device, so that the terminal device displays or broadcasts the distance information.
在本步骤中，可以将在步骤S120中计算得到的距离信息发送给终端设备，例如，车辆内的显示器，以在终端设备上显示该距离信息，比如，可以通过进度条的方式显示距离信息的变化，或者通过数字显示的方式显示距离信息，还可以通过语音播报的方式向驾驶员播报该距离信息，另外，在本发明实施例中，还可以将第一图像(或者车辆后方的场景图像)也发送给终端设备，以使终端设备显示该第一图像，从而使驾驶员清晰地查看到车辆后方的信息。In this step, the distance information calculated in step S120 can be sent to the terminal device, for example, a display in the vehicle, so as to display the distance information on the terminal device, for example, the distance information can be displayed in the form of a progress bar change, or display the distance information in the form of digital display, and also broadcast the distance information to the driver in the form of voice broadcast. In addition, in the embodiment of the present invention, the first image (or the scene image behind the vehicle) can also be It is also sent to the terminal device, so that the terminal device displays the first image, so that the driver can clearly view the information behind the vehicle.
根据本发明一可选实施例，所述方法还可以包括：当所述距离信息小于预设安全距离时，向报警器发送触发信号，以使所述报警器发出报警信号。例如，假设预设安全距离为0.1m，当在步骤S120中计算得到的距离信息小于0.1m时，就发送触发信号以触发报警器报警，提示驾驶员不能再继续倒车。According to an optional embodiment of the present invention, the method may further include: when the distance information is less than a preset safety distance, sending a trigger signal to an alarm so that the alarm sends an alarm signal. For example, assuming that the preset safety distance is 0.1m, when the distance information calculated in step S120 is less than 0.1m, a trigger signal is sent to trigger an alarm to remind the driver that the vehicle cannot continue to reverse.
通过本发明提供的一种用于检测车辆后方障碍物的方法，当车辆后面有障碍物时，可以从摄像头采集到的图像中提取出条形激光器输出的采样线，并根据这些采样线的像素点的坐标，确定障碍物与车辆的距离信息，总体而言，本发明实施例可以较准确地识别车辆后方的障碍物，以及还可以确定车辆与障碍物的距离信息，为车辆驾驶提供安全保障。Through a method for detecting obstacles behind the vehicle provided by the present invention, when there is an obstacle behind the vehicle, the sampling lines output by the strip laser can be extracted from the image collected by the camera, and the pixels of these sampling lines can be The coordinates of the point determine the distance information between the obstacle and the vehicle. Generally speaking, the embodiment of the present invention can more accurately identify the obstacle behind the vehicle, and can also determine the distance information between the vehicle and the obstacle, so as to provide safety guarantee for vehicle driving .
图2为本发明示例性实施例提供的一种用于检测车辆后方障碍物的装置的结构框图。如图2所示，一种用于检测车辆后方障碍物的装置200，该装置200包括：图像提取单元210、距离确定单元220和信息发送单元230。Fig. 2 is a structural block diagram of a device for detecting obstacles behind a vehicle provided by an exemplary embodiment of the present invention. As shown in FIG. 2 , a device 200 for detecting obstacles behind a vehicle includes: an image extraction unit 210 , a distance determination unit 220 and an information sending unit 230 .
图像提取单元210用于从摄像头采集到的第一图像中提取条形激光器输出的采样线形成的第二图像。The image extraction unit 210 is configured to extract the second image formed by the sampling lines output by the strip laser from the first image collected by the camera.
优选地，图像提取单元210进一步用于从所述第二图像中提取出与所述条形激光器的预置颜色一致，且长度大于或者等于第一预设像素值，宽度大于零像素小于或者等于第二预设像素值的采样线。Preferably, the image extraction unit 210 is further configured to extract from the second image an image that is consistent with the preset color of the bar laser, and whose length is greater than or equal to the first preset pixel value, and whose width is greater than zero and less than or equal to the pixel value. The sampling line for the second preset pixel value.
优选地，所述第二图像是由设置在所述摄像头横向和纵向的多个条形激光器输出的采样线形成，且所述两个条形激光器的头部位置方向偏向于所述摄像头。Preferably, the second image is formed by sampling lines output by a plurality of bar-shaped lasers arranged in the horizontal and vertical directions of the camera, and the head positions of the two bar-shaped lasers are biased toward the camera.
距离确定单元220用于根据所述第二图像中采样线的像素点的坐标，确定障碍物与车辆的距离信息。The distance determination unit 220 is configured to determine the distance information between the obstacle and the vehicle according to the coordinates of the pixel points of the sampling line in the second image.
优选地，距离确定单元220还可以包括距离计算子单元221和距离确定单元222，其中，距离计算子单元221用于以所述采样线的像素点的坐标，通过激光三角法计算所述采样线中每个像素点与所述车辆的距离，距离确定子单元222用于将最小的距离确定为所述障碍物与车辆的距离信息。Preferably, the distance determination unit 220 may further include a distance calculation subunit 221 and a distance determination unit 222, wherein the distance calculation subunit 221 is used to calculate the sampling line by laser triangulation using the coordinates of the pixel points of the sampling line The distance between each pixel point and the vehicle, the distance determination subunit 222 is used to determine the minimum distance as the distance information between the obstacle and the vehicle.
信息发送单元230用于将所述距离信息发送至终端设备，以使终端设备显示或者播报所述距离信息。The information sending unit 230 is configured to send the distance information to the terminal device, so that the terminal device displays or broadcasts the distance information.
根据本发明一可选实施例，所述装置还可以包括触发单元，用于当所述距离信息小于预设安全距离时，向报警器发送触发信号，以使所述报警器发出报警信号。According to an optional embodiment of the present invention, the device may further include a trigger unit, configured to send a trigger signal to an alarm when the distance information is less than a preset safety distance, so that the alarm sends an alarm signal.
上述装置中各个单元的功能和作用的实现过程具体详见上述方法中对应步骤的实现过程，在此不再赘述。For the implementation process of the functions and effects of each unit in the above device, please refer to the implementation process of the corresponding steps in the above method for details, and will not be repeated here.
图3为本发明示例性实施例提供的一种用于检测车辆后方障碍物的系统的结构框图。如图3所示，一种用于检测车辆后方障碍物的系统300，该系统包括：摄像头310、条形激光器320、终端设备330以及如图2所示的一种用于检测车辆后方障碍物的装置200。Fig. 3 is a structural block diagram of a system for detecting obstacles behind a vehicle provided by an exemplary embodiment of the present invention. As shown in Figure 3, a system 300 for detecting obstacles behind a vehicle, the system includes: a camera 310, a bar laser 320, a terminal device 330, and a system for detecting obstacles behind a vehicle as shown in Figure 2 The device 200.
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
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