CN110843673B - Vehicle-mounted anti-dizziness view forming method, generating device and anti-dizziness device - Google Patents
Vehicle-mounted anti-dizziness view forming method, generating device and anti-dizziness device Download PDFInfo
- Publication number
- CN110843673B CN110843673B CN201911140000.0A CN201911140000A CN110843673B CN 110843673 B CN110843673 B CN 110843673B CN 201911140000 A CN201911140000 A CN 201911140000A CN 110843673 B CN110843673 B CN 110843673B
- Authority
- CN
- China
- Prior art keywords
- lane line
- vehicle
- lane
- glare
- view
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- 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
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- 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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention provides a vehicle-mounted anti-dizziness view forming method, a generating device, an anti-dizziness device and a vehicle, wherein the vehicle-mounted anti-dizziness view forming method comprises the following steps: step S1, acquiring road image flow or video in front of, behind or around the vehicle; step S2, extracting a lane line from the road image stream or video; and step S3, rendering the road image stream or the video at the position of the lane line to obtain the vehicle-mounted anti-dazzle view. According to the vehicle-mounted anti-dazzle vignetting view forming method, the dizziness caused by lane lines can be avoided, and the driving safety is favorably improved.
Description
Technical Field
The invention relates to the field of vehicles, in particular to a vehicle-mounted anti-dizziness view forming method, a vehicle-mounted anti-dizziness view forming device, an anti-dizziness device and a vehicle.
Background
In recent years, the automobile industry is rapidly developed, the sales volume of automobiles exceeds 2000 thousands, the domestic automobile keeping volume breaks through 2 hundred million by 2018, and the intelligent rearview mirror is used by more and more drivers due to rich functions. The front and rear recording cameras are widely used for detecting the road conditions in front and rear. Looking at the picture for a long time, the dashed segments that blink rapidly (i.e. are constantly far away or close to) cause dizziness.
Disclosure of Invention
In view of the above, the invention provides a vehicle-mounted anti-dizziness view forming method, a vehicle-mounted anti-dizziness view generating device, an anti-dizziness device and a vehicle thereof, which can avoid dizziness caused by lane lines and are beneficial to improving the driving safety.
In order to solve the above technical problem, in one aspect, the present invention provides a vehicle-mounted anti-glare view forming method, including the steps of:
step S1, acquiring road image flow or video in front of, behind or around the vehicle;
step S2, extracting a lane line from the road image stream or video;
and step S3, rendering the road image stream or the video at the position of the lane line to obtain the vehicle-mounted anti-dazzle view.
Further, the road image stream or video of the step S1 is captured by a camera on the vehicle body.
Further, the step S2 includes classifying the extracted lane lines.
Further, classifying the extracted lane lines includes:
a) establishing a lane line database, wherein the lane line database comprises a plurality of lane lines of different types;
b) comparing the extracted lane lines with the lane lines in the lane line database one by one,
wherein, when the similarity is larger than or equal to the threshold value, the type of the lane line is judged to be consistent with the corresponding lane line in the database,
and when the similarity is smaller than the threshold value, judging that the type of the lane line is inconsistent with the corresponding lane line in the database and comparing the lane line with the next type of lane line in the lane line database.
Further, when the extracted lane lines are compared with all types of lane lines in the lane line database, and the similarity is still smaller than the threshold value, the extracted lane lines are stored in the lane line database.
Further, in the step S3, rendering is performed based on the type of the lane line.
Further, the rendering is to form a lane line static image at the lane line position.
Further, the rendering further comprises rendering the lane line color to reduce a contrast between the lane line and the road.
In a second aspect, the present invention provides an apparatus for generating an on-vehicle anti-glare view, including:
the acquisition module is used for acquiring road image streams or videos;
the lane line extraction module is used for extracting lane lines from the road image stream or the video;
and the rendering module is used for rendering the road image stream or the video at the position of the lane line to obtain the vehicle-mounted anti-dizziness view.
In a third aspect, the present invention provides an anti-glare device, comprising:
the vehicle-mounted anti-dizziness view generation device;
a display for displaying the vehicle-mounted anti-glare view generated by the vehicle-mounted anti-glare view generating device.
The anti-dizziness device can be any carrier on a vehicle, including an anti-dizziness mirror or any carrier on a vehicle such as a car machine. In addition, the rendered lane line may be directly projected on a front windshield (in this case, the front windshield is a display) to serve as an anti-glare front view mirror.
In a fourth aspect, the present invention provides a vehicle comprising the anti-glare device described above.
The technical scheme of the invention at least has one of the following beneficial effects:
according to the vehicle-mounted anti-dazzle vignetting view forming method, the dizziness caused by lane lines can be avoided, and the driving safety is favorably improved.
Drawings
FIG. 1 is a flow chart of a method of forming an on-board anti-glare view according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a vehicle-mounted anti-glare view generation apparatus according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention will be made with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
First, a vehicle-mounted anti-glare view forming method according to an embodiment of the present invention is explained with reference to fig. 1.
As shown in fig. 1, a vehicle-mounted anti-glare view forming method according to an embodiment of the present invention includes:
step S1, a road image stream or video in front of, behind, or around the vehicle is acquired.
That is, the vehicle acquires an image stream or video of a road in front of, behind, or around the vehicle during travel, wherein most roads have lane lines, i.e., acquires an image stream or video of the lane lines. But has problems: looking at the picture for a long time, the dashed segments that blink rapidly (i.e. are constantly far away or close to) cause dizziness.
Alternatively, the road image stream or video is captured by a camera on the vehicle body, images of the front, back, or surroundings of the vehicle may be captured, for example, 360 degree images of the environment or the like may be captured to form a picture stream or video.
Step S2, extracting a lane line from the road image stream or video.
Since lane lines, particularly discontinuous lane lines (broken lines, etc.), cause dizziness, it is necessary to extract the lane lines from a road image stream or video.
The lane line extraction method may be implemented by an image recognition tool. The image recognition tool can be obtained by labeling and training lane line samples. The specific sample labeling method and the training method may adopt conventional methods in the technical field of image recognition, and detailed description thereof is omitted here.
According to some embodiments of the invention, after the lane line is extracted, the lane line is classified.
The specific classification method comprises the following steps:
a) and establishing a lane line database, wherein the lane line database comprises a plurality of different types of lane lines.
Firstly, the lane lines of the existing road are classified, and different types of lane lines are stored in a database. Preferably, the lane lines stored in the database are static images.
b) And comparing the extracted lane lines with the lane lines in the lane line database one by one.
And then comparing the extracted lane lines with the lane lines in the lane line database one by one to determine the similarity.
When the similarity is greater than or equal to the threshold value, judging that the type of the extracted lane line is consistent with the corresponding lane line in the database;
and when the similarity is smaller than the threshold value, judging that the type of the extracted lane line is inconsistent with the corresponding lane line in the database and comparing the extracted lane line with the next type of lane line in the lane line database.
Therefore, most of the extracted lane lines can be matched with the lane lines with the same types as those of the database through comparison, namely the extracted lane lines are the types of the lane lines of the lane line database, and a corresponding relation is established for subsequent calling.
Further, when the extracted lane lines are compared with all types of lane lines in the lane line database, and the similarity is still smaller than the threshold value, the extracted lane lines are stored in the lane line database. Therefore, the database can be updated, and a new lane line type is established, so that subsequent lane lines can be classified conveniently.
According to other embodiments of the present invention, a database may not be established, the extracted lane line of the first frame image is directly used as a category, the lane line of the subsequent frame image is compared with the lane line of the first frame image, when the similarity is smaller than a threshold, it is determined that the lane line of the subsequent frame image is consistent with the category of the lane line of the first frame image, and when the similarity is larger than the threshold, the lane line of the current frame image is substituted for the lane line of the first frame image and then compared with the subsequent lane line.
According to other embodiments of the invention, the characteristics of the lane lines can be extracted, the lane lines can be learned, the lane lines can be automatically identified, and the categories of the extracted lane lines can be directly identified.
It should be noted that the above is only an optional example, and any method of classifying the lane lines of the road may be understood to be within the scope of the present invention.
And step S3, rendering the road image stream or the video at the position of the lane line to obtain the vehicle-mounted anti-dizziness view.
Further, rendering can be performed based on the type of lane line, resulting in a vehicle-mounted anti-glare view. For example, when the extracted lane line is a double white dotted line, a corresponding double solid line is formed; and when the extracted lane line is a single yellow dotted line, forming a corresponding single solid line, and so on. Wherein, preferably, the color of the rendered lane line graph can be slightly different from the color of the actual lane line, so that the user can judge the real lane line)
Further, a lane line static image may be formed at the lane line position by rendering.
For example, the corresponding lane line static image may be retrieved from the lane line database, rendered to the lane line position in the road image stream or video, and used as the display image, where a layer of rendered lane line static image is added to the lane line position of the actual image, thereby avoiding vertigo caused by the lane line dynamic image.
Therefore, the static image has a better visual effect, and vertigo caused by rapid flashing of the lane line can be avoided.
Further, rendering further comprises rendering the lane line color to reduce contrast between the lane line and the road. Therefore, the strong contrast of the road (black)/lane line (white) in the normal condition is avoided, the visual impact is avoided, and the dizzy feeling of the human body is reduced.
The above-mentioned reduction of the contrast between the lane line and the road is a further optimization of the static lane line, but the present invention is not limited thereto, and the contrast between the lane line and the road is reduced in the road image stream or video, and under the condition that the vertigo acceptable to the human body has been achieved, the static image of the lane line may not be formed on the premise of the position of the lane line.
Next, referring to fig. 2, a device 1000 for generating an on-vehicle anti-glare view according to an embodiment of the present invention is described, including a collecting module 1001, a lane line extracting module 1002, and a rendering module 1003.
The collection module 1001 is configured to collect a road image stream or a video. For example, it may be an in-vehicle camera, a car recorder, or the like. Or a data receiving sensor and the like connected with the vehicle-mounted camera and the automobile data recorder.
The lane line extraction module 1002 is configured to extract a lane line from a road image stream or video. The lane line detection module may be implemented by the above-mentioned software component, and a detailed description thereof is omitted here.
The rendering module 1003 is configured to render the road image stream or the video at the position of the lane line to obtain a vehicle-mounted anti-glare view.
The lane line extraction module 1002 and the rendering module 1003 may be separate modules, implemented by corresponding software (refer to the above description in the method, and detailed description thereof is omitted here), or may be integrated graphics processors.
In addition, an embodiment of the present invention provides an anti-glare device, including:
the vehicle-mounted anti-dizziness view generation device;
and a display for displaying the vehicle-mounted anti-glare view generated by the vehicle-mounted anti-glare view generating device.
The anti-dizziness device can be a vehicle machine, an anti-dizziness sight glass and other carriers on any vehicle.
Optionally, the anti-dizziness vehicle-mounted device is an anti-dizziness mirror.
In addition, the embodiment of the invention provides a vehicle comprising the anti-dizziness device.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. A method for forming an on-vehicle anti-glare view is characterized by comprising the following steps:
step S1, acquiring road image flow or video in front of, behind or around the vehicle;
step S2, extracting lane lines from the road image stream or video, and classifying the extracted lane lines;
step S3, for the road image stream or video, rendering the road image stream or video at the position of the lane line based on the type of the lane line to obtain the vehicle-mounted anti-glare view, wherein the rendering is to form a lane line static image at the position of the lane line, and the rendering further comprises rendering the color of the lane line to reduce the contrast between the lane line and the road.
2. The method for forming an on-vehicle anti-glare view according to claim 1, wherein the road image stream or video of the step S1 is captured by a camera on a vehicle body.
3. The method of forming an on-vehicle anti-glare view according to claim 1, wherein classifying the extracted lane lines comprises:
a) establishing a lane line database, wherein the lane line database comprises a plurality of lane lines of different types;
b) comparing the extracted lane lines with the lane lines in the lane line database one by one,
wherein, when the similarity is larger than or equal to the threshold value, the type of the lane line is judged to be consistent with the corresponding lane line in the database,
and when the similarity is smaller than the threshold value, judging that the type of the lane line is inconsistent with the corresponding lane line in the database and comparing the lane line with the next type of lane line in the lane line database.
4. The method for forming the vehicle-mounted anti-glare view according to claim 3, wherein when the similarity is still less than the threshold value after the extracted lane lines are compared with all types of lane lines in the lane line database, the extracted lane lines are stored in the lane line database.
5. An apparatus for generating an on-vehicle anti-glare view, comprising:
the acquisition module is used for acquiring road image streams or videos;
the lane line extraction module is used for extracting lane lines from the road image stream or the video and classifying the extracted lane lines;
and the rendering module is used for rendering the road image stream or the video at the position of the lane line based on the type of the lane line to obtain the vehicle-mounted anti-dizziness view, wherein the rendering is to form a lane line static image at the position of the lane line, and the rendering further comprises rendering the color of the lane line to reduce the contrast between the lane line and the road.
6. An anti-glare device, comprising:
the vehicle-mounted anti-glare view generation device according to claim 5;
a display for displaying the vehicle-mounted anti-glare view generated by the vehicle-mounted anti-glare view generating device.
7. The anti-stun apparatus as claimed in claim 6, wherein the anti-stun apparatus comprises an anti-stun mirror, or a car machine.
8. A vehicle characterized by comprising the anti-glare device according to claim 6 or 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911140000.0A CN110843673B (en) | 2019-11-20 | 2019-11-20 | Vehicle-mounted anti-dizziness view forming method, generating device and anti-dizziness device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911140000.0A CN110843673B (en) | 2019-11-20 | 2019-11-20 | Vehicle-mounted anti-dizziness view forming method, generating device and anti-dizziness device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110843673A CN110843673A (en) | 2020-02-28 |
| CN110843673B true CN110843673B (en) | 2021-05-18 |
Family
ID=69602929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911140000.0A Active CN110843673B (en) | 2019-11-20 | 2019-11-20 | Vehicle-mounted anti-dizziness view forming method, generating device and anti-dizziness device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110843673B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3997885B2 (en) * | 2002-10-17 | 2007-10-24 | 日産自動車株式会社 | Lane marker recognition device |
| CN101101333A (en) * | 2006-07-06 | 2008-01-09 | 三星电子株式会社 | Apparatus and method for generating driver assistance information for a moving vehicle |
| CN101228042A (en) * | 2005-07-19 | 2008-07-23 | 罗伯特·博世有限公司 | Display device |
| CN104775370A (en) * | 2015-04-23 | 2015-07-15 | 尹俊熙 | Method and device for scratching traffic marking line with inclined recognition line |
| US9098751B2 (en) * | 2011-07-27 | 2015-08-04 | Gentex Corporation | System and method for periodic lane marker identification and tracking |
| CN106133803A (en) * | 2014-03-31 | 2016-11-16 | 株式会社电装 | Vehicle display control unit |
| CN106320210A (en) * | 2016-08-22 | 2017-01-11 | 武汉理工大学 | Lane guide device for entrance section of signal intersection |
| CN108705972A (en) * | 2018-04-03 | 2018-10-26 | 吉利汽车研究院（宁波）有限公司 | A kind of vehicle lateral control information display system |
| CN110163176A (en) * | 2019-05-28 | 2019-08-23 | 北京百度网讯科技有限公司 | The recognition methods of lane line change location, device, equipment and medium |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4962581B2 (en) * | 2010-03-03 | 2012-06-27 | 株式会社デンソー | Lane marking detector |
-
2019
- 2019-11-20 CN CN201911140000.0A patent/CN110843673B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3997885B2 (en) * | 2002-10-17 | 2007-10-24 | 日産自動車株式会社 | Lane marker recognition device |
| CN101228042A (en) * | 2005-07-19 | 2008-07-23 | 罗伯特·博世有限公司 | Display device |
| CN101101333A (en) * | 2006-07-06 | 2008-01-09 | 三星电子株式会社 | Apparatus and method for generating driver assistance information for a moving vehicle |
| US9098751B2 (en) * | 2011-07-27 | 2015-08-04 | Gentex Corporation | System and method for periodic lane marker identification and tracking |
| CN106133803A (en) * | 2014-03-31 | 2016-11-16 | 株式会社电装 | Vehicle display control unit |
| CN104775370A (en) * | 2015-04-23 | 2015-07-15 | 尹俊熙 | Method and device for scratching traffic marking line with inclined recognition line |
| CN106320210A (en) * | 2016-08-22 | 2017-01-11 | 武汉理工大学 | Lane guide device for entrance section of signal intersection |
| CN108705972A (en) * | 2018-04-03 | 2018-10-26 | 吉利汽车研究院（宁波）有限公司 | A kind of vehicle lateral control information display system |
| CN110163176A (en) * | 2019-05-28 | 2019-08-23 | 北京百度网讯科技有限公司 | The recognition methods of lane line change location, device, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110843673A (en) | 2020-02-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11003931B2 (en) | Vehicle monitoring method and apparatus, processor, and image acquisition device | |
| CN110532976B (en) | Fatigue driving detection method and system based on machine learning and multi-feature fusion | |
| US20150116493A1 (en) | Method and system for estimating gaze direction of vehicle drivers | |
| CN103448653A (en) | Vehicle collision warning system and method | |
| US20150178902A1 (en) | Image processing apparatus and image processing method for removing rain streaks from image data | |
| US10735641B2 (en) | In-vehicle display control device, in-vehicle display system, in-vehicle display control method, and program | |
| CN111351474B (en) | Vehicle moving target detection method, device and system | |
| CN109318799B (en) | Automobile, automobile ADAS system and control method thereof | |
| CN112937445B (en) | 360-degree vehicle safety auxiliary method and vehicle-mounted system | |
| CN112699862B (en) | Image data processing method, device, equipment and storage medium | |
| CN114120250A (en) | Video-based method for detecting illegal people carried by motor vehicle | |
| CN111046741A (en) | Method and device for identifying lane line | |
| US12026961B2 (en) | Method and device for monitoring a passenger of a vehicle, and system for analyzing the perception of objects | |
| US20120189161A1 (en) | Visual attention apparatus and control method based on mind awareness and display apparatus using the visual attention apparatus | |
| CN108515967B (en) | Anti-collision early warning method and device based on license plate recognition | |
| CN110843673B (en) | Vehicle-mounted anti-dizziness view forming method, generating device and anti-dizziness device | |
| KR20200005282A (en) | Apparatus and method for lateral image processing of a mirrorless car | |
| CN111709396A (en) | Driving skill subject two and three examination auxiliary evaluation method based on human body posture | |
| CN112241963A (en) | Lane line identification method and system based on vehicle-mounted video and electronic equipment | |
| CN115447600B (en) | Vehicle anti-congestion method based on deep learning, controller and storage medium | |
| CN210836135U (en) | Traffic sign detecting and identifying system | |
| US11347974B2 (en) | Automated system for determining performance of vehicular vision systems | |
| CN115937806A (en) | Image processing method, image processing apparatus, and computer-readable storage medium | |
| WO2022044394A1 (en) | Object recognition control device, and object recognition method | |
| CN222202408U (en) | CMS collision prevention alarm system based on machine vision |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |