CN110287893A - A kind of vehicle blind zone reminding method, system, readable storage medium storing program for executing and automobile - Google Patents
A kind of vehicle blind zone reminding method, system, readable storage medium storing program for executing and automobile Download PDFInfo
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- CN110287893A CN110287893A CN201910563791.1A CN201910563791A CN110287893A CN 110287893 A CN110287893 A CN 110287893A CN 201910563791 A CN201910563791 A CN 201910563791A CN 110287893 A CN110287893 A CN 110287893A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/56—Extraction of image or video features relating to colour
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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Abstract
The invention discloses a kind of vehicle blind zone reminding methods, are applied on automobile, are respectively equipped with wide-angle camera on four sides of the automobile, comprising the following steps: obtain image of the automobile in four direction of the wide-angle camera shooting；Gray processing, denoising are executed to four described images, successively spliced four described images according to the position of the wide-angle camera, obtains panorama sketch, and show the panorama sketch；The distance between automobile and its peripheral obstacle described in real-time measurement change the display color that the barrier region is corresponded in the panorama sketch, and issue warning signal when the distance is less than distance threshold.The invention also discloses a kind of vehicle blind zone prompt systems, and using the readable storage medium storing program for executing and automobile of the above method.
Description
Technical field
The present invention relates to vehicle blind zone detection technique field, more particularly to a kind of vehicle blind zone reminding method, system, can
Read storage medium and automobile.
Background technique
With the rapid development of auto industry and the promotion of people's living standard, automobile has become people's trip, shipping
Etc. indispensable one of the vehicles.
With the increase of the automobile volume of holding, traffic accident quantity is remained high, and most of accident occurs in driving process
It is middle do not find security risk because of vehicle blind zone caused by.Currently, partial automobile and Road traffic devices (such as traffic lights) share picture
Face checks that whether there are obstacles for blind area by the shared picture.
In the prior art, Road traffic devices need to be relied on to realize the prompt of blind area, if road traffic is not present in surrounding
Equipment then cannot achieve, and can not independently realize the blind area prompt of vehicle, and the scope of application is small.
Summary of the invention
An object of the present invention is to provide a kind of vehicle blind zone reminding methods that can independently realize blind area prompt.
A kind of vehicle blind zone reminding method is applied on automobile, is respectively equipped with wide-angle camera on four sides of the automobile,
The following steps are included:
Obtain image of the automobile in four direction of the wide-angle camera shooting；
Gray processing, denoising are executed to four described images, it will be described in four according to the position of the wide-angle camera
Image successively splices, and obtains panorama sketch, and show the panorama sketch；
The distance between automobile and its peripheral obstacle described in real-time measurement change when the distance is less than distance threshold
Become in the panorama sketch and correspond to the display color of the barrier region, and issues warning signal.
The beneficial effects of the present invention are: being shot using the wide-angle camera that automobile carries to periphery, image is carried out
It handles and shows panorama sketch, then the distance between real-time measurement automobile and peripheral obstacle, the barrier being closer is passed through
Change color to highlight to remind user.
In addition, the vehicle blind zone reminding method provided according to the present invention, can also have the following additional technical features:
Further, the step of four described images execution gray processing includes:
Weighted average obtains the gray level image of described image according to the following formula:
F (i, j)=0.30*fR(i,j)+0.59*fG(i,j)+0.11*fB(i,j)
In formula, F (i, j) is the pixel value of the certain point of described image after gray processing, fR(i,j)、fG(i,j)、fB
(i, j) this 3 amounts are respectively R component, the value of G component, B component of described image.
Further, four described images execute the step of denoising and include:
It selects any pixel of the gray level image as initial pixel point, is established centered on the initial pixel point
The two-dimentional sliding block in specified region；
The pixel value for obtaining all pixels point being located in the two-dimentional sliding block, according to the big your pupil of the pixel value
At the 2-D data sequence of monotone increasing；
The pixel value of the initial pixel point is replaced with the median by the median for calculating the pixel value；
Other pixels for selecting the gray level image repeat all pictures that above-mentioned steps handle the gray level image
Vegetarian refreshments.
Further, the step of the distance between automobile and its peripheral obstacle described in the real-time measurement includes:
Vertical distance x and horizontal distance y of the wide-angle camera apart from the barrier are obtained, according to formulaCalculate the distance between the automobile and its peripheral obstacle dis.
Further, the step of horizontal distance y for obtaining the wide-angle camera apart from the barrier includes:
According to formulaIt is calculated vertical half field-of-view's angle beta, in formula, H is the wide-angle
The pixels tall of image captured by camera, d are the pixel length of the wide-angle camera, and f is the wide-angle camera
Focal length；
According to formulaIn formula, h is the wide-angle
The actual height of camera, S are the wide-angle camera at a distance from the central point of its imaging plane, and Y is specified point described
Horizontal pixel distance in image between the central point, Y ' are the half of the pixels tall of described image.
Further, the step of obtaining vertical distance x of the wide-angle camera apart from the barrier include:
According to formulaIt is calculated horizontal angle of half field-of view γ, in formula, W is described wide
The pixel wide of image captured by the camera of angle；
According to formulaIn formula, X be specified point in described image with it is described in
Magnitude pixels distance between heart point, X ' are the half of the pixel wide of described image.
Further, the step of corresponding to the display color of the barrier region in the change panorama sketch is wrapped
It includes:
The distance for obtaining barrier region all the points establishes color libraries by different colors, will be different
The value of the distance maps to the different colours of the color libraries；
Change the color in the panorama sketch according to the distance of each point in the panorama sketch.
Another object of the present invention discloses a kind of vehicle blind zone prompt system, be applied to automobile, the four of the automobile
Wide-angle camera is respectively equipped on side, the system comprises:
Image collection module, for obtaining image of the automobile in four direction of the wide-angle camera shooting；
Image processing module, for executing gray processing, denoising to described image, and according to the wide-angle camera
Position successively splices four described images, obtains panorama sketch；
Cue module, for the distance between automobile and its peripheral obstacle described in real-time measurement, when the distance is less than
When distance threshold, change the display color that the barrier region is corresponded in the panorama sketch, and issue warning signal.
The invention also discloses a kind of readable storage medium storing program for executing, are stored thereon with computer instruction, which is held by processor
Above-mentioned method is realized when row.
The invention also discloses a kind of automobile, including memory, processor and storage on a memory and can handled
The computer program run on device, the processor realize above-mentioned method when executing described program.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow diagram of the vehicle blind zone reminding method of first embodiment of the invention；
Fig. 2 is the schematic diagram of the horizontal distance y for calculating wide-angle camera and barrier in first embodiment of the invention；
Fig. 3 is the schematic diagram that the vertical distance x of wide-angle camera and barrier is calculated in first embodiment of the invention；
Fig. 4 is the structural block diagram of the vehicle blind zone prompt system of second embodiment of the invention.
Specific embodiment
To keep objects, features and advantages of the present invention more obvious and easy to understand, with reference to the accompanying drawing to tool of the invention
Body embodiment is described in detail.Several embodiments of the invention are given in attached drawing.But the present invention can be with many not
With form realize, however it is not limited to embodiment described herein.On the contrary, purpose of providing these embodiments is makes to this
The disclosure of invention is more thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixedly arranged on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side ", "upper", "lower" and similar statement for illustrative purposes only, rather than the device or member of indication or suggestion meaning
Part must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.Term " and or " used herein include the arbitrary of one or more relevant listed items and
All combinations.
Referring to Fig. 1, the first embodiment of the present invention proposes a kind of vehicle blind zone reminding method, it is applied on automobile, institute
It states and is respectively equipped with wide-angle camera on four sides of automobile, include the following steps.
S1. image of the automobile in four direction of the wide-angle camera shooting is obtained.
It is understood that wide-angle camera can be set on four corners of automobile, also can be set in automobile four
The midpoint on side, main function are that can cover around automobile after picture captured by wide-angle camera can be made to be superimposed.In this reality
It applies in example, the quantity of wide-angle camera is 4, and in other embodiments, the quantity of wide-angle camera may be 4 or more
Any amount.
S2. gray processings, denoising are executed to four described images, according to the position of the wide-angle camera by four institutes
It states image successively to splice, obtains panorama sketch, and show the panorama sketch.
Specifically, the step of four described images execution gray processing processing, includes:
Weighted average obtains the gray level image of described image according to the following formula:
F (i, j)=0.30*fR(i,j)+0.59*fG(i,j)+0.11*fB(i,j)
In formula, F (i, j) is the pixel value of the certain point of described image after gray processing, fR(i,j)、fG(i,j)、fB
(i, j) this 3 amounts are respectively R component, the value of G component, B component of described image.
It should be noted that in image procossing, using tri- components (R:Red, G:Green, B:Blue) of RGB, i.e., red,
Green, primary colors represent true color, and R component, G component, and the value range of B component is one on 0~255, such as screen
The value in 3 channels of pixel of a white is respectively: 255,255,255.
It is understood that due to processing one color image for, data volume be it is bigger, in order to subtract as far as possible
Few data volume, therefore color image is subjected to gray processing processing, image after gray processing can be subsequent acquisition and obstacle
The distance between object improves precision.
In the present embodiment, three weighting coefficients are respectively adopted 0.3,0.59 and 0.11, to treated gray level image into
Row Gooch is objectively evaluated, and obtains the gray level image notable figure and the significant similitude of original color image is 0.995613.At other
In embodiment, three weighting coefficients also can choose other values, but it is low compared with the present embodiment to evaluate gained similarity.
Specifically, the step of four described images execution denoising, includes:
It selects any pixel of the gray level image as initial pixel point, is established centered on the initial pixel point
The two-dimentional sliding block in specified region；
The pixel value for obtaining all pixels point being located in the two-dimentional sliding block, according to the big your pupil of the pixel value
At the 2-D data sequence of monotone increasing；
The pixel value of the initial pixel point is replaced with the median by the median for calculating the pixel value；
Other pixels for selecting the gray level image repeat all pictures that above-mentioned steps handle the gray level image
Vegetarian refreshments.
It should be noted that the generation of noise is unavoidable during due to image transmitting, it is therefore an objective to as far as possible
Removal noise, it is therefore desirable to image carry out denoising.In the present embodiment, denoising is by image gray processing
After reason.
It should be pointed out that the denoising basic principle of the present embodiment is to use one for some pixel in image
The two-dimentional sleiding form (template can be threadiness, square or round) of certain structure, is generally directed at this for the central point of the structure
Pixel in plate is ranked up by a pixel according to the size of pixel value, and generating monotone increasing (or decline) is 2-D data
Sequence, the median for the pixel value for taking these to sort are used to this pixel of replacement step two.Repeat above-mentioned steps pair
Each pixel of image carries out traversing operation, and wherein formula g (x, y)=med { f (x-k, y- can be used in output pixel value
L), k, l ∈ W) } it calculates, in formula, f (x, y) and g (x, y) they are respectively image after original image and processing, and W is two dimension pattern plate, is led to
It is often the region 2*2 or 3*3.
S3. the distance between automobile and its peripheral obstacle described in real-time measurement, when the distance is less than distance threshold,
Change the display color for corresponding to the barrier region in the panorama sketch, and issues warning signal.
Specifically, the step of the distance between automobile and its peripheral obstacle described in the real-time measurement, includes:
Vertical distance x and horizontal distance y of the wide-angle camera apart from the barrier are obtained, according to formulaCalculate the distance between the automobile and its peripheral obstacle dis.
Wherein, the step of horizontal distance y for obtaining the wide-angle camera apart from the barrier includes:
According to formulaIt is calculated vertical half field-of-view's angle beta, in formula, H is the wide-angle
The pixels tall of image captured by camera, d are the pixel length of the wide-angle camera, and f is the wide-angle camera
Focal length；
According to formulaIn formula, h is the wide-angle
The actual height of camera, S are the wide-angle camera at a distance from the central point of its imaging plane, and Y is specified point described
Horizontal pixel distance in image between the central point, Y ' are the half of the pixels tall of described image.S is definite value, can
It is interpreted as image-forming range, can measure to obtain according to the actual situation.
Referring to Fig. 3, the derivation of equation for calculating horizontal distance y is as follows it should be noted that BO is vertical with AO in figure.
Utilize formulaWithIt can obtain
Further according to formulaWithIt can obtain
Wherein, the step of obtaining vertical distance x of the wide-angle camera apart from the barrier include:
According to formulaIt is calculated horizontal angle of half field-of view γ, in formula, W is the wide-angle
The pixel wide of image captured by camera；
According to formulaIn formula, X be specified point in described image with the center
Magnitude pixels distance between point, X ' are the half of the pixel wide of described image.
Referring to Fig. 4, the derivation of the calculation formula of vertical distance x is as follows.
Due toThen
Further according toIt can obtain
Preferably, the step of corresponding to the display color of the barrier region in the change panorama sketch is wrapped
It includes:
The distance for obtaining barrier region all the points establishes color libraries by different colors, will be different
The value of the distance maps to the different colours of the color libraries；
Change the color in the panorama sketch according to the distance of each point in the panorama sketch.
It should be noted that in the present embodiment, changing color and being additionally superimposed one layer of color on panorama sketch, to highlight
Closer barrier.
It is understood that will form gradient color when changing color when using being mapped by distance and color libraries,
In the present embodiment, be particularly shown for the smaller Color Color of distance value it is deeper, otherwise it is more shallow.
It is in the advantage of invention, periphery is shot using the wide-angle camera that automobile carries, at image
Panorama sketch, then the distance between real-time measurement automobile and peripheral obstacle are managed and show, by the barrier being closer by changing
Become color to highlight to remind user.
Referring to Fig. 2, being applied to automobile, four sides of the automobile the invention discloses a kind of vehicle blind zone prompt system
On be respectively equipped with wide-angle camera, the system comprises:
Image collection module 1, for obtaining image of the automobile in four direction of the wide-angle camera shooting；
Image processing module 2, for executing gray processing, denoising to described image, and according to the wide-angle camera
Position four described images are successively spliced, obtain panorama sketch；
Cue module 3, for the distance between automobile and its peripheral obstacle described in real-time measurement, when the distance is less than
When distance threshold, change the display color that the barrier region is corresponded in the panorama sketch, and issue warning signal.
In the present embodiment, shooting module 1 is the wide-angle camera for being connected with memory, and image processing module 2 is center
Processor, for receiving image captured by wide-angle camera and being handled, cue module 3 is mainly used for judging whether to need
Change the color of panorama sketch, and issues warning signal.
Specifically, image processing module 2 includes gray processing processing unit, denoising unit and concatenation unit.Wherein, gray processing
Unit and denoising unit are respectively used to carry out image gray processing processing and denoising, and concatenation unit is used for the figure that will be handled well
As being successively stitched together according to the position of wide-angle camera, to generate panorama sketch.
In addition, cue module 3 includes distance measuring unit and prewarning unit.Distance measuring unit for real-time measurement automobile and its around
The distance between barrier carries out ranging using monocular telemetry is carried out to panorama sketch in the present embodiment；Prewarning unit is used for
According to distance measurement result to the specified area change color of panorama sketch, in the present embodiment, the color of use is according to the length of distance
Change, distance is shorter, then color is deeper, otherwise more shallow.
Third embodiment of the invention discloses a kind of readable storage medium storing program for executing, is stored thereon with computer instruction, which is located
Reason device realizes above-mentioned method when executing.
Fourth embodiment of the invention discloses a kind of automobile, including memory, processor and storage are on a memory and can
The computer program run on a processor, the processor realize above-mentioned method when executing described program.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of vehicle blind zone reminding method is applied on automobile, is respectively equipped with wide-angle camera on four sides of the automobile,
It is characterized in that, comprising the following steps:
Obtain image of the automobile in four direction of the wide-angle camera shooting；
Gray processings, denoising are executed to four described images, according to the position of the wide-angle camera by four described images
Successively splice, obtains panorama sketch, and show the panorama sketch；
The distance between automobile and its peripheral obstacle described in real-time measurement change institute when the distance is less than distance threshold
The display color for corresponding to the barrier region in panorama sketch is stated, and is issued warning signal.
2. vehicle blind zone reminding method according to claim 1, which is characterized in that four described images execute gray scale
Changing the step of handling includes:
Weighted average obtains the gray level image of described image according to the following formula:
F (i, j)=0.30*fR(i, j)+0.59*fG(i, j)+0.11*fB(i, j)
In formula, F (i, j) is the pixel value of the certain point of described image after gray processing, fR(i, j), fG(i, j), fB(i,
J) this 3 amounts are respectively R component, the value of G component, B component of described image.
3. vehicle blind zone reminding method according to claim 2, which is characterized in that four described images execute denoising
The step of processing includes:
It selects any pixel of the gray level image as initial pixel point, is established centered on the initial pixel point specified
The two-dimentional sliding block in region；
The pixel value for obtaining all pixels point being located in the two-dimentional sliding block, generates single according to the size of the pixel value
Adjust the 2-D data sequence risen；
The pixel value of the initial pixel point is replaced with the median by the median for calculating the pixel value；
Other pixels for selecting the gray level image repeat all pixels that above-mentioned steps handle the gray level image
Point.
4. vehicle blind zone reminding method according to claim 1, which is characterized in that automobile described in the real-time measurement and its
The step of the distance between peripheral obstacle includes:
Vertical distance x and horizontal distance y of the wide-angle camera apart from the barrier are obtained, according to formulaCalculate the distance between the automobile and its peripheral obstacle dis.
5. vehicle blind zone reminding method according to claim 4, which is characterized in that it is described obtain the wide-angle camera away from
The step of horizontal distance y from the barrier includes:
According to formulaIt is calculated vertical half field-of-view's angle beta, in formula, H is the wide-angle imaging
The pixels tall of image captured by head, d are the pixel length of the wide-angle camera, and f is the focal length of the wide-angle camera；
According to formulaIn formula, h is the wide-angle imaging
The actual height of head, S are the wide-angle camera at a distance from the central point of its imaging plane, and Y is specified point in described image
In horizontal pixel distance between the central point, Y ' is the half of the pixels tall of described image.
6. vehicle blind zone reminding method according to claim 5, which is characterized in that obtain the wide-angle camera apart from institute
The step of stating the vertical distance x of barrier include:
According to formulaIt is calculated horizontal angle of half field-of view γ, in formula, W is the wide-angle imaging
The pixel wide of image captured by head；
According to formulaIn formula, X be specified point in described image with the central point
Between magnitude pixels distance, X ' be described image pixel wide half.
7. vehicle blind zone reminding method according to claim 1, which is characterized in that described change in the panorama sketch corresponds to
The step of display color of the barrier region includes:
The distance for obtaining barrier region all the points establishes color libraries by different colors, described in different
The value of distance maps to the different colours of the color libraries；
Change the color in the panorama sketch according to the distance of each point in the panorama sketch.
8. a kind of vehicle blind zone prompt system is applied to automobile, is respectively equipped with wide-angle camera on four sides of the automobile, special
Sign is, the system comprises:
Image collection module, for obtaining image of the automobile in four direction of the wide-angle camera shooting；
Image processing module, for executing gray processing, denoising to described image, and according to the position of the wide-angle camera
Four described images are successively spliced, panorama sketch is obtained；
Cue module, for the distance between automobile and its peripheral obstacle described in real-time measurement, when the distance is less than distance
When threshold value, change the display color that the barrier region is corresponded in the panorama sketch, and issue warning signal.
9. a kind of readable storage medium storing program for executing, is stored thereon with computer instruction, which is characterized in that real when the instruction is executed by processor
Method described in existing claim 1 to 7 any one.
10. a kind of automobile including memory, processor and stores the computer that can be run on a memory and on a processor
Program, which is characterized in that the processor realizes method as claimed in any one of claims 1 to 7 when executing described program.
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| CN116495004A (en) * | 2023-06-28 | 2023-07-28 | 杭州鸿泉物联网技术股份有限公司 | Vehicle environment sensing method, device, electronic equipment and storage medium |
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