A kind of safety applied to vehicle, which is parked, assists method for early warning and systemTechnical field
The present invention relates to automobile technical field more particularly to a kind of safety applied to vehicle park assist method for early warning andSystem.
Background technique
Currently, being increasing with vehicle fleet size, the phenomenon that traffic congestion, is commonplace, and the safety applied to vehicle is got overTo be more concerned by people.
Wherein, in the safety problem for being applied to vehicle, vehicle rub phenomenon especially people are paid attention to.For example, when stoppingWhen parking lot is stopped, the distance between the barrier of vehicle periphery and vehicle when driver is stopped with naked eyes judgement are tended to rely on,But since different people experience is different, this dependent on experience artificial judgment mode often there is judgement not enough accuratelyProblem, the probability of happening so as to cause vehicle rub phenomenon is higher, thereby reduces the safety applied to vehicle.
As shown in Figure 1, Fig. 1 is by taking vehicle carries out level orientation reversing on the parking stall in roadside as an example, vehicle is in level orientationWhen reversing, due to the limitation in the visual field of left and right vehicle wheel rearview mirror, it tends to be difficult to observe the right anterior angle of vehicle, left-front corner, right relief angleAnd the obstacle situation of left rear corner, in practical applications, tend to rely on user judge by rule of thumb the right anterior angle of vehicle, left-front corner,The barrier situation of right relief angle and left rear corner, but it is highly dependent on experience, judge not accurate enough.At this point, user can also benefitWith the induction situation assisting car backing of the ultrasonic sensor of vehicle, but ultrasonic sensor is only capable of the barrier in feedback level face directionHinder the distance between object and vehicle, can not accurate feedback in the specific barrier situation of solid space, in addition, if shown in Fig. 1Curb by when being bushes greenbelt (frequency that this scene occurs in practical applications is very high), ultrasonic signal it is steadyIt is qualitative poor, further reduce the precision of ultrasonic wave disturbance in judgement principle condition.
As it can be seen that currently needing a kind of safe early warning side applied to vehicle that can be improved the safety applied to vehicleFormula.
Summary of the invention
The embodiment of the present invention discloses a kind of park auxiliary security method for early warning and system applied to vehicle, can be improved and answersSafety for vehicle.
First aspect of the embodiment of the present invention discloses a kind of auxiliary security method for early warning of parking applied to vehicle, comprising:
It obtains looking around on the vehicle and looks around image captured by camera；
The first distance being located between the barrier and the vehicle of the vehicle periphery is obtained according to the image of looking aroundInformation, and obtain the second distance letter between the barrier and the vehicle that the ultrasonic radar of the vehicle is gotBreath；
Data fusion is carried out for the first distance information and the second distance information, obtains target range information；
Using the target range information as foundation, the obstacle is presented in output safety early warning information, and visualizationThe spatial image of object and the target range information.
As an alternative embodiment, being obtained on the vehicle in first aspect of the embodiment of the present invention describedLook around looked around captured by camera after image and it is described look around image according to and obtain be located at the vehicle peripheryBarrier and the vehicle between first distance information before, the method also includes:
Obtain the first coordinate information that image is looked around described in image coordinate system；
First coordinate information is converted into the second coordinate information in the camera coordinate system；
Second coordinate information is converted to the third coordinate information in vehicle axis system；
The third coordinate information is converted into the 4-coordinate information in world coordinate system；
First for looking around image acquisition according to and being located between the barrier and the vehicle of the vehicle peripheryRange information, comprising:
According to the vehicle posture information that the Inertial Measurement Unit of the 4-coordinate information and the vehicle obtains, position is obtainedFirst distance information between the barrier and the vehicle of the vehicle periphery.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described to be directed to the first distanceInformation and the second distance information carry out data fusion, obtain target range information, comprising:
Data fusion is carried out for the first distance information and the second distance information using default filtering algorithm, is obtainedObtain target range information.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described with target range letterBreath be foundation, output safety early warning information, and visualization present the barrier spatial image and the target away fromFrom information, comprising:
The target range information is exported on the vehicle-carrying display screen of the vehicle, and exports the short distance of the barrierThree-dimensional imaging spatial image；
It is defeated when the target range information indicates that the target range of the barrier and the vehicle is less than pre-determined distanceSafe early warning prompt information out.
Second aspect of the embodiment of the present invention discloses a kind of auxiliary security early warning system of parking applied to vehicle, the systemInclude:
First acquisition unit looks around image captured by camera for obtaining looking around on the vehicle；
Second acquisition unit, the barrier and the vehicle for being located at the vehicle periphery for looking around image acquisition according toFirst distance information between, and obtain the barrier and the vehicle that the ultrasonic radar of the vehicle is gotBetween second distance information；
Integrated unit is obtained for carrying out data fusion for the first distance information and the second distance informationTarget range information；
Output unit is used for using the target range information as foundation, output safety early warning information, and visualizationPresent the barrier spatial image and the target range information.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the system also includes:
Coordinate transformation unit, for obtaining looking around captured by camera on the vehicle in the first acquisition unitIt looks around after image and the second acquisition unit looks around image according to and obtains the barrier for being located at the vehicle peripheryBefore first distance information between the vehicle, the first coordinate letter that image is looked around described in image coordinate system is obtainedBreath；First coordinate information is converted into the second coordinate information in the camera coordinate system；By second coordinate informationBe converted to the third coordinate information in vehicle axis system；The third coordinate information is converted to in world coordinate system4-coordinate information；
The second acquisition unit is used to look around image according to and obtains the barrier for being located at the vehicle periphery and instituteState the mode of the first distance information between vehicle specifically:
The second acquisition unit, for being obtained according to the Inertial Measurement Unit of the 4-coordinate information and the vehicleVehicle posture information, obtain be located at the vehicle periphery barrier and the vehicle between first distance information.
As an alternative embodiment, the integrated unit is for being directed in second aspect of the embodiment of the present inventionThe first distance information and the second distance information carry out data fusion, obtain the mode of target range information specifically:
The integrated unit, for being believed using default filtering algorithm for the first distance information and the second distanceBreath carries out data fusion, obtains target range information.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the output unit includes:
First output subelement, for exporting the target range information on the vehicle-carrying display screen of the vehicle, and it is defeatedThe short distance three-dimensional imaging spatial image of the barrier out；
Second output subelement, for indicated when the target range information target of the barrier and the vehicle away fromWhen from being less than pre-determined distance, output safety early warning information.
The third aspect of the embodiment of the present invention discloses a kind of computer program product, when the computer program product is calculatingWhen being run on machine, so that the computer executes some or all of any one method of first aspect step.
Fourth aspect of the embodiment of the present invention discloses a kind of using distribution platform, and the application distribution platform is for issuing calculatingMachine program product, wherein when the computer program product is run on computers, so that the computer executes first partySome or all of any one method in face step.
Compared with prior art, the embodiment of the present invention has the advantages that
In the embodiment of the present invention, obtains looking around on vehicle and look around image captured by camera；It is obtained according to image is looked aroundFirst distance information of the fetch bit between the barrier and vehicle of vehicle periphery, and the ultrasonic radar of acquisition vehicle are gotThe barrier and vehicle positioned at vehicle periphery between second distance information；For first distance information and second distance informationData fusion is carried out, target range information is obtained；Using target range information as foundation, output safety early warning information, andThe spatial image and target range information of barrier is presented in visualization.This process being capable of the vehicle that gets of coupling collar visible imageWhat the ultrasonic radar of first distance information and vehicle between the barrier and vehicle of surrounding was got is located at vehicle peripheryBarrier and vehicle between second distance information carry out data fusion, obtain the barrier and vehicle of more accurately vehicle peripheryTarget range information between improves the reversing auxiliary security for being applied to vehicle.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodimentAttached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for abilityFor the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attachedFigure.
Fig. 1 is a kind of parking stall progress level orientation reversing of the existing vehicle disclosed by the embodiments of the present invention in roadsideSchematic diagram；
Fig. 2 is a kind of process signal of auxiliary security method for early warning of parking applied to vehicle disclosed by the embodiments of the present inventionFigure；
Fig. 3 is that the process of another auxiliary security method for early warning of parking for being applied to vehicle disclosed by the embodiments of the present invention is shownIt is intended to；
Fig. 4 is a kind of structural representation of auxiliary security early warning system of parking applied to vehicle disclosed by the embodiments of the present inventionFigure；
Fig. 5 is that the structure of another auxiliary security early warning system of parking for being applied to vehicle disclosed by the embodiments of the present invention is shownIt is intended to；
Fig. 6 is a kind of schematic diagram for looking around camera being loaded on vehicle disclosed by the embodiments of the present invention；
Fig. 7 is the schematic diagram for looking around camera that another kind disclosed by the embodiments of the present invention is loaded on vehicle；
Fig. 8 is a kind of schematic diagram of a scenario of vehicle level orientation reversing disclosed by the embodiments of the present invention；
Fig. 9 is a kind of environmental perspective image disclosed by the embodiments of the present invention；
Figure 10 is another environmental perspective image disclosed by the embodiments of the present invention；
Figure 11 is a kind of display schematic diagram of visual angle figure disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, completeSite preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on thisEmbodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative effortsExample is applied, shall fall within the protection scope of the present invention.
It should be noted that term " includes " and " having " and their any changes in the embodiment of the present invention and attached drawingShape, it is intended that cover and non-exclusive include.Such as contain the process, method of a series of steps or units, system, product orEquipment is not limited to listed step or unit, but optionally further comprising the step of not listing or unit or optionalGround further includes the other step or units intrinsic for these process, methods, product or equipment.
The embodiment of the present invention discloses a kind of park auxiliary security method for early warning and system applied to vehicle, can be improved and answersSafety for vehicle.Wherein, this auxiliary security method for early warning of parking applied to vehicle can be applied to vehicleIt is run in safety pre-warning system, can should be vehicle intelligent system applied to the safety pre-warning system of vehicle, in side of the inventionThe specific embodiment for being applied to safe early warning method is illustrated using vehicle intelligent system as executing subject in method embodiment.It is described in detail separately below.
Embodiment one
Referring to Fig. 2, Fig. 2 is a kind of auxiliary security method for early warning of parking applied to vehicle disclosed by the embodiments of the present inventionFlow diagram.As shown in Fig. 2, should may comprise steps of applied to the auxiliary security method for early warning of parking of vehicle:
201, vehicle intelligent system obtains looking around on vehicle and looks around image captured by camera.
Can be mounted in the embodiment of the present invention, on vehicle it is multiple look around camera, specifically look around the quantity of cameraIn the embodiment of the present invention without limitation.For example, camera can be loaded in four orientation all around of vehicle, it is mounted in total4 cameras, the monitoring image of vehicle quadrangle environment is obtained with this.Preferably, these cameras can use wide-angle camera,Image is looked around around 360 degree of vehicle to get using these cameras.In practical applications, it can also be taken the photograph using 8Consider as head or 6 cameras etc., but based on hardware cost is saved with the image effect of looking around got, it is preferred to use 4Camera.Specifically, referring to Figure 6 together, 4 cameras are mounted on vehicle shown in fig. 6, and (camera 1, is taken the photograph camera 2As head 3 and camera 4), specifically, camera 1 is located at the front of vehicle body, camera 2 is located at the left side of vehicle body, camera3 are located at the right side of vehicle body, and camera 4 is located at the dead astern of vehicle body, and camera 1, camera 2, camera 3 and camera4 are all made of fish-eye camera, and compared to common camera, fish-eye camera can collect the wider array of vehicle body ambient enviroment of rangeMonitoring image, as shown in fig. 6, camera 1 can collect the monitoring image of the vehicle body ambient enviroment in the A of region, camera 2The monitoring image of the vehicle body ambient enviroment in the B of region can be collected, camera 3 can collect around the vehicle body in the C of regionThe monitoring image of environment, camera 4 can collect the monitoring image of the vehicle body ambient enviroment in the D of region, thus comprehensive camera shootingFirst 1, camera 2, camera 3 and camera 4 distinguish the vehicle body in collected region A, region B, region C and region DAvailable 360 degree of the circular vehicle of the monitoring image of ambient enviroment looks around image.
202, vehicle intelligent system according to look around image obtain be located at vehicle periphery barrier and vehicle between firstRange information, and obtain between the barrier and vehicle positioned at vehicle periphery that get of ultrasonic radar of vehicle secondRange information.
In the embodiment of the present invention, can according to look around image obtain between the barrier and vehicle that are located at vehicle periphery theOne range information.In the scene moved backward referring to Figure 7 together with Fig. 8, level orientation shown in Fig. 8, in region 1 and region 3Barrier situation it is particularly important, above-mentioned looked around in the available each region of image between barrier and vehicle by analyzingRange information.Specifically, according to first looked around between each barrier and vehicle positioned at vehicle periphery that image is gotRange information, which may include the first three-dimensional coordinate of barrier, such as first between barrier A and vehicleRange information may include the first three-dimensional coordinate (x1, y1, z1) of barrier A, in addition, vehicle intelligent system can also obtain vehicleThe each barrier and vehicle positioned at vehicle periphery that get of ultrasonic radar between second distance information, this secondRange information may include the second three-dimensional coordinate of barrier, if the second distance information between barrier A and vehicle includes barrierHinder the second three-dimensional coordinate (x2, y2, theta2) of object A.It should be noted that above-mentioned first distance information can also include obstacleFirst distance value between object and target vehicle body point, above-mentioned second distance value can also include between barrier and target vehicle body pointSecond distance value, wherein target vehicle body point can for according to the current posture information of vehicle get it is nearest apart from barrierVehicle body point.
As an alternative embodiment, in embodiments of the present invention, vehicle intelligent system is obtained according to image is looked aroundFirst distance information between the barrier and vehicle of vehicle periphery, and obtain the ultrasonic radar of vehicle and getSecond distance information between the barrier and vehicle of vehicle periphery may include:
The position coordinates that several barriers included by image are looked around at this in image are looked around in the acquisition of vehicle intelligent system,And coordinate conversion is carried out to several position coordinates, it obtains this and looks around first of each barrier in image in world coordinate systemThree-dimensional coordinate；
On the basis of each barrier, vehicle intelligent system obtain each target vehicle body point in world coordinate system threeTie up coordinate；
First three-dimensional coordinate with the barrier corresponding target vehicle body point of the vehicle intelligent system according to each barrierThree-dimensional coordinate is calculated the corresponding first coordinate difference of each barrier, and sits according to each barrier corresponding firstMark difference determines the corresponding first distance information of each barrier；
Each barrier in several above-mentioned barriers that the ultrasonic radar that vehicle intelligent system obtains vehicle is gotThe second three-dimensional coordinate in world coordinate system；
Second three-dimensional coordinate with the barrier corresponding target vehicle body point of the vehicle intelligent system according to each barrierThree-dimensional coordinate is calculated the corresponding second coordinate difference of each barrier, and sits according to each barrier corresponding secondMark difference determines the corresponding second distance information of each barrier；
It, can be to looking around in image positioned at each barrier of vehicle periphery by implementing this optional embodimentPosition coordinates carry out the first three-dimensional coordinate for being converted to each barrier, and the first three-dimensional coordinate according to each barrierCoordinate difference between the three-dimensional coordinate of its corresponding target vehicle body point determines first distance information, meanwhile, pass through vehicleSecond three-dimensional coordinate of each barrier that ultrasonic radar is got, and according to each barrier the second three-dimensional coordinate andCoordinate difference between the three-dimensional coordinate of its corresponding target vehicle body point determines second distance information, improves first gotThe accuracy of range information and second distance information.
203, vehicle intelligent system carries out data fusion for first distance information and second distance information, obtain target away fromFrom information.
In the embodiment of the present invention, the mode for carrying out data fusion for first distance information and second distance information can beData fusion etc. is carried out using filtering algorithm, in the embodiment of the present invention without limitation.
As an alternative embodiment, when use Kalman filtering scheduling algorithm for first distance information and second away fromWhen carrying out data fusion from information, vehicle intelligent system carries out data fusion for first distance information and second distance information,Obtaining target range information may include:
Vehicle intelligent system obtains the gauged distance predicted value that first distance information matches and prediction noise figure, and obtainsThe gauged distance measured value and measurement noise figure for taking second distance information to match, wherein gauged distance predicted value and prediction are made an uproarSound value corresponds to current time and is believed according to look around that image gets positioned at the barrier of vehicle periphery and the first distance of vehicleWhat the ultrasonic radar that breath, gauged distance measured value and measurement noise figure correspond to current time vehicle was got is located at vehicle weekThe second distance information of the barrier and vehicle that enclose；
Vehicle intelligent system is according to above-mentioned standard range prediction value, above-mentioned prediction noise figure, above-mentioned standard distance measureAnd above-mentioned measurement noise figure prediction subsequent time is located at the target range information between the barrier and vehicle of vehicle periphery.
It, can be using Kalman filtering algorithm to first distance information and second by implementing this optional embodimentRange information carries out data fusion, so that the distance between the more accurate barrier positioned at vehicle periphery and vehicle are obtained,Corresponding safe early warning prompt information is exported on this basis, and then improves the reliability of output safety early warning information.
204, vehicle intelligent system is using target range information as foundation, output safety early warning information, and visualizationThe spatial image and target range information of barrier is presented.
In the embodiment of the present invention, the mode of output safety early warning information include but is not limited to issue voice reminder,The prompt information of output character form or voice reminder but also the output character on vehicle-carrying display screen are not only issued on vehicle-carrying display screenThe prompt information etc. of form, in the embodiment of the present invention without limitation.
As an alternative embodiment, vehicle intelligent system is using target range information as foundation, output safety early warningPrompt information may include:
Vehicle intelligent system output environment stereo-picture on corresponding vehicle-carrying display screen, the environmental perspective image at least wrapInclude the emulating image of the obstructions chart picture and the vehicle positioned at the vehicle periphery；
Vehicle intelligent system is being shown between each obstructions chart picture and the vehicle emulating image in the environmental perspective imageRange information, the range information for indicate at a distance from the vehicle in world coordinate system is between the barrier；
When the distance indicated by the range information is less than pre-determined distance, vehicle intelligent system output safety early warning letterBreath.
It, can intuitively display environment be three-dimensional on the vehicle-carrying display screen of vehicle by implementing this optional embodimentImage, so that user is visually observed that the situation and barrier of the barrier of vehicle periphery by environmental perspective imageThe distance between vehicle information, assists user to drive, can be improved drive safety with this.Additionally it is possible in barrierWhen the distance between vehicle is less than pre-determined distance, output safety early warning message further improves the safety of driving.
Also referring to Fig. 9 to Figure 11, Fig. 9 and Figure 10 are above-mentioned environmental perspective image, wherein 1 visual angle of region corresponds to vehicleRight front region environmental aspect, 2 visual angle of region corresponds to the environmental aspect in the left front region of vehicle, 3 visual angle pair of regionThe environmental aspect in the left back region of vehicle is answered, 4 visual angle of region corresponds to the environmental aspect in the right back region of vehicle, is located at vehicleThe vehicle of right front is the barrier under the scene, and Figure 10 is that obstructions chart picture and the vehicle are shown on environmental perspective imageThe schematic diagram of the distance between emulating image information, as shown in Figure 10, the distance between barrier and vehicle information instruction away fromFrom for 0.2m.Optionally, as shown in figure 11, above-mentioned zone 1, region 2, region 3 can also be shown simultaneously on vehicle-carrying display screenAnd the visual angle figure in region 4,1 visual angle of region in Figure 11 accordingly of the environment scene as described in Fig. 9 and Figure 10It shows at a distance from indicated by the distance between the vehicle and front truck (barrier) information as 0.2m.It is further alternative, Yong HukeTo select display pattern by executing corresponding touch control operation on vehicle-carrying display screen, as user can choose each area of displayThe corresponding visual angle figure in domain shows that display effect or user as shown in figure 11 also can choose with this and only shows a certain regionOr the visual angle figure in certain several region, as in reversing scene shown in Fig. 1, user can choose only display area 1 and areaThe corresponding visual angle figure in domain 3 meets the various viewing demand of user so as to improve the intelligence degree of visual angle figure output.
As it can be seen that can combine and look around by implementing the described auxiliary security method for early warning of parking for being applied to vehicle of Fig. 2The ultrasonic radar of first distance information and vehicle between the barrier and vehicle of the vehicle periphery that image is got obtainsSecond distance information between the barrier and vehicle positioned at vehicle periphery arrived carries out data fusion, obtains more accurately vehicleTarget range information between the barrier and vehicle of surrounding improves the safety for being applied to vehicle.
Embodiment two
Referring to Fig. 3, Fig. 3 is another pre- police of auxiliary security of parking for being applied to vehicle disclosed by the embodiments of the present inventionThe flow diagram of method.As shown in figure 3, should may comprise steps of applied to the auxiliary security method for early warning of parking of vehicle:
301, what vehicle intelligent system obtained looking around on vehicle camera gets looks around image.
302, vehicle intelligent system obtains the first coordinate information in image coordinate system middle ring visible image.
In the embodiment of the present invention, image coordinate system is to look around the plane of delineation center of image as origin, with panoramic viewTwo vertical edges of picture are the two-dimensional coordinate system of X-axis and Y-axis, the available panoramic view in image coordinate system of vehicle intelligent systemThe corresponding coordinate information in each position as in, the first coordinate information are that this looks around the corresponding coordinate letter in each position in imageBreath.
It is sat as an alternative embodiment, vehicle intelligent system is obtained the first of image coordinate system middle ring visible imageMarking information may include:
Vehicle intelligent system extracts the image section looked around in image comprising obstructions chart picture；
The corresponding coordinate information of image section in image coordinate system is determined as the first coordinate letter by vehicle intelligent systemBreath.
By implementing this optional embodiment, the image portion looked around in image comprising obstructions chart picture can be only obtainedThe coordinate information divided is as the first coordinate information, to reduce the workload of subsequent coordinates conversion, improves coordinate conversion effectRate.
303, the first coordinate information is converted to the second coordinate information in the camera coordinate system by vehicle intelligent system.
In the embodiment of the present invention, camera coordinate system is using the optical center of camera as origin, and the X-axis of camera coordinate systemIt is parallel to the X-axis of above-mentioned image coordinate system, the Y-axis of camera coordinate system is parallel to the Y-axis of above-mentioned image coordinate system, and camera is satThe Z axis of mark system is the optical axis of camera.
As an alternative embodiment, vehicle intelligent system is converted to the first coordinate information in camera coordinate systemIn the second coordinate information may include:
Vehicle intelligent system obtains the corresponding focal length of camera；
Vehicle intelligent system obtains the throwing between above-mentioned image coordinate system and above-mentioned camera coordinate system according to above-mentioned focal lengthPenetrate projection ratio；
Vehicle intelligent system is converted to the first coordinate information in the camera coordinate system according to above-mentioned projection projection ratioThe second coordinate information.
By implementing this optional embodiment, two-dimensional first coordinate information can be converted in camera coordinateThe second three-dimensional coordinate information in system continues coordinate conversion convenient for subsequent, until converting to world coordinate system, this mistakeJourney improves the precision of coordinate conversion.
304, the second coordinate information is converted to the third coordinate information in vehicle axis system by vehicle intelligent system.
In the embodiment of the present invention, vehicle axis system is using vehicle rear axle center as origin, to be parallel to vehicle rear axle as XAxis, perpendicular to vehicle rear axle center and to be parallel to the axis of vehicle body as Y-axis, using perpendicular to ground level direction as the three-dimensional of Z axisCoordinate system.
As an alternative embodiment, vehicle intelligent system is converted to the second coordinate information in vehicle axis systemThird coordinate information may include:
Camera coordinate information of the camera present position in vehicle axis system is looked around in the acquisition of vehicle intelligent system；
Vehicle intelligent system looks around camera coordinate information for this and above-mentioned second coordinate information carries out coordinate rotationTransformation and/or coordinate translation transformation, obtain third coordinate information of above-mentioned second coordinate information in vehicle axis system.
By implementing this optional embodiment, the second coordinate information can be converted to the in vehicle axis systemThree coordinate informations improve the precision of coordinate conversion.
305, third coordinate information is converted to the 4-coordinate information in world coordinate system by vehicle intelligent system.
In the embodiment of the present invention, world coordinate system is the absolute coordinate system of objective three-dimensional world.
As an alternative embodiment, vehicle intelligent system is converted to third coordinate information in world coordinate system4-coordinate information may include:
Vehicle intelligent system obtains vehicle coordinate information of the vehicle in world coordinate system；
Vehicle intelligent system according to the vehicle coordinate information and above-mentioned third coordinate information carry out Rotating Transition of Coordinate and/Or coordinate translation transformation, obtain 4-coordinate information of the above-mentioned third coordinate information in world coordinate system.
By implementing this optional embodiment, third coordinate information can be converted to the in world coordinate system4-coordinate information, only converting just can accurately disturbance in judgement object and vehicle to the 4-coordinate information in world coordinate systemThe distance between, improve the accuracy of the distance got.
306, vehicle intelligent system is believed according to the vehicle pose that the Inertial Measurement Unit of 4-coordinate information and vehicle obtainsBreath obtains the first distance information being located between the barrier and vehicle of vehicle periphery, and obtains the ultrasonic radar of vehicleThe second distance information between the barrier and vehicle positioned at vehicle periphery got.
As an alternative embodiment, inertia measurement list of the vehicle intelligent system according to 4-coordinate information and vehicleThe vehicle posture information that member obtains, obtaining the first distance information being located between the barrier and vehicle of vehicle periphery can wrapIt includes:
Vehicle intelligent system obtains the vehicle posture information that the Inertial Measurement Unit of vehicle obtains；
Vehicle intelligent system obtains vehicle coordinate information of the vehicle in world coordinate system according to the vehicle posture information；
Coordinate difference information between vehicle intelligent system-computed vehicle coordinate information and 4-coordinate information；
Vehicle intelligent system according to the coordinate difference information calculate vehicle periphery barrier and vehicle between first away fromFrom information.
By implementing this optional embodiment, the vehicle pose that can be obtained according to the Inertial Measurement Unit of vehicle is believedBreath and 4-coordinate information obtain more essence according to image is looked around the distance between barrier and the vehicle that calculate vehicle peripheryQuasi- first distance information.
307, vehicle intelligent system is counted using default filtering algorithm for first distance information and second distance informationAccording to fusion, target range information is obtained.
In the embodiment of the present invention, default filtering algorithm includes, but is not limited to Kalman filtering algorithm, spreading kalmanFiltering algorithm, lossless Kalman filtering algorithm and particle filter algorithm etc., in the embodiment of the present invention without limitation.
308, vehicle intelligent system exports target range information on the vehicle-carrying display screen of vehicle, and exports the close of barrierApart from three-dimensional imaging spatial image.
309, when the target range of target range information instruction barrier and vehicle is less than pre-determined distance, vehicle intelligent systemSystem output safety early warning information.
As it can be seen that can combine and look around by the described auxiliary security method for early warning of parking for being applied to vehicle of implementing Fig. 3The ultrasonic radar of first distance information and vehicle between the barrier and vehicle of the vehicle periphery that image is got obtainsSecond distance information between the barrier and vehicle positioned at vehicle periphery arrived carries out data fusion, obtains more accurately vehicleTarget range information between the barrier and vehicle of surrounding improves the safety for being applied to vehicle.
Embodiment three
Referring to Fig. 4, Fig. 4 is a kind of auxiliary security early warning system of parking applied to vehicle disclosed by the embodiments of the present inventionStructural schematic diagram, as shown in figure 4, should may include the first acquisition applied to auxiliary security early warning system 400 of parking of vehicleUnit 401, second acquisition unit 402, integrated unit 404 and output unit 404, in which:
First acquisition unit 401 looks around image captured by camera for obtaining looking around on vehicle.
As an alternative embodiment, first acquisition unit 401 obtains looking around captured by camera on vehicleLooking around image may include:
First acquisition unit 401 extracts the image section looked around in image comprising obstructions chart picture；
The corresponding coordinate information of image section in image coordinate system is determined as the first coordinate by first acquisition unit 401Information.
By implementing this optional embodiment, the image portion looked around in image comprising obstructions chart picture can be only obtainedThe coordinate information divided is as the first coordinate information, to reduce the workload of subsequent coordinates conversion, improves coordinate conversion effectRate.
Second acquisition unit 402 is looked around image for basis and is obtained between the barrier and vehicle of vehicle peripheryFirst distance information, and obtain between the barrier and vehicle positioned at vehicle periphery that get of ultrasonic radar of vehicleSecond distance information.
As an alternative embodiment, second acquisition unit 402 is obtained according to image is looked around positioned at vehicle peripheryFirst distance information between barrier and vehicle, and obtain that the ultrasonic radar of vehicle gets are located at vehicle peripherySecond distance information between barrier and vehicle may include:
Second acquisition unit 402, which obtains, looks around several barriers included by image and looks around position in image and sit at thisMark, and coordinate conversion is carried out to several position coordinates, it obtains this and looks around in image each barrier in world coordinate systemThree-dimensional coordinate；
It is alive that second acquisition unit 402 calculates three-dimensional coordinate and the vehicle of the above-mentioned each barrier in world coordinate systemCoordinate difference between three-dimensional coordinate in boundary's coordinate system, and by the coordinate difference be determined as barrier positioned at vehicle periphery withFirst distance information between vehicle；
Each obstacle in several above-mentioned barriers that the ultrasonic radar that second acquisition unit 402 obtains vehicle is gotThree-dimensional seat of the vehicle that three-dimensional coordinate and ultrasonic radar of the object in world coordinate system are got in world coordinate systemMark, and three-dimensional coordinate and the vehicle of each barrier that ultrasonic radar is got in world coordinate system are sat in the worldCoordinate difference in mark system is determined as second distance information.
By implementing this optional embodiment, the barrier looked around in image positioned at vehicle periphery can be satObstacle article coordinate of the conversion into world coordinate system and the coordinate difference between vehicle coordinate are determined as basis and looked around by mark conversionThe first distance information that image is determined, meanwhile, the barrier positioned at vehicle periphery that the ultrasonic radar of vehicle is gotCoordinate difference between vehicle is determined as the second distance information determined according to ultrasonic radar, improves gotThe accuracy of one range information and second distance information.
Integrated unit 403, for carrying out data fusion for first distance information and second distance information, obtain target away fromFrom information.
As an alternative embodiment, when using Kalman filtering algorithm to be directed to first distance information and second distanceWhen information carries out data fusion, integrated unit 403 carries out data fusion for first distance information and second distance information, obtainsTarget range information may include:
Integrated unit 403 obtains the gauged distance predicted value that first distance information matches and prediction noise figure, and obtainsThe gauged distance measured value and measurement noise figure for taking second distance information to match, wherein gauged distance predicted value and prediction are made an uproarSound value corresponds to current time and is believed according to look around that image gets positioned at the barrier of vehicle periphery and the first distance of vehicleWhat the ultrasonic radar that breath, gauged distance measured value and measurement noise figure correspond to current time vehicle was got is located at vehicle weekThe second distance information of the barrier and vehicle that enclose；
Integrated unit 403 according to above-mentioned standard range prediction value, above-mentioned prediction noise figure, above-mentioned standard distance measure andAbove-mentioned measurement noise figure prediction subsequent time is located at the target range information between the barrier and vehicle of vehicle periphery.
It, can be using Kalman filtering algorithm to first distance information and second by implementing this optional embodimentRange information carries out data fusion, so that the distance between the more accurate barrier positioned at vehicle periphery and vehicle are obtained,Corresponding safe early warning prompt information is exported on this basis, and then improves the reliability of output safety early warning information.
Output unit 404 is used for using target range information as foundation, output safety early warning information, and visualizationThe spatial image and target range information of barrier is presented.
As an alternative embodiment, output unit 404, using target range information as foundation, output safety early warning mentionsShow that information may include:
The output environment stereo-picture on corresponding vehicle-carrying display screen of output unit 404, the environmental perspective image at least wrapInclude the emulating image of the obstructions chart picture and the vehicle positioned at the vehicle periphery；
Output unit 404 is showing each obstructions chart as between the vehicle emulating image in the environmental perspective imageRange information, the range information is for indicating at a distance from the vehicle in world coordinate system is between the barrier；
When the distance indicated by the range information is less than pre-determined distance, 404 output safety early warning of output unit letterBreath.
It, can intuitively display environment be three-dimensional on the vehicle-carrying display screen of vehicle by implementing this optional embodimentImage, so that user is visually observed that the situation and barrier of the barrier of vehicle periphery by environmental perspective imageThe distance between vehicle information, assists user to drive, can be improved drive safety with this.Additionally it is possible in barrierWhen the distance between vehicle is less than pre-determined distance, output safety early warning message further improves the safety of driving.
As it can be seen that by implementing the described safety pre-warning system for being applied to vehicle of Fig. 4, it being capable of the acquisition of coupling collar visible imageTo vehicle periphery barrier and vehicle between first distance information and vehicle being located at of getting of ultrasonic radarSecond distance information between the barrier and vehicle of vehicle periphery carries out data fusion, obtains the barrier of more accurately vehicle peripheryHinder the target range information between object and vehicle, improves the safety for being applied to vehicle.
Example IV
Referring to Fig. 5, Fig. 5 is a kind of auxiliary security early warning system that parks applied to vehicle disclosed by the embodiments of the present inventionSystem, wherein the auxiliary security early warning system 400 of parking shown in fig. 5 applied to vehicle is as shown in Figure 4 applied to vehicleAuxiliary security early warning system 400 of parking optimization obtains, with the auxiliary security early warning system of parking shown in Fig. 4 applied to vehicle400 compare, and in the auxiliary security early warning system 400 of parking applied to vehicle shown in Fig. 5, can also include:
Coordinate transformation unit 405, for obtaining the ring looking around camera and getting on vehicle in first acquisition unit 401After visible image and second acquisition unit 402 obtains between the barrier and vehicle of vehicle periphery according to image is looked aroundFirst distance information before, obtain image coordinate system middle ring visible image the first coordinate information；First coordinate information is turnedIt is changed to the second coordinate information in the camera coordinate system；Second coordinate information is converted to the third in vehicle axis system to sitMark information；Third coordinate information is converted to the 4-coordinate information in world coordinate system.
It is sat as an alternative embodiment, coordinate transformation unit 405 is converted to the first coordinate information in cameraMarking the second coordinate information in being may include:
The corresponding focal length of camera is looked around in the acquisition of coordinate transformation unit 405；
Coordinate transformation unit 405 obtains between above-mentioned image coordinate system and above-mentioned camera coordinate system according to above-mentioned focal lengthProject projection ratio；
Coordinate transformation unit 405 is converted to the first coordinate information in camera coordinate system according to above-mentioned projection projection ratioIn the second coordinate information.
By implementing this optional embodiment, two-dimensional first coordinate information can be converted in camera coordinateThe second three-dimensional coordinate information in system continues coordinate conversion convenient for subsequent, until converting to world coordinate system, this mistakeJourney improves the precision of coordinate conversion.
As an alternative embodiment, coordinate transformation unit 405 is converted to the second coordinate information in vehicle coordinateThird coordinate information in system may include:
The acquisition of coordinate transformation unit 405 looks around camera present position and looks around camera coordinate letter in vehicle axis systemBreath；
Coordinate transformation unit 405 looks around camera coordinate information for this and above-mentioned second coordinate information carries out coordinate rotationTransformation is changed and/or coordinate translation transformation, obtains third coordinate information of above-mentioned second coordinate information in vehicle axis system.
By implementing this optional embodiment, the second coordinate information can be converted to the in vehicle axis systemThree coordinate informations improve the precision of coordinate conversion.
As an alternative embodiment, coordinate transformation unit 405 is converted to third coordinate information in world coordinates4-coordinate information in system may include:
Coordinate transformation unit 405 obtains vehicle coordinate information of the vehicle in world coordinate system；
Coordinate transformation unit 405 carries out Rotating Transition of Coordinate according to the vehicle coordinate information and above-mentioned third coordinate informationAnd/or coordinate translation transformation, obtain 4-coordinate information of the above-mentioned third coordinate information in world coordinate system.
By implementing this optional embodiment, third coordinate information can be converted to the in world coordinate system4-coordinate information, only converting just can accurately disturbance in judgement object and vehicle to the 4-coordinate information in world coordinate systemThe distance between, improve the accuracy of the distance got.
Optionally, in the safety pre-warning system 400 applied to vehicle shown in Fig. 5, second acquisition unit 402 is used for rootThe mode for being located at the first distance information between the barrier and vehicle of vehicle periphery according to image acquisition is looked around specifically:
Second acquisition unit 402, the vehicle position for being obtained according to the Inertial Measurement Unit of 4-coordinate information and vehicleAppearance information obtains the first distance information being located between the barrier and vehicle of vehicle periphery.
As an alternative embodiment, second acquisition unit 402 is surveyed according to the inertia of 4-coordinate information and vehicleThe vehicle posture information that unit obtains is measured, obtaining the first distance information being located between the barrier and vehicle of vehicle periphery can be withInclude:
Second acquisition unit 402 obtains the vehicle posture information that the Inertial Measurement Unit of vehicle obtains；
Second acquisition unit 402, which obtains vehicle coordinate of the vehicle in world coordinate system according to the vehicle posture information, to be believedBreath；
Second acquisition unit 402 calculates the coordinate difference information between vehicle coordinate information and 4-coordinate information；
Second acquisition unit 402 calculates first between the barrier and vehicle of vehicle periphery according to the coordinate difference informationRange information.
By implementing this optional embodiment, the vehicle pose that can be obtained according to the Inertial Measurement Unit of vehicle is believedBreath and 4-coordinate information obtain more essence according to image is looked around the distance between barrier and the vehicle that calculate vehicle peripheryQuasi- first distance information.
Optionally, in the auxiliary security early warning system 400 of parking applied to vehicle shown in Fig. 5, integrated unit 403 is usedIn carrying out data fusion for first distance information and second distance information, the mode of target range information is obtained specifically:
Integrated unit 403, for being counted using default filtering algorithm for first distance information and second distance informationAccording to fusion, target range information is obtained.
Optionally, in the auxiliary security early warning system 400 of parking applied to vehicle shown in Fig. 5, output unit 404 is wrappedIt includes:
First output subelement 4041, for exporting target range information on the vehicle-carrying display screen of vehicle.
Second output subelement 4042, for being less than in advance when the target range of target range information instruction barrier and vehicleIf apart from when, output be applied to vehicle safe early warning prompt information.
As it can be seen that by implementing the described safety pre-warning system for being applied to vehicle of Fig. 5, it being capable of the acquisition of coupling collar visible imageTo vehicle periphery barrier and vehicle between first distance information and vehicle being located at of getting of ultrasonic radarSecond distance information between the barrier and vehicle of vehicle periphery carries out data fusion, obtains the barrier of more accurately vehicle peripheryHinder the target range information between object and vehicle, improves the safety for being applied to vehicle.
The embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein the computerProgram makes computer execute Fig. 2~Fig. 3, and any one is applied to the auxiliary security method for early warning of parking of vehicle.
A kind of computer program product is also disclosed in the embodiment of the present invention, wherein when computer program product on computersWhen operation, so that computer executes some or all of the method in such as above each method embodiment step.
The embodiment of the present invention is also disclosed a kind of using distribution platform, wherein using distribution platform for issuing computer journeySequence product, wherein when computer program product is run on computers, so that computer executes such as the above each method embodimentIn some or all of method step.
In various embodiments of the present invention, it should be appreciated that magnitude of the sequence numbers of the above procedures are not meant to execute suitableSuccessively, the execution sequence of each process should be determined by its function and internal logic the certainty of sequence, without coping with the embodiment of the present inventionImplementation process constitutes any restriction.
In embodiment provided by the present invention, it should be appreciated that " B corresponding with A " indicates that B is associated with A, can be with according to ADetermine B.It is also to be understood that determine that B is not meant to determine B only according to A according to A, it can also be according to A and/or other informationDetermine B.
In addition, each functional unit in various embodiments of the present invention can integrate in one processing unit, it is also possible toEach unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unitBoth it can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product,It can store in a retrievable memory of computer.Based on this understanding, technical solution of the present invention substantially orPerson says all or part of of the part that contributes to existing technology or the technical solution, can be in the form of software productsIt embodies, which is stored in a memory, including several requests are with so that a computer is setStandby (can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executesSome or all of each embodiment above method of the invention step.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is canIt is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storageMedium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only depositsReservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (CompactDisc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or canFor carrying or any other computer-readable medium of storing data.
Above to it is disclosed by the embodiments of the present invention it is a kind of applied to vehicle park auxiliary security method for early warning and system intoIt has gone and has been discussed in detail, used herein a specific example illustrates the principle and implementation of the invention, the above implementationThe explanation of example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology people of this fieldMember, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this explanationBook content should not be construed as limiting the invention.