CN110942023A - Indication method, device and equipment for vehicle vision blind area and storage medium - Google Patents
Indication method, device and equipment for vehicle vision blind area and storage medium Download PDFInfo
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Abstract
The invention belongs to the field of vehicle control, and discloses a method, a device, equipment and a storage medium for indicating a vehicle vision blind area. The method of the embodiment of the invention comprises the following steps: acquiring a first original image shot by the first camera device and a second original image shot by the second camera device; performing image synthesis according to the first original image and the second original image to obtain a synthesized image of the right visual blind area of the vehicle; weighting the synthetic image to obtain a weighted synthetic image; and drawing a safe distance warning line on the weighted composite image so as to indicate the safe distance between the vehicle and the vehicle body in the visual blind area on the right side of the vehicle. The embodiment of the invention can achieve the effect of eliminating the visual blind area at the right front of the vehicle, and simultaneously draws the safe distance early warning line on the picture of the weighted composite image according to the actual safe distance to be used as the reference of the safe distance for the driver, thereby avoiding the misjudgment of the driver and reducing the accident rate of vehicle driving.
Description
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to a method, a device, equipment and a storage medium for indicating a vehicle vision blind area.
Background
The automobile right front blind area is one of main vision blind areas around the automobile, due to factors such as shielding of the right side A column, a long distance from a driver and the like, the automobile body right front blind area is huge, further huge potential safety hazards exist, and traffic accidents caused by the right front blind area emerge endlessly.
The main means of solving the right front blind area at present is rear-view mirror and A post blind area mirror, and these modes can solve the problem of vehicle right front blind area to a certain extent, but because right side rear-view mirror and A post blind area mirror are far away from navigating mate's distance, and the image that sees in the mirror has great deformation, and navigating mate is difficult to accurate judgement right front barrier is relative the actual distance of automobile body, leads to navigating mate misjudgement, and then the emergence accident.
Disclosure of Invention
The embodiment of the invention provides an indication method, device, equipment and storage medium for a vehicle vision blind area, and aims to solve the problem that a driver of a vehicle is difficult to accurately judge the actual distance of a right front obstacle relative to a vehicle body, so that the driver misjudges and further accidents occur.
In order to solve the technical problem, the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a method for indicating a vehicle visual blind area, which is applied to a vehicle including a first camera device disposed in a right front of the vehicle and a second camera device disposed in a front of the vehicle, and includes:
acquiring a first original image shot by the first camera device and a second original image shot by the second camera device;
performing image synthesis according to the first original image and the second original image to obtain a synthesized image of the right visual blind area of the vehicle;
weighting the synthetic image to obtain a weighted synthetic image;
and drawing a safe distance warning line on the weighted composite image so as to indicate the safe distance between the vehicle and the vehicle body in the visual blind area on the right side of the vehicle.
Further, the image synthesis according to the first original image and the second original image to obtain a synthesized image of the right visual blind area of the vehicle includes:
determining a common mapping region of the first original image and the second original image;
and splicing the first original image mapping area, the second original image mapping area and the common mapping area to form the composite image.
Further, the weighting processing on the synthesized image to obtain a weighted synthesized image includes:
calculating a first luminance offset value of the first photographing device and a second luminance offset value of the second photographing device;
calculating a weighting coefficient for splicing and fusing the first original image and the second original image;
and performing weighted mapping on the synthesized image according to the first brightness deviation value, the second brightness deviation value and the weighting coefficient to obtain a weighted synthesized image.
Further, the calculating a first luminance offset value of the first photographing device and a second luminance offset value of the second photographing device includes:
acquiring a first average brightness value of mapping pixels of the first camera device in the common mapping area;
acquiring a second average brightness value of the mapping pixels of the second camera in the common mapping area;
and calculating a first brightness offset value of the first shooting device and a second brightness offset value of the second shooting device according to the first average brightness value and the second average brightness value.
Further, the calculating a weighting coefficient for splicing and fusing the first original image and the second original image includes:
acquiring a first vertical distance value and a second vertical distance value from each pixel point of the common mapping region to two boundaries of the common mapping region;
and calculating a weighting coefficient for splicing and fusing the first original image and the second original image according to the first vertical distance value and the second vertical distance value.
Further, the performing weighted mapping on the synthesized image according to the first luminance deviation value, the second luminance deviation value, and the weighting coefficient to obtain a weighted synthesized image includes:
acquiring a first mapping relation from a synthesized image coordinate to the first original image pixel coordinate and a second mapping relation from the synthesized image to the second original image pixel coordinate;
according to the first mapping relation and the first brightness deviation value, carrying out weighted mapping on the first original image mapping area to obtain a first weighted image;
according to the second mapping relation and the second brightness deviation value, carrying out weighted mapping on the mapping area of the second original image to obtain a second weighted image;
according to the first mapping relation, the first brightness deviation value, the second mapping relation, the second brightness deviation value and the weighting coefficient, carrying out weighting mapping on the common mapping area to obtain a third weighted image;
and combining the first weighted image, the second weighted image and the third weighted image into the weighted composite image.
Further, the drawing a safe distance warning line on the weighted composite image includes:
acquiring the actual length of the vehicle body and the actual width of the vehicle body;
acquiring the front safety distance and the right safety distance of the vehicle;
acquiring the pixel length and the pixel width of the vehicle body on the weighted synthesized image;
calculating a first distance from a front warning line to the front of the vehicle according to the actual length of the vehicle body, the front safety distance and the pixel length;
calculating a second distance from the right warning line to the right side of the vehicle according to the actual width of the vehicle body, the right safety distance of the vehicle and the pixel width;
and drawing a front safe distance warning line in front of the vehicle according to the first distance, and drawing a right safe distance warning line on the right side of the vehicle according to the second distance.
In a second aspect, an embodiment of the present invention provides a device for detecting a vehicle vision blind area, which is applied to a vehicle including a first camera device disposed at a right front of the vehicle and a second camera device disposed at a front of the vehicle, and includes:
an acquiring unit, configured to acquire a first original image captured by the first imaging device and a second original image captured by the second imaging device;
the synthesis unit is used for carrying out image synthesis according to the first original image and the second original image to obtain a synthesized image of the right visual blind area of the vehicle;
the weighting unit is used for weighting the synthetic image to obtain a weighted synthetic image;
and the indicating unit is used for drawing a safe distance warning line on the weighted composite image so as to indicate the safe distance between the vehicle and the vehicle body in the visual blind area on the right side of the vehicle.
Further, the synthesis unit is specifically configured to:
determining a common mapping region of the first original image and the second original image;
and splicing the first original image mapping area, the second original image mapping area and the common mapping area to form the composite image.
Further, the weighting unit is specifically configured to:
calculating a first luminance offset value of the first photographing device and a second luminance offset value of the second photographing device;
calculating a weighting coefficient for splicing and fusing the first original image and the second original image;
and performing weighted mapping on the synthesized image according to the first brightness deviation value, the second brightness deviation value and the weighting coefficient to obtain a weighted synthesized image.
Further, the weighting unit is specifically configured to:
acquiring a first average brightness value of mapping pixels of the first camera device in the common mapping area;
acquiring a second average brightness value of the mapping pixels of the second camera in the common mapping area;
and calculating a first brightness offset value of the first shooting device and a second brightness offset value of the second shooting device according to the first average brightness value and the second average brightness value.
Further, the weighting unit is specifically configured to:
acquiring a first vertical distance value and a second vertical distance value from each pixel point of the common mapping region to two boundaries of the common mapping region;
and calculating a weighting coefficient for splicing and fusing the first original image and the second original image according to the first vertical distance value and the second vertical distance value.
Further, the weighting unit is specifically configured to:
acquiring a first mapping relation from a synthesized image coordinate to the first original image pixel coordinate and a second mapping relation from the synthesized image to the second original image pixel coordinate;
according to the first mapping relation and the first brightness deviation value, carrying out weighted mapping on the first original image mapping area to obtain a first weighted image;
according to the second mapping relation and the second brightness deviation value, carrying out weighted mapping on the mapping area of the second original image to obtain a second weighted image;
according to the first mapping relation, the first brightness deviation value, the second mapping relation, the second brightness deviation value and the weighting coefficient, carrying out weighting mapping on the common mapping area to obtain a third weighted image;
and combining the first weighted image, the second weighted image and the third weighted image into the weighted composite image.
Further, the indication unit is specifically configured to:
acquiring the actual length of the vehicle body and the actual width of the vehicle body;
acquiring the front safety distance and the right safety distance of the vehicle;
acquiring the pixel length and the pixel width of the vehicle body on the weighted synthesized image;
calculating a first distance from a front warning line to the front of the vehicle according to the actual length of the vehicle body, the front safety distance and the pixel length;
calculating a second distance from the right warning line to the right side of the vehicle according to the actual width of the vehicle body, the right safety distance of the vehicle and the pixel width;
and drawing a front safe distance warning line in front of the vehicle according to the first distance, and drawing a right safe distance warning line on the right side of the vehicle according to the second distance.
In a third aspect, an embodiment of the present invention provides a vehicle control apparatus including: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method for indicating a vehicle visual blind spot as described above.
In a fourth aspect, the embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method for indicating a vehicle blind spot.
In the embodiment of the invention, a first original image shot by a first camera device and a second original image shot by a second camera device are obtained; performing image synthesis according to the first original image and the second original image to obtain a synthesized image of the right visual blind area of the vehicle; weighting the synthetic image to obtain a weighted synthetic image; and drawing a safe distance warning line on the weighted composite image so as to indicate the safe distance between the vehicle and the vehicle body in the visual blind area on the right side of the vehicle. According to the embodiment of the invention, two shooting devices are arranged at the front right of the vehicle, the image pictures at the front and the right of the vehicle are respectively collected, the complete composite image at the front right of the vehicle is synthesized and can be presented to a driver through a vehicle-mounted display device, so that the effect of eliminating the visual blind area at the front right of the vehicle is achieved, meanwhile, a safe distance early warning line is drawn on the picture of the weighted composite image according to the actual safe distance and is used as the reference of the safe distance for the driver, the misjudgment of the driver is avoided, and the accident rate of vehicle driving is reduced.
Drawings
Fig. 1 is a hardware configuration diagram of a vehicle control apparatus that implements various embodiments of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for indicating a blind visual area of a vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a vehicle mapping area provided by an embodiment of the present invention;
FIG. 4 is a flowchart illustrating an embodiment of step S23 according to the present invention;
FIG. 5 is a schematic diagram of a vehicle blind area and a safety distance warning line according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating an embodiment of step S43 according to the present invention;
FIG. 7 is a flowchart illustrating an embodiment of step s24 according to the present invention;
FIG. 8 is a schematic structural diagram of an embodiment of an indicating device for indicating a blind visual area of a vehicle according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a frame structure of a vehicle control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
Referring to fig. 1, which is a schematic diagram of a hardware structure of a vehicle control device for implementing various embodiments of the present invention, the vehicle control device 100 may include: RF (Radio Frequency) unit 101, WiFi module 102, audio output unit 103, a/V (audio/video) input unit 104, sensor 105, display unit 106, user input unit 107, interface unit 108, memory 109, processor 110, and power supply 111. Those skilled in the art will appreciate that the vehicle control apparatus configuration shown in fig. 1 does not constitute a limitation of the vehicle control apparatus, and the vehicle control apparatus may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
The following specifically describes the respective components of the vehicle control apparatus with reference to fig. 1:
the radio frequency unit 101 may be configured to receive and transmit signals during information transmission and reception or during a call, and specifically, receive downlink information of a base station and then process the downlink information to the processor 110; in addition, the uplink data is transmitted to the base station. Typically, radio frequency unit 101 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like. In addition, the radio frequency unit 101 can also communicate with a network and other devices through wireless communication. The wireless communication may use any communication standard or protocol, including but not limited to GSM (Global System for mobile communications), GPRS (General Packet Radio Service), CDMA2000(Code Division Multiple Access 2000), WCDMA (Wideband Code Division Multiple Access), TD-SCDMA (Time Division-Synchronous Code Division Multiple Access), FDD-LTE (Frequency Division duplex-Long Term Evolution), and TDD-LTE (Time Division duplex-Long Term Evolution).
WiFi belongs to short-distance wireless transmission technology, and vehicle control equipment can help a user to send and receive e-mails, browse webpages, access streaming media and the like through the WiFi module 102, and provides wireless broadband internet access for the user. Although fig. 1 shows the WiFi module 102, it is understood that it does not belong to the essential constitution of the vehicle control device, and may be omitted entirely as needed within the scope not changing the essence of the invention.
The audio output unit 103 may convert audio data received by the radio frequency unit 101 or the WiFi module 102 or stored in the memory 109 into an audio signal and output as sound when the vehicle control apparatus 100 is in a call signal reception mode, a call mode, a recording mode, a voice recognition mode, a broadcast reception mode, or the like. Also, the audio output unit 103 may also provide audio output related to a specific function performed by the vehicle control apparatus 100 (e.g., a call signal reception sound, a message reception sound, and the like). The audio output unit 103 may include a speaker, a buzzer, and the like.
The a/V input unit 104 is used to receive audio or video signals. The a/V input Unit 104 may include a Graphics Processing Unit (GPU) 1041 and a microphone 1042, the Graphics processor 1041 Processing image data of still pictures or video obtained by an image capturing device (e.g., a camera) in a video capturing mode or an image capturing mode. The processed image frames may be displayed on the display unit 106. The image frames processed by the graphic processor 1041 may be stored in the memory 109 (or other storage medium) or transmitted via the radio frequency unit 101 or the WiFi module 102. The microphone 1042 may receive sounds (audio data) via the microphone 1042 in a phone call mode, a recording mode, a voice recognition mode, or the like, and may be capable of processing such sounds into audio data. The processed audio (voice) data may be converted into a format output transmittable to a mobile communication base station via the radio frequency unit 101 in case of a phone call mode. The microphone 1042 may implement various types of noise cancellation (or suppression) algorithms to cancel (or suppress) noise or interference generated in the course of receiving and transmitting audio signals.
The vehicle control apparatus 100 also includes at least one sensor 105, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor includes an ambient light sensor that can adjust the brightness of the display panel 1061 according to the brightness of ambient light, and a proximity sensor that can turn off the display panel 1061 and/or the backlight when the vehicle control device 100 is moved to the ear. As one of the motion sensors, the accelerometer sensor can detect the magnitude of acceleration in each direction (generally, three axes), can detect the magnitude and direction of gravity when stationary, and can be used for applications of recognizing the posture of a mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer and tapping), and the like; as for other sensors such as a fingerprint sensor, a pressure sensor, an iris sensor, a molecular sensor, a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which can be configured on the mobile phone, further description is omitted here.
The display unit 106 is used to display information input by a user or information provided to the user. The Display unit 106 may include a Display panel 1061, and the Display panel 1061 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like.
The user input unit 107 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the vehicle control apparatus. Specifically, the user input unit 107 may include a touch panel 1071 and other input devices 1072. The touch panel 1071, also referred to as a touch screen, may collect a touch operation performed by a user on or near the touch panel 1071 (e.g., an operation performed by the user on or near the touch panel 1071 using a finger, a stylus, or any other suitable object or accessory), and drive a corresponding connection device according to a predetermined program. The touch panel 1071 may include two parts of a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor 110, and can receive and execute commands sent by the processor 110. In addition, the touch panel 1071 may be implemented in various types, such as a resistive type, a capacitive type, an infrared ray, and a surface acoustic wave. In addition to the touch panel 1071, the user input unit 107 may include other input devices 1072. In particular, other input devices 1072 may include, but are not limited to, one or more of a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like, and are not limited to these specific examples.
Further, the touch panel 1071 may cover the display panel 1061, and when the touch panel 1071 detects a touch operation thereon or nearby, the touch panel 1071 transmits the touch operation to the processor 110 to determine the type of the touch event, and then the processor 110 provides a corresponding visual output on the display panel 1061 according to the type of the touch event. Although in fig. 1, the touch panel 1071 and the display panel 1061 are two independent components to implement the input and output functions of the vehicle control device, in some embodiments, the touch panel 1071 and the display panel 1061 may be integrated to implement the input and output functions of the vehicle control device, and is not limited herein.
The interface unit 108 serves as an interface through which at least one external device can be connected to the vehicle control apparatus 100. For example, the external device may include a wired or wireless headset port, an external power supply (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device having an identification module, an audio input/output (I/O) port, a video I/O port, an earphone port, and the like. The interface unit 108 may be used to receive input (e.g., data information, power, etc.) from an external device and transmit the received input to one or more elements within the vehicle control apparatus 100 or may be used to transmit data between the vehicle control apparatus 100 and the external device.
The memory 109 may be used to store software programs as well as various data. The memory 109 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 109 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 110 is a control center of the vehicle control apparatus, connects various parts of the entire vehicle control apparatus using various interfaces and lines, and performs various functions of the vehicle control apparatus and processes data by operating or executing software programs and/or modules stored in the memory 109 and calling data stored in the memory 109, thereby performing overall monitoring of the vehicle control apparatus. Processor 110 may include one or more processing units; preferably, the processor 110 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 110.
The vehicle control device 100 may further include a power source 111 (such as a battery) for supplying power to various components, and preferably, the power source 111 may be logically connected to the processor 110 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system.
Although not shown in fig. 1, the vehicle control apparatus 100 may further include a bluetooth module or the like, which is not described in detail herein.
Various embodiments of the method of the present invention are presented based on the above-described vehicle control device hardware architecture.
Fig. 2 is a flowchart illustrating steps of a method for indicating a blind spot in a vehicle according to a first embodiment of the present invention, which is only related to the embodiment of the present invention for convenience of description, and is detailed as follows:
as a preferred embodiment of the present invention, the vehicle includes a first camera device disposed at the right front of the vehicle and a second camera device disposed at the front of the vehicle, and particularly, without limitation, the method for indicating the vehicle visual blind area may include the following steps:
and S21, acquiring a first original image shot by the first camera and a second original image shot by the second camera.
The first camera device and the second camera device can be high-definition cameras, such as high-definition fisheye cameras, the first camera device and the second camera device can continuously shoot video images in front of the vehicle and in front of the right of the vehicle and transmit the video images to the vehicle control equipment, and the vehicle control equipment can obtain a first original image shot by the first camera device and a second original image shot by the second camera device.
And S22, carrying out image synthesis according to the first original image and the second original image to obtain a synthesized image of the right visual blind area of the vehicle.
Wherein the image synthesis according to the first original image and the second original image to obtain a synthesized image of the right visual blind area of the vehicle comprises: determining a common mapping region of the first original image and the second original image; and splicing the first original image mapping area, the second original image mapping area and the common mapping area to form the composite image.
As shown in fig. 3, the corresponding synthesized area of the synthesized image is divided into 3 parts, where the a area is completely formed by the mapping area of the front camera (i.e. the first original image mapping area), the C area is completely formed by the mapping area of the right camera (i.e. the second original image mapping area), and the B area is spliced and synthesized by the common mapping areas of the two cameras (i.e. the common mapping areas). It should be noted that the front and right boundaries of the common mapping region are respectively flush with the first original image mapping region and the second original image mapping region, as shown in fig. 3.
And S23, performing weighting processing on the synthetic image to obtain a weighted synthetic image.
In some embodiments of the present invention, as shown in fig. 4, the performing a weighting process on the composite image to obtain a weighted composite image may further include:
and S41, calculating a first brightness offset value of the first shooting device and a second brightness offset value of the second shooting device.
Further, the calculating a first luminance offset value of the first photographing device and a second luminance offset value of the second photographing device may include: acquiring a first average brightness value of mapping pixels of the first camera device in the common mapping area; acquiring a second average brightness value of the mapping pixels of the second camera in the common mapping area; and calculating a first brightness offset value of the first shooting device and a second brightness offset value of the second shooting device according to the first average brightness value and the second average brightness value.
After determining the common mapping region, the first average brightness value of the pixels mapped in the common mapping region by the first image capturing device can be directly determined
And the second imaging device maps a second average luminance value of the pixels in the common mapping region
At this time, the following formula (1) and formula (2) may be respectively adopted to calculate the first luminance offset value of the first photographing device and the second luminance offset value of the second photographing device according to the first average luminance value and the second average luminance value
A first luminance offset value of the first photographing device:
a second luminance offset value of the second photographing device:
and S42, calculating a weighting coefficient for splicing and fusing the first original image and the second original image.
Further, the calculating a weighting coefficient for splicing and fusing the first original image and the second original image includes: acquiring a first vertical distance value and a second vertical distance value from each pixel point of the common mapping region to two boundaries of the common mapping region; and calculating a weighting coefficient for splicing and fusing the first original image and the second original image according to the first vertical distance value and the second vertical distance value.
Specifically, as shown in fig. 5, the vertical distance values between the pixel point I (x, y) of the common mapping region and the two boundaries p, q of the common mapping region are m, n, respectively, that is, the first vertical distance value and the second vertical distance value are m, n, respectively, and at this time, the weighting coefficient μ (x, y) may be calculated by using the following formula (3):
μ(x,y)＝(m/(m+n)) (3)
s43, carrying out weighted mapping on the synthetic image according to the first brightness deviation value, the second brightness deviation value and the weighting coefficient to obtain a weighted synthetic image.
Further, as shown in fig. 6, the performing weighted mapping on the synthesized image according to the first luminance offset value, the second luminance offset value, and the weighting coefficient to obtain a weighted synthesized image may include:
s61, acquiring a first mapping relation from the coordinates of the synthesized image to the coordinates of the pixels of the first original image and a second mapping relation from the coordinates of the synthesized image to the coordinates of the pixels of the second original image.
Specifically, the distortion correction and the perspective transformation calculation are performed on the first image capturing device and the second image capturing device through the processing such as image capturing device calibration (the process is the prior art, and is not described herein in detail), so that the coordinates I (x, y) of the synthesized image to the pixel coordinates f of the first original image can be obtained respectively1(x, y), second original image pixel coordinates f2Mapping relation g between (x, y)1(x,y)、g2(x,y)。
S62, according to the first mapping relation and the first brightness deviation value, carrying out weighted mapping on the first original image mapping area to obtain a first weighted image.
Specifically, as shown in fig. 3, for an area a (a first original image mapping area), weighting and mapping the first original image mapping area according to the first mapping relationship and the first luminance offset value to obtain a first weighted image, which may be calculated by using the following formula (4):
I(x,y)＝f1(g1(x,y))+i1(4)
and S63, performing weighted mapping on the mapping area of the second original image according to the second mapping relation and the second brightness deviation value to obtain a second weighted image.
Specifically, as shown in fig. 3, for the region C (the mapping region of the second original image), the mapping region of the second original image is weighted and mapped according to the second mapping relationship and the second luminance offset value, and the second weighted image obtained by weighting the mapping region of the second original image can be calculated by using the following formula (5):
I(x,y)＝f2(g2(x,y))+i2(5)
s64, according to the first mapping relation, the first brightness deviation value, the second mapping relation, the second brightness deviation value and the weighting coefficient, carrying out weighting mapping on the common mapping area to obtain a third weighted image.
Specifically, for the B region (the common mapping region), the common mapping region is weighted and mapped according to the first mapping relationship, the first luminance offset value, the second mapping relationship, the second luminance offset value, and the weighting coefficient to obtain a third weighted image, and the third weighted image may be calculated by using the following equation (6):
I(x,y)＝(f1(g1(x,y))+i1)*μ(x,y)+(f2(g2(x,y))+i2)*(1-μ(x,y)) (6)
and S65, forming the weighted composite image by the first weighted image, the second weighted image and the third weighted image.
Wherein the weighted composite image is directly formed according to the first weighted image, the second weighted image and the third weighted image.
And S24, drawing a safe distance warning line on the weighted composite image to indicate the safe distance between the vehicle and the vehicle body in the visual blind area on the right side of the vehicle.
Specifically, as shown in fig. 7, the drawing a safe distance warning line on the weighted composite image may include:
and S71, acquiring the actual length and the actual width of the vehicle body of the vehicle.
And S72, acquiring the safety distance of the front side of the vehicle and the safety distance of the right side of the vehicle.
And S73, acquiring the pixel length and the pixel width of the vehicle body on the weighted composite image.
S74, calculating a first distance from the front warning line to the front of the vehicle according to the actual length of the vehicle body, the front safety distance of the vehicle and the pixel length.
And S75, calculating a second distance from the right warning line to the right side of the vehicle according to the actual width of the vehicle body, the right safety distance of the vehicle and the pixel width.
And S76, drawing a front safe distance warning line in front of the vehicle according to the first distance, and drawing a right safe distance warning line on the right side of the vehicle according to the second distance.
In one embodiment, the actual length and actual width of the vehicle body are assumedEach of the degrees is L0、W0The safety distance between the front of the vehicle and the right of the vehicle is l0、w0As shown in fig. 3, if the pixel length and the pixel width of the vehicle body on the weighted composite image are L, W, respectively:
the first distance is L ═ (L/L)0)*l0；
The second distance is W ═ W/W0)*w0。
In the embodiment of the invention, a first original image shot by a first camera device and a second original image shot by a second camera device are obtained; performing image synthesis according to the first original image and the second original image to obtain a synthesized image of the right visual blind area of the vehicle; weighting the synthetic image to obtain a weighted synthetic image; and drawing a safe distance warning line on the weighted composite image so as to indicate the safe distance between the vehicle and the vehicle body in the visual blind area on the right side of the vehicle. According to the embodiment of the invention, two shooting devices are arranged at the front right of the vehicle, the image pictures at the front and the right of the vehicle are respectively collected, the complete composite image at the front right of the vehicle is synthesized and can be presented to a driver through a vehicle-mounted display device, so that the effect of eliminating the visual blind area at the front right of the vehicle is achieved, meanwhile, a safe distance early warning line is drawn on the picture of the weighted composite image according to the actual safe distance and is used as the reference of the safe distance for the driver, the misjudgment of the driver is avoided, and the accident rate of vehicle driving is reduced.
In order to better implement the method for indicating the vehicle visual blind area in the embodiment of the present invention, on the basis of the method for indicating the vehicle visual blind area, an embodiment of the present invention further provides an apparatus for indicating the vehicle visual blind area, where the vehicle includes a first camera device disposed at the right front of the vehicle and a second camera device disposed at the front of the vehicle, and as shown in fig. 8, the apparatus 800 for detecting the vehicle visual blind area includes:
an acquiring unit 801, configured to acquire a first original image captured by the first imaging device and a second original image captured by the second imaging device;
a synthesizing unit 802, configured to perform image synthesis according to the first original image and the second original image, so as to obtain a synthesized image of the right visual blind area of the vehicle;
a weighting unit 803, configured to perform weighting processing on the composite image to obtain a weighted composite image;
and an indicating unit 804, configured to draw a safe distance warning line on the weighted composite image to indicate a safe distance between the vehicle and the vehicle body in the blind area on the right side of the vehicle.
Further, the synthesis unit 802 is specifically configured to:
determining a common mapping region of the first original image and the second original image;
and splicing the first original image mapping area, the second original image mapping area and the common mapping area to form the composite image.
Further, the weighting unit 803 is specifically configured to:
calculating a first luminance offset value of the first photographing device and a second luminance offset value of the second photographing device;
calculating a weighting coefficient for splicing and fusing the first original image and the second original image;
and performing weighted mapping on the synthesized image according to the first brightness deviation value, the second brightness deviation value and the weighting coefficient to obtain a weighted synthesized image.
Further, the weighting unit 803 is specifically configured to:
acquiring a first average brightness value of mapping pixels of the first camera device in the common mapping area;
acquiring a second average brightness value of the mapping pixels of the second camera in the common mapping area;
and calculating a first brightness offset value of the first shooting device and a second brightness offset value of the second shooting device according to the first average brightness value and the second average brightness value.
Further, the weighting unit 803 is specifically configured to:
acquiring a first vertical distance value and a second vertical distance value from each pixel point of the common mapping region to two boundaries of the common mapping region;
and calculating a weighting coefficient for splicing and fusing the first original image and the second original image according to the first vertical distance value and the second vertical distance value.
Further, the weighting unit 803 is specifically configured to:
acquiring a first mapping relation from a synthesized image coordinate to the first original image pixel coordinate and a second mapping relation from the synthesized image to the second original image pixel coordinate;
according to the first mapping relation and the first brightness deviation value, carrying out weighted mapping on the first original image mapping area to obtain a first weighted image;
according to the second mapping relation and the second brightness deviation value, carrying out weighted mapping on the mapping area of the second original image to obtain a second weighted image;
according to the first mapping relation, the first brightness deviation value, the second mapping relation, the second brightness deviation value and the weighting coefficient, carrying out weighting mapping on the common mapping area to obtain a third weighted image;
and combining the first weighted image, the second weighted image and the third weighted image into the weighted composite image.
Further, the indicating unit 804 is specifically configured to:
acquiring the actual length of the vehicle body and the actual width of the vehicle body;
acquiring the front safety distance and the right safety distance of the vehicle;
acquiring the pixel length and the pixel width of the vehicle body on the weighted synthesized image;
calculating a first distance from a front warning line to the front of the vehicle according to the actual length of the vehicle body, the front safety distance and the pixel length;
calculating a second distance from the right warning line to the right side of the vehicle according to the actual width of the vehicle body, the right safety distance of the vehicle and the pixel width;
and drawing a front safe distance warning line in front of the vehicle according to the first distance, and drawing a right safe distance warning line on the right side of the vehicle according to the second distance.
In the embodiment of the present invention, an obtaining unit 801 obtains a first original image captured by the first image capturing device and a second original image captured by the second image capturing device; a synthesis unit 802 performs image synthesis according to the first original image and the second original image to obtain a synthesized image of the right visual blind area of the vehicle; the weighting unit 803 performs weighting processing on the synthesized image to obtain a weighted synthesized image; the indicating unit 804 draws a safe distance warning line on the weighted composite image to indicate the safe distance between the vehicle and the vehicle body in the visual blind area on the right side of the vehicle. According to the embodiment of the invention, two shooting devices are arranged at the front right of the vehicle, the image pictures at the front and the right of the vehicle are respectively collected, the complete composite image at the front right of the vehicle is synthesized and can be presented to a driver through a vehicle-mounted display device, so that the effect of eliminating the visual blind area at the front right of the vehicle is achieved, meanwhile, a safe distance early warning line is drawn on the picture of the weighted composite image according to the actual safe distance and is used as the reference of the safe distance for the driver, the misjudgment of the driver is avoided, and the accident rate of vehicle driving is reduced.
Fig. 9 is a structural diagram of a vehicle control apparatus of still another embodiment of the invention. The vehicle control apparatus 900 shown in fig. 9 includes: at least one processor 901, memory 902, at least one network interface 904, and a user interface 903. The various components in the vehicle control device 900 are coupled together by a bus system 905. It is understood that the bus system 905 is used to enable communications among the components. The bus system 905 includes a power bus, a control bus, and a status signal bus, in addition to a data bus. For clarity of illustration, however, the various buses are labeled in fig. 9 as bus system 905.
The user interface 903 may include, among other things, a display, a keyboard, or a pointing device (e.g., a mouse, trackball, touch pad, or touch screen, among others.
It is to be understood that the memory 902 in embodiments of the present invention may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile memory may be a Read-only memory (ROM), a programmable Read-only memory (PROM), an erasable programmable Read-only memory (erasabprom, EPROM), an electrically erasable programmable Read-only memory (EEPROM), or a flash memory. The volatile memory may be a Random Access Memory (RAM) which functions as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (staticiram, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (syncronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced synchronous SDRAM (ESDRAM), synchronous link SDRAM (SLDRAM), and direct memory bus SDRAM (DRRAM). The memory 902 of the systems and methods described in connection with the embodiments of the invention is intended to comprise, without being limited to, these and any other suitable types of memory.
In some embodiments, memory 902 stores the following elements, executable modules or data structures, or a subset thereof, or an expanded set thereof: an operating system 9021 and application programs 9022.
The operating system 9021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is configured to implement various basic services and process hardware-based tasks. The application 9022 includes various applications, such as a media player (MediaPlayer), a Browser (Browser), and the like, for implementing various application services. A program implementing the method of an embodiment of the present invention may be included in application 9022.
In the embodiment of the present invention, the program or the instruction stored in the memory 902 may be specifically a program or an instruction stored in the application 9022. The method disclosed in the above embodiments of the present invention may be applied to the processor 901, or implemented by the processor 901. The processor 901 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the methods in the embodiments described above may be implemented by integrated logic circuits of hardware or instructions in the form of software in the processor 901. The processor 901 may be a general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 902, and the processor 901 reads the information in the memory 902, and completes the steps of the above method in combination with the hardware thereof.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or any combination thereof. For a hardware implementation, the processing units may be implemented within one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, micro-controllers, microprocessors, other electronic units configured to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described in this disclosure may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described in this disclosure. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method for indicating a vehicle visual blind area as described above.
Those skilled in the art can understand that each unit included in the above embodiments is only divided according to functional logic, but is not limited to the above division as long as the corresponding function can be achieved; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It will be further understood by those skilled in the art that all or part of the steps in the method for implementing the above embodiments may be implemented by relevant hardware instructed by a program stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A method for indicating a vehicle vision blind area is applied to a vehicle, the vehicle comprises a first camera device arranged at the right front of the vehicle and a second camera device arranged at the front of the vehicle, and the method for indicating the vehicle vision blind area comprises the following steps:
acquiring a first original image shot by the first camera device and a second original image shot by the second camera device;
performing image synthesis according to the first original image and the second original image to obtain a synthesized image of the right visual blind area of the vehicle;
weighting the synthetic image to obtain a weighted synthetic image;
and drawing a safe distance warning line on the weighted composite image so as to indicate the safe distance between the vehicle and the vehicle body in the visual blind area on the right side of the vehicle.
2. The method for indicating the vehicle visual blind area according to claim 1, wherein the image synthesis based on the first original image and the second original image to obtain a synthesized image of the vehicle right visual blind area comprises:
determining a common mapping region of the first original image and the second original image;
and splicing the first original image mapping area, the second original image mapping area and the common mapping area to form the composite image.
3. The method for indicating the blind visual area of the vehicle according to claim 2, wherein the weighting the synthesized image to obtain a weighted synthesized image comprises:
calculating a first luminance offset value of the first photographing device and a second luminance offset value of the second photographing device;
calculating a weighting coefficient for splicing and fusing the first original image and the second original image;
and performing weighted mapping on the synthesized image according to the first brightness deviation value, the second brightness deviation value and the weighting coefficient to obtain a weighted synthesized image.
4. The method according to claim 3, wherein the calculating a first brightness offset value for the first camera and a second brightness offset value for the second camera includes:
acquiring a first average brightness value of mapping pixels of the first camera device in the common mapping area;
acquiring a second average brightness value of the mapping pixels of the second camera in the common mapping area;
and calculating a first brightness offset value of the first shooting device and a second brightness offset value of the second shooting device according to the first average brightness value and the second average brightness value.
5. The method for indicating the blind visual area of the vehicle according to claim 3, wherein the calculating the weighting coefficient for the stitching and fusion of the first original image and the second original image comprises:
acquiring a first vertical distance value and a second vertical distance value from each pixel point of the common mapping region to two boundaries of the common mapping region;
and calculating a weighting coefficient for splicing and fusing the first original image and the second original image according to the first vertical distance value and the second vertical distance value.
6. The method for indicating a blind visual area of a vehicle according to claim 3, wherein the weighting and mapping the synthesized image according to the first luminance offset value, the second luminance offset value and the weighting coefficient to obtain a weighted synthesized image comprises:
acquiring a first mapping relation from a synthesized image coordinate to the first original image pixel coordinate and a second mapping relation from the synthesized image to the second original image pixel coordinate;
according to the first mapping relation and the first brightness deviation value, carrying out weighted mapping on the first original image mapping area to obtain a first weighted image;
according to the second mapping relation and the second brightness deviation value, carrying out weighted mapping on the mapping area of the second original image to obtain a second weighted image;
according to the first mapping relation, the first brightness deviation value, the second mapping relation, the second brightness deviation value and the weighting coefficient, carrying out weighting mapping on the common mapping area to obtain a third weighted image;
and combining the first weighted image, the second weighted image and the third weighted image into the weighted composite image.
7. The method of indicating a vehicle blind spot according to claim 1, wherein said drawing a safe distance warning line on said weighted composite image comprises:
acquiring the actual length of the vehicle body and the actual width of the vehicle body;
acquiring the front safety distance and the right safety distance of the vehicle;
acquiring the pixel length and the pixel width of the vehicle body on the weighted synthesized image;
calculating a first distance from a front warning line to the front of the vehicle according to the actual length of the vehicle body, the front safety distance and the pixel length;
calculating a second distance from the right warning line to the right side of the vehicle according to the actual width of the vehicle body, the right safety distance of the vehicle and the pixel width;
and drawing a front safe distance warning line in front of the vehicle according to the first distance, and drawing a right safe distance warning line on the right side of the vehicle according to the second distance.
8. A detection device of vehicle vision blind area, characterized in that, is applied to the vehicle, the vehicle is including setting up the first camera device in vehicle right place ahead and setting up in the second camera device in vehicle place ahead, the detection device of vehicle vision blind area includes:
an acquiring unit, configured to acquire a first original image captured by the first imaging device and a second original image captured by the second imaging device;
the synthesis unit is used for carrying out image synthesis according to the first original image and the second original image to obtain a synthesized image of the right visual blind area of the vehicle;
the weighting unit is used for weighting the synthetic image to obtain a weighted synthetic image;
and the indicating unit is used for drawing a safe distance warning line on the weighted composite image so as to indicate the safe distance between the vehicle and the vehicle body in the visual blind area on the right side of the vehicle.
9. A vehicle control apparatus, characterized by comprising: memory, processor and computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method of indicating a vehicle visual blind spot according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the method of indicating a vehicle vision blind spot according to any one of claims 1 to 7.
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