Viewing system before a kind of wide visual fieldTechnical field
The utility model belongs to automobile assistant driving system field, relates to a kind of wide visual field vision sensor that can obtain automobile side front information, relates in particular to viewing system before a kind of wide visual field, is specifically applicable to expanded field of vision, increases visual range, avoids blind area.
Background technology
Automobile assistant driving system is by obtaining the transport information of vehicle front and carry out environment identification and danger judgement carrying out alerting drivers or controls vehicle.Identification has very important meaning to environment to obtain side front information, side front information can make system judge the incision of passing vehicle, carry out ahead of time danger judgement, can make system judge whether automobile can change operation, can obtain the closely position of other lane line, improve the identification accuracy of vehicle lane-changing process.
Camera is one of main sensors of automobile assistant driving system acquisition road information, and the horizontal view angle of camera has determined the shooting coverage of camera, and in order to obtain side front information, system needs camera to have larger horizontal view angle.
In existing camera, fish-eye camera visual angle is very large, generally as backup camera, the first-class purposes of panoramic shooting.But due to physics imaging factors, fish-eye camera tends to produce image fault phenomenon, i.e. piecture geometry fault, serious picture distortion causes carrying out image processing, thereby can not serve as the transducer of driver assistance system.Common horizontal view angle, vehicle-mounted monocular camera visual angle is generally not more than 40 degree, and the visual field is limited, cannot obtain enough vehicle side information.
Application publication number is CN102685516A, date of publication is that the Chinese invention patent application on September 19th, 2012 has been announced a kind of active safety formula auxiliary driving method based on stereovision technique, this utility model comprises two high resolution CCD video cameras, ambient light illumination transducer, binary channels video frequency collection card, isochronous controller, data transmission circuit, power supply circuits, image fast processing algorithms library, voice reminder module, screen display module and active safe driving control module etc., although it is at fine day and cloudy day, night, sleet, under the atrocious weather conditions such as dense fog, can Real time identification go out lines, front vehicles, bicycle, the relative distance of the risk objects such as pedestrian, the parameter such as relative velocity and relative acceleration, but it still has following defect:
First, two positions for video camera in this utility model are in same level, and not only visual range exists too many intersection, the visual field that can not give full play to separate unit video camera, and there is intersection blind area, visual range is less, is unfavorable for collecting vehicle side front information;
Secondly, in this utility model, two video cameras must be in same level, and its seat in the plane is fixed, cannot the position to video camera, visual range adjust according to the difference of its applied environment, adjustability a little less than.
Summary of the invention
The purpose of this utility model is to overcome defect and the problem that the visual range existing in prior art is less, adjustability is weak, and viewing system before the wide visual field that a kind of visual range is large, adjustability is stronger is provided.
For realizing above object, technical solution of the present utility model is: viewing system before a kind of wide visual field, comprise left camera, right camera and isochronous controller, the structure of described left camera, right camera is consistent, the optical axis of left camera, right camera inner lens is all perpendicular with its imaging plane, and isochronous controller is connected with left camera, right camera signals;
Described front viewing system also comprises left image processor and right image processor, left image processor, left camera are integrated on left circuit board, right image processor, right camera are integrated on right circuit board, the optical axis of left camera inner lens and the perpendicular setting of left circuit board, the optical axis of right camera inner lens and the perpendicular setting of right circuit board, and the circuit board angle forming between left circuit board, right circuit board is less than the supplementary angle of the horizontal view angle of camera lens;
Described left image processor is connected with the input end signal of isochronous controller, the output of isochronous controller is connected with the input end signal of left camera, right camera, the output of left camera, right camera connects one to one with left image processor, right image processor respectively, and between left image processor, right image processor, signal connects.
Described circuit board angle is spent than little 3 – 5 in the supplementary angle of the horizontal view angle of camera lens.
Between described left image processor, right image processor, connect by serial line interface signal, left image processor is connected with the input end signal of isochronous controller by digital control line, the output of isochronous controller is connected with the input end signal of left camera, right camera respectively by signal control line, and the output of left camera, right camera connects one to one by holding wire and left image processor, right image processor respectively.
Described left camera, right camera include camera lens and imageing sensor, and the bottom of camera lens is connected with circuit board by imageing sensor.
Described left circuit board, right circuit board are all arranged at the inside rear-view mirror place in car.
Compared with prior art, the beneficial effects of the utility model are:
1, before a kind of wide visual field of the utility model, in viewing system, optical axis and the left circuit board of left camera inner lens are perpendicular, the optical axis of right camera inner lens and right circuit board are perpendicular, and left circuit board, the circuit board angle forming between right circuit board is less than the supplementary angle of the horizontal view angle of camera lens, this design makes left camera, between the optical axis of right camera, there is an angle, instead of be arranged in parallel, not only be far longer than the visual field of the single camera of prior art employing, and be beneficial to the visual field of giving full play to every video camera, make holistic vision be similar to 2 times of separate unit video camera, simultaneously, " left circuit board, the circuit board angle forming between right circuit board is less than the supplementary angle of the horizontal view angle of camera lens " design can guarantee not exist intersect blind area, greatly expand the visual range of whole system.Therefore, the utility model not only visual range is larger, and is beneficial to the visual field of giving full play to every video camera, does not have intersection blind area.
2, before a kind of wide visual field of the utility model, in viewing system, between the optical axis of left camera, right camera, there is an angle; the large I of this angle is controlled by the size of adjusting circuit board angle between left circuit board, right circuit board; be convenient to according to various applied environment, this device be regulated and controled, thereby guarantee to obtain larger visual range.Therefore, adjustability of the present utility model is stronger.
3, before a kind of wide visual field of the utility model, in viewing system, take the synchronous mode triggering to gather a left side, right-hand image information, be particularly: left image processor is connected with the input end signal of isochronous controller, the output of isochronous controller and left camera, the input end signal of right camera connects, when use, first export master switch amount control signal by left image processor to isochronous controller, the master switch amount control signal being received by isochronous controller is again divided into two switching value control signals to export to respectively left camera, right camera, guarantee a left side, right camera synchronization gathers image, synchronous error is little.Therefore, the utility model synchronous error is little.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is connection schematic diagram of the present utility model.
Fig. 4 is the design sketch of prior art.
Fig. 5 is design sketch of the present utility model.
In figure: isochronous controller 1, left camera 2, right camera 3, left image processor 4, right image processor 5, left circuit board 6, right circuit board 7, camera lens 8, imageing sensor 9, circuit board angle theta, horizontal view angle φ.
Embodiment
Below in conjunction with brief description of the drawings and embodiment, the utility model is described in further detail.
Referring to figure 1 – Fig. 5, viewing system before a kind of wide visual field, comprise left camera 2, right camera 3 and isochronous controller 1, the structure of described left camera 2, right camera 3 is consistent, the optical axis of left camera 2, right camera 3 inner lenses 8 is all perpendicular with its imaging plane, and isochronous controller 1 is connected with left camera 2, right camera 3 signals;
Described front viewing system also comprises left image processor 4 and right image processor 5, left image processor 4, left camera 2 are integrated on left circuit board 6, right image processor 5, right camera 3 are integrated on right circuit board 7, the optical axis of left camera 2 inner lenses 8 and the perpendicular setting of left circuit board 6, the optical axis of right camera 3 inner lenses 8 and the perpendicular setting of right circuit board 7, and the circuit board angle theta forming between left circuit board 6, right circuit board 7 is less than the supplementary angle of the horizontal view angle φ of camera lens 8;
Described left image processor 4 is connected with the input end signal of isochronous controller 1, the output of isochronous controller 1 is connected with the input end signal of left camera 2, right camera 3, the output of left camera 2, right camera 3 connects one to one with left image processor 4, right image processor 5 respectively, and between left image processor 4, right image processor 5, signal connects.
Described circuit board angle theta is spent than little 3 – 5 in the supplementary angle of the horizontal view angle φ of camera lens 8.
Between described left image processor 4, right image processor 5, connect by serial line interface signal, left image processor 4 is connected with the input end signal of isochronous controller 1 by digital control line, the output of isochronous controller 1 is connected with the input end signal of left camera 2, right camera 3 respectively by signal control line, and the output of left camera 2, right camera 3 connects one to one by holding wire and left image processor 4, right image processor 5 respectively.
Described left camera 2, right camera 3 include camera lens 8 and imageing sensor 9, and the bottom of camera lens 8 is connected with circuit board by imageing sensor 9.
Described left circuit board 6, right circuit board 7 are all arranged at the inside rear-view mirror place in car.
Principle of the present utility model is described as follows:
1, between left and right camera, being angle arranges:
Referring to Fig. 1 and Fig. 2, a left side in the utility model, the non-parallel setting of right camera, wherein, the optical axis of left camera inner lens and left circuit board are perpendicular, the optical axis of right camera inner lens and right circuit board are perpendicular, left circuit board, the circuit board angle forming between right circuit board is less than the supplementary angle of the horizontal view angle of camera lens, this design makes a left side, between the optical axis of right camera, there is an angle, this angle is not only beneficial to the visual field of giving full play to every video camera, make holistic vision be similar to 2 times of separate unit video camera, simultaneously, " left circuit board, the circuit board angle forming between right circuit board is less than the design at the supplementary angle of the horizontal view angle of camera lens " can guarantee not exist intersect blind area, greatly expand the visual range of whole system.
When concrete application, whole device is arranged on inside rear-view mirror place after vehicle windscreen, when installation, each parts are exactly an entirety after finishing, camera, image processing module, isochronous controller are all integrated on circuit board, circuit board covers a shell and support outward again, is then fixed on windshield rear.
2, the synchronous triggering collection image of left and right camera:
Referring to Fig. 3, the utility model adopts the synchronous mode triggering to make left and right camera synchronization gather image, and synchronous error is little.Realize the synchronous key triggering and be the connection between isochronous controller and each parts, be particularly: left image processor, between right image processor, pass through serial line interface signal (UARTTX, UARTRX) connect, left image processor is connected with the input end signal of isochronous controller by digital control line (Digital Control), the output of isochronous controller is by signal control line (Syn_Control_1, Syn_Control_2) respectively with left camera, the input end signal of right camera connects, left camera, the output of right camera is respectively by holding wire (Video_1, Video_2) with left image processor, right image processor connects one to one.
When use, first export master switch amount control signal to isochronous controller by left image processor, be divided into two switching value control signals to export to a left side by isochronous controller again, right camera, thereby control left, right camera is photographic images simultaneously, after shooting, the image that left camera is taken directly inputs to corresponding left image processor processing, the image that right camera is taken directly inputs to right image processor processing, and after right image processor is processed, image after treatment is also exported to left image processor by it, be convenient to left image processor by a left side, the photographic images of right camera gathers to export to alarm by CAN bus in the lump.
The external output of whole system only has an interface, reminds the generation of driver's danger so that data are passed to alarm unit, and this unique interface is exactly the peripheral interface of left image processor.Although left image processor also needs to bear synchronization control function and integrates result and the unified function outwards sending, but it is more important than right image processor that this is not left image processor, the function of two image processors is the same, all need the camera data of this module to process, whom distinguish while being to apply taking as main, from this angle, left and right view field is arranged side by side.
Embodiment 1:
Referring to figure 1 – Fig. 3, viewing system before a kind of wide visual field, comprise isochronous controller 1, left camera 2, right camera 3, left image processor 4 and right image processor 5, left image processor 4, left camera 2 is integrated on left circuit board 6, right image processor 5, right camera 3 is integrated on right circuit board 7, left camera 2, the structure of right camera 3 is consistent, include camera lens 8 and imageing sensor 9, the bottom of camera lens 8 is connected with circuit board by imageing sensor 9, left camera 2, the optical axis of right camera 3 inner lenses 8 is all perpendicular with its imaging plane, the optical axis of left camera 2 inner lenses 8 and the perpendicular setting of left circuit board 6, the optical axis of right camera 3 inner lenses 8 and the perpendicular setting of right circuit board 7, and left circuit board 6, the circuit board angle theta forming between right circuit board 7 is less than the supplementary angle of the horizontal view angle φ of camera lens 8,
Between described left image processor 4, right image processor 5, connect by serial line interface signal, left image processor 4 is connected with the input end signal of isochronous controller 1 by digital control line, the output of isochronous controller 1 is connected with the input end signal of left camera 2, right camera 3 respectively by signal control line, and the output of left camera 2, right camera 3 connects one to one by holding wire and left image processor 4, right image processor 5 respectively.
The using method of viewing system before a kind of above-mentioned wide visual field, comprise the following steps successively: first export master switch amount control signal by left image processor 4 to isochronous controller 1, the master switch amount control signal being received by isochronous controller 1 is again divided into two switching value control signals to export to respectively left camera 2, right camera 3, receive after a switching value control signal, left camera 2, right camera 3 photographic images simultaneously, after shooting, left camera 2, the image of its shooting is inputed to respectively corresponding left image processor 4 by right camera 3, right image processor 5, subsequently, its image after treatment is also exported to left image processor 4 by right image processor 5, finally, the photographic images of the photographic images of the left camera 2 that left image processor 4 is handled and the right camera 3 of its reception gathers, export to alarm by CAN bus in the lump, now, before the whole wide visual field, viewing system is finished using.
Therefore it is the nearly twice at common camera visual angle that the left and right camera that the utility model has an angle by employing makes the angular field of view of front viewing system.Referring to Fig. 4, Fig. 4 is existing single camera visual range, reach at most 32 degree, referring to Fig. 5, Fig. 5 is angular field of view of the present utility model, can reach 60 degree left and right, and two compare, obviously visible the utility model can obtain He Ce front, more vehicle dead ahead information, for the software algorithm in later stage provides enough information.