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Image processing method of parking assist system

An image processing and auxiliary reversing technology, which is applied in the field of image processing of auxiliary reversing systems, can solve the problems of geometric position information distortion, affecting reversing safety, and a large angle of view of the camera, achieving strong practicability and adaptability, and simple and convenient operation. , the effect of strong practicability

Active Publication Date: 2012-07-18
BEIJING WONDER CAREWAY AUTOMOTIVE TECH
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AI Technical Summary

Problems solved by technology

[0002] In order to assist the driver to reversing and parking into the garage better and faster, the reversing radar and visual reversing system that have emerged in recent years, although they can help the driver to a certain extent, the feedback information of the system is not convenient for the driver to quickly understand the reversing environment.
Since most of the existing auxiliary reversing systems based on vision technology directly display the rear view images without any processing to the driver, especially in order to obtain a wider field of view behind the vehicle, the angle of view of the camera used in the auxiliary reversing system is relatively large. Large, this will distort the captured image and distort the geometric position information, so that the driver cannot truly understand the environment behind the car and affect the safety of reversing
Even if some assisted reversing systems show the reversing guide track or obstacles on the image, this is only displayed on the distorted image

Method used

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  • Image processing method of parking assist system
  • Image processing method of parking assist system
  • Image processing method of parking assist system

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Embodiment Construction

[0015] The present invention will be described in detail below in conjunction with the embodiments.

[0016] The present invention comprises the following steps:

[0017] 1) Through the collected vertically distorted image, obtain the mapping relationship between the calibration point on the general distorted image and the virtual point without distortion, that is, the distortion formula, and establish a distortion correction query table corresponding to the distortion formula . The specific steps are as follows:

[0018] ①Take a vertically distorted image of the calibration plate: use a calibration plate with a standard size and black and white grid, and place the calibration plate vertically so that its center is perpendicular to the optical axis of the camera, and the tilt angle of the camera is 0 degrees, and then Take a vertical image of the calibration plate.

[0019] ② if figure 1 As shown, the calibration point picking: select n points where the black grid intersec...

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Abstract

The invention relates to an image processing method of a parking assist system, comprising the steps: 1) a distortion formula is acquired according to an acquired vertical distorted image, and a distortion correcting enquiry form corresponding to the distortion formula is set up; 2) a road coordinate system and an image coordinate system are set on a horizontal distorted image according to the acquired horizontal distorted image, the horizontal distorted image is corrected by utilizing the distortion correcting enquiry form obtained in the step 1), and the mapping relation between the road coordinate system and the image coordinate system is acquired in the corrected horizontal image; 3) by utilizing the mapping relation between the road coordinate system and the image coordinate system inthe step 2), the calculated packing track of the expected parking travel is mapped and is displayed on the image undergoing distortion correction. The invention provides accurate image of environmentbehind the car for the drivers and displays the expected parking guiding line on the image, thus improving the safety of parking.

Description

technical field [0001] The invention relates to an image processing method, in particular to an image processing method of an auxiliary reversing system. Background technique [0002] In order to assist the driver to back up and park the car better and faster, the reversing radar and visual reversing system that have emerged in recent years have given the driver some help, but the feedback information of the system is not convenient for the driver to quickly understand the reversing environment. Since most of the existing auxiliary reversing systems based on vision technology directly display the rear view images without any processing to the driver, especially in order to obtain a wider field of view behind the vehicle, the angle of view of the camera used in the auxiliary reversing system is relatively large. If it is large, it will distort the captured image and distort the geometric position information, so that the driver cannot truly understand the environment behind t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00
Inventor 彭海娟陈军戴亮张成阳
Owner BEIJING WONDER CAREWAY AUTOMOTIVE TECH
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