Calibrating and splicing method of multi-marshalling variable-angle vehicle panoramic look-around system

Abstract

The invention provides a panoramic look-around parking auxiliary system used for a multi-marshalling variable-angle vehicle. The system comprises fisheye cameras, hinging disc angle sensing devices and a data acquisition processor. The system is characterized in that video images acquired by the two or three fisheye cameras installed on each vehicle compartment and arranged with the direction field angles of at least 180 degrees and angle information acquired by the hinging disc angle sensing devices are processed through the data acquisition processor, so that the panoramic look-around parking auxiliary system obtains a seamless-spliced panoramic look-around image of a perimeter region of the multi-marshalling variable-angle vehicle; and the hinging disc angle sensing devices between every two compartments are used for measuring angle information of the two compartments hinged by the hinging disc angle sensing devices in real time and meanwhile transmitting the measured angle to the data acquisition processor in real time to process. Through acquisition and analysis of hinging angles of vehicle hinging discs, when the compartments rotate relatively, in other words, the positions of the cameras are changed relatively, panoramic splicing parameters are modified in real time, and multi-marshalling real-time seamless panoramic slicing is achieved.

Description

technical field [0001] The invention belongs to the field of vehicle safety assistance and automotive electronics, and in particular relates to a calibration and splicing method for a multi-group variable-angle vehicle panoramic view system. Background technique [0002] With the rapid growth of car ownership, road traffic safety has gradually become a major social issue. The panoramic surround view system can effectively assist the driver and reduce the accident rate of the vehicle at low speed. At present, most of the surround view parking assistance systems on the market are aimed at passenger cars, using four cameras, which are respectively arranged under the logo on the front bumper, under the left and right rearview mirrors, and at the rear license plate lights. ; A small number of panoramic systems for commercial vehicles, four cameras are installed at the midpoint of the four directions on the top of the vehicle. Regardless of whether it is a panoramic view system ...

AI Technical Summary

Problems solved by technology

Therefore, using the existing panoramic surround view scheme, it is impossible to achieve the panoramic surround view requirements of seamless splicing of multi-group vehicles with variable angles

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