A panoramic image calibration method for aftermarket vehicles

Abstract

The present invention relates to a panoramic image calibration method for aftermarket vehicles, based on a vehicle-mounted panoramic controller and a plurality of cameras arranged around the vehicle body, the method comprising: obtaining a unique identification code of each camera; determining whether the vehicle-mounted panoramic controller stores record information matching the unique identification code of each camera, if so, terminating the calibration; otherwise, obtaining calibration data inside each camera; determining whether the calibration data inside each camera is consistent, if so, importing the calibration data into the vehicle-mounted panoramic controller to complete the calibration setting of the vehicle-mounted panoramic controller; otherwise, terminating the calibration. The panoramic image calibration method can complete the aftermarket recalibration of the vehicle-mounted panoramic controller by reading the factory calibration data stored inside the camera, without returning the vehicle to the factory for recalibration, simplifying the aftermarket calibration process, improving the calibration efficiency, significantly reducing the calibration cost, bringing great convenience to users, and having important practical value.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic automobile products, and in particular to a panoramic image calibration method for aftermarket vehicles. Background Art

[0002] With the continuous development of living standards and science and technology, cars have gradually become an indispensable part of people's daily lives. At present, panoramic image assistance systems are generally installed in car computers. The panoramic image assistance system is mainly a set of 360-degree panoramic fusion images around the car body through the on-board navigation display, which can effectively help car owners understand the blind spots of the vehicle and make it safer and more convenient for drivers to drive the car. The 360-degree panoramic fusion image is generally calculated through the calibration function (based on the feature points of the image of a specific site) to calculate the position and posture of the camera in the real world, and the four camera images are blended according to the data obtained by the calibration function, and then spliced ​​into a complete 360-degree panoramic image of the car body.

[0003] The existing panoramic image auxiliary function is mainly completed before the vehicle leaves the factory, and is realized through the calibration process in the parking lot workshop. In the calibration process, a specific site will be used to stop the actual vehicle at a fixed position in the site, and then the panoramic controller in the special site will collect feature points to calculate the calibration data, complete the image blending of the four cameras, and splice them into a complete image. However, this calibration method can only be completed in a specific scenario, and is only suitable for calibrating vehicles before leaving the factory. For vehicles after sale, when there are technical problems such as image fusion dislocation and inability to splice into a complete image, the above calibration method is not applicable. This is because, due to various restrictions, returning the problem vehicle to the specific site of the car factory for recalibration usually requires a lot of manpower and material resources, the process is relatively cumbersome, and the efficiency is relatively low, which brings many inconveniences to users. Therefore, it is particularly important to develop a panoramic image calibration method for after-sales vehicles, simplify the calibration process, and save manpower and material resources. Summary of the invention

[0004] In order to overcome the above defects, the present invention provides a panoramic image calibration method for aftermarket vehicles, based on a vehicle-mounted panoramic controller and multiple cameras arranged around the vehicle body, the method comprises:

[0005] Get the unique identification code of each camera;

[0006] Determine whether the on-board panoramic controller stores record information matching the unique identification code of each camera. If yes, end the calibration; otherwise, obtain the calibration data inside each camera;

[0007] It is determined whether the calibration data inside each camera is consistent. If so, the calibration data is imported into the vehicle panoramic controller to complete the calibration setting of the vehicle panoramic controller; otherwise, the calibration is terminated.

[0008] Furthermore, before the step of obtaining the unique identification code of each camera, a data import step is also included:

[0009] Before the vehicle leaves the factory, calibration data is imported into each camera and the on-board panoramic controller, and the unique identification code of each camera is stored in the on-board panoramic controller.

[0010] Further, the step of determining whether the on-board panoramic controller stores record information matching the unique identification code of each camera, and if so, terminating the calibration; otherwise, obtaining the calibration data inside each camera includes:

[0011] Extracting the calibration record of the vehicle-mounted panoramic controller, and determining the current calibration state of the vehicle-mounted panoramic controller according to the calibration record, wherein the current calibration state includes uncalibrated and calibrated;

[0012] When the current calibration state of the on-board panoramic controller is uncalibrated, the calibration data inside each camera is directly obtained;

[0013] When the current calibration state of the on-board panoramic controller is calibrated, it is continued to determine whether the recorded information stored in the on-board panoramic controller matches the unique identification code of each camera. If so, the calibration is terminated; otherwise, the calibration data inside each camera is obtained.

[0014] Further, the step of determining whether the calibration data inside each camera is consistent, if so, importing the calibration data into the vehicle-mounted panoramic controller to complete the calibration setting of the vehicle-mounted panoramic controller; otherwise, ending the calibration step, includes:

[0015] Compare the calibration data within each camera and evaluate the consistency of the calibration data;

[0016] When the calibration data inside each camera is exactly the same, the calibration data inside the camera is imported into the vehicle panoramic controller to complete the after-sales calibration of the vehicle panoramic controller;

[0017] When the calibration data in each camera is not completely the same, the calibration data stored in each camera is discarded and the calibration procedure is terminated.

[0018] Furthermore, the step of determining whether the calibration data inside each camera is consistent, if so, importing the calibration data into the vehicle-mounted panoramic controller to complete the calibration setting of the vehicle-mounted panoramic controller; otherwise, after the calibration step is completed, a verification step is also included, and the verification step includes:

[0019] Collect environmental information around the vehicle;

[0020] Use the calibrated on-board panoramic controller to obtain a 360-degree panoramic image around the vehicle;

[0021] The 360-degree panoramic image is matched with the collected environmental information. If the two are completely consistent, it is considered that the calibration setting of the on-board panoramic controller is successful; otherwise, it is considered that the calibration setting of the on-board panoramic controller is a failure.

[0022] Furthermore, after the verification step, an exit step is also included:

[0023] Exit the after-sales calibration of the vehicle panoramic controller and return to the vehicle control system.

[0024] Furthermore, before the step of obtaining the unique identification code of each camera, a camera status detection step is also included:

[0025] Determine whether the camera can normally obtain image information of the surrounding environment. If so, the camera is considered to be in a normal working state; otherwise, the camera is considered to be in an abnormal working state and the calibration is terminated.

[0026] Furthermore, the camera is a wide-angle camera, and the ideal fields of view of adjacent wide-angle cameras arranged on the vehicle body overlap with each other.

[0027] An aftermarket panoramic image calibration device comprises a memory, a processor, and a panoramic image calibration program stored in the memory and executable on the processor. When the panoramic image calibration program is executed by the processor, the panoramic image calibration method for aftermarket vehicles is implemented.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0029] The present invention discloses a panoramic image calibration method for after-sales vehicles. The panoramic image calibration method can complete the after-sales recalibration of the vehicle-mounted panoramic controller by reading the factory calibration data stored in the camera, without returning the vehicle to the factory for recalibration, greatly simplifying the after-sales calibration process of the vehicle-mounted panoramic controller, improving the calibration efficiency, significantly reducing the calibration cost, bringing great convenience to users, and having important practical value. Moreover, since the calibration data imported before leaving the factory is stored inside the camera, the accuracy of the after-sales calibration of the vehicle-mounted panoramic controller is effectively guaranteed, which is conducive to improving the experience effect brought to users by the after-sales calibration program, thereby enhancing market competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a flow chart of the panoramic image calibration method for aftermarket vehicles in Example 1.

[0031] Figure 2 This is a logical judgment diagram of the panoramic image calibration method for aftermarket vehicles in Example 1.

[0032] The drawings are only used for illustrative purposes and should not be construed as limitations on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged or reduced, and do not represent actual sizes. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted. The same or similar numbers correspond to the same or similar parts. The terms describing positional relationships in the drawings are only used for illustrative purposes and should not be construed as limitations on this patent. DETAILED DESCRIPTION

[0033] The preferred embodiments of the present invention are described in detail below so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby more clearly defining the protection scope of the present invention.

[0034] Example 1

[0035] like Figure 1-Figure 2 As shown, this embodiment provides a panoramic image calibration method for aftermarket vehicles, based on a vehicle-mounted panoramic controller and four cameras arranged around the vehicle body. The four cameras can be arranged at the front, back, left, and right of the vehicle, respectively, or can be selected to be arranged at the four corners of the vehicle.

[0036] A panoramic image calibration method for aftermarket vehicles specifically includes the following steps:

[0037] 101. Obtain a unique identification code for each camera.

[0038] Each camera is given a unique identification code before it leaves the factory. Different cameras have different unique identification codes, which are used as the representative code of the camera. In this technical solution, the camera uses a wide-angle camera. Four wide-angle cameras are respectively set at the four corners of the vehicle, and the ideal fields of view of adjacent wide-angle cameras set on the vehicle body overlap. Each camera can independently obtain image information of the surrounding environment, and upload the image information to the on-board panoramic controller in real time.

[0039] 102. Determine whether the on-board panoramic controller stores record information matching the unique identification code of each camera. If so, end the calibration; otherwise, obtain the calibration data inside each camera.

[0040] Of course, if the on-board panoramic controller does store record information that matches the unique identification code of each camera, it means that before the step of obtaining the unique identification code of each camera, a data import step is also included. The data import step is generally completed before the vehicle leaves the factory, mainly importing calibration data into each camera and the on-board panoramic controller, and storing the unique identification code of each camera in the on-board panoramic controller. In other words, the vehicle is calibrated at a specific calibration site in the parking lot before leaving the factory to obtain the optimal calibration data. The calibration data is then stored in the on-board panoramic controller, and the calibration data is also backed up and stored in the four camera image registers on the vehicle body, and the unique identification codes of the four cameras are also stored in the on-board panoramic controller to form complete record information. Each camera here has an independent unique identification code, and the unique identification codes of each camera are different. In this way, when the vehicle leaves the factory, the on-board panoramic controller can combine and splice the image information obtained by the four cameras according to the internally stored calibration data to form a 360-degree panoramic image. Once the on-board panoramic controller of an after-sales vehicle has problems in the process of blending and stitching pictures, the calibration data backed up in the camera can be directly re-imported into the on-board panoramic controller to complete the recalibration of the after-sales vehicle panoramic controller.

[0041] In the process of determining whether the on-board panoramic controller stores recorded information that matches the unique identification code of each camera, it is necessary to first extract the calibration record of the on-board panoramic controller, and determine the current calibration status of the on-board panoramic controller based on the calibration record. The current calibration status mentioned here includes uncalibrated and calibrated. Uncalibrated means that the on-board panoramic controller has not been calibrated, and no calibration data or unique identification codes of each camera have been stored inside it. It is a brand new on-board panoramic controller. Calibrated means that the on-board panoramic controller has been calibrated, and calibration data and unique identification codes of the cameras are usually stored inside it. However, it is unknown whether the recorded information stored in the on-board panoramic controller is the same as the calibration data and unique identification codes stored in each camera.

[0042] Specifically, if the current calibration state of the on-board panoramic controller is uncalibrated, the calibration data inside each camera is directly obtained. If the current calibration state of the on-board panoramic controller is calibrated, it is continued to determine whether the recorded information stored in the on-board panoramic controller matches the unique identification code of each camera. If so, it means that the on-board panoramic controller and the four cameras are all the same configuration when they leave the factory. The vehicle has not replaced the camera or the on-board panoramic controller after leaving the factory. The calibration data stored in the panoramic controller and the camera are the same, and there is no need to re-import the calibration data of the camera into the on-board panoramic controller. At this time, the calibration can be ended. Otherwise, it is believed that the on-board panoramic controller or at least part of the camera has been replaced after the vehicle leaves the factory. Under normal circumstances, it is more likely to replace the on-board panoramic controller. This means that the calibration data stored in the on-board panoramic controller (it is also possible that the on-board panoramic controller does not store the calibration data) is inconsistent with the calibration data stored in the camera backup. At this time, it is necessary to continue to obtain the calibration data inside each camera and further determine whether the calibration data stored inside each camera is consistent.

[0043] 103. Determine whether the calibration data inside each camera is consistent. If so, import the calibration data into the vehicle-mounted panoramic controller to complete the calibration setting of the vehicle-mounted panoramic controller; otherwise, end the calibration.

[0044] Specifically, it is necessary to compare the calibration data inside each camera first and evaluate the consistency of the calibration data. When the calibration data inside each camera is exactly the same, the calibration data inside the camera is imported into the vehicle-mounted panoramic controller to complete the after-sales calibration of the vehicle-mounted panoramic controller, that is, the after-sales calibration of the vehicle-mounted panoramic controller is completed by writing the calibration data of the camera. When the calibration data inside each camera is not exactly the same, the calibration data stored inside each camera is discarded and the calibration program is terminated.

[0045] Preferably, after step 103, a verification step is also included, and the verification step is mainly used to verify whether the panoramic image calibration of the after-sales vehicle is successful. In the specific process, it is necessary to first collect the environmental information around the vehicle through an external camera device (a camera device other than the vehicle-mounted camera). The environmental information usually needs to contain characteristic objects. Characteristic objects generally refer to objects with special marks that can be recognized at a glance. Then, the image information obtained by the four cameras is spliced ​​using the calibrated vehicle-mounted panoramic controller to obtain a 360-degree panoramic image around the vehicle. Finally, the 360-degree panoramic image is matched with the collected environmental information. If the two are completely consistent, it is considered that the calibration setting of the vehicle-mounted panoramic controller is successful; otherwise, it is considered that the calibration setting of the vehicle-mounted panoramic controller is a failure.

[0046] Preferably, after the verification step, an exit step is also included. The exit step means that after the calibration procedure is completed, the system automatically exits the after-sales calibration of the vehicle panoramic controller and returns to the vehicle control system, thereby improving the automatic switching of the system and enhancing the user experience.

[0047] Preferably, before step 101, a camera status detection step is also included. This is because all the above steps and processes need to be performed when the camera functions normally. If the camera has an obstacle and cannot normally obtain the environmental information around the vehicle, the subsequent judgment, information comparison and stitching of the 360-degree panoramic image are meaningless. Specifically, in the camera status detection step, it is necessary to determine whether the camera can normally obtain the image information of the surrounding environment. If so, the camera is considered to be in a normal working state; otherwise, the camera is considered to be in an abnormal working state and the calibration is terminated. In other words, only when the camera functions normally and can accurately and clearly obtain the picture information of the surrounding environment, can the on-board panoramic controller accurately complete the stitching of the 360-degree panoramic image, and the obtained 360 panoramic image will have reference value.

[0048] Embodiment 2:

[0049] This embodiment provides an after-sales panoramic image calibration device, including a memory, a processor, and a panoramic image calibration program stored in the memory and executable on the processor, wherein the panoramic image calibration program, when executed by the processor, implements the panoramic image calibration method for after-sales vehicles in Embodiment 1. The memory mentioned here includes but is not limited to a storage module disposed inside a vehicle-mounted panoramic controller or a storage unit inside a vehicle-mounted control system, and the processor includes but is not limited to a processing unit inside a vehicle-mounted panoramic controller or a vehicle-mounted processing unit.

[0050] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A panoramic image calibration method for aftermarket vehicles, characterized in that: Based on a vehicle-mounted panoramic controller and a plurality of cameras arranged around a vehicle body, the vehicle-mounted panoramic controller stores calibration data, the register of the camera stores backup calibration data, and the vehicle-mounted panoramic controller stores a unique identification code of the camera; the method comprises: Get the unique identification code of each camera; Determine whether the on-board panoramic controller stores record information matching the unique identification code of each camera. If yes, end the calibration; otherwise, obtain the calibration data inside each camera; Compare the calibration data within each camera and evaluate the consistency of the calibration data; When the calibration data inside each camera is exactly the same, the calibration data inside the camera is imported into the vehicle panoramic controller to complete the after-sales calibration of the vehicle panoramic controller; When the calibration data in each camera is not completely the same, the calibration data stored in each camera is discarded and the calibration procedure is terminated.

2. A panoramic image calibration method for aftermarket vehicles as claimed in claim 1, characterized in that: Before the step of obtaining the unique identification code of each camera, a data import step is also included: Before the vehicle leaves the factory, calibration data is imported into each camera and the on-board panoramic controller, and the unique identification code of each camera is stored in the on-board panoramic controller.

3. A panoramic image calibration method for aftermarket vehicles as claimed in claim 2, characterized in that: The step of determining whether the vehicle-mounted panoramic controller stores record information matching the unique identification code of each camera, and if so, terminating the calibration; otherwise, obtaining the calibration data inside each camera includes: Extracting the calibration record of the vehicle-mounted panoramic controller, and determining the current calibration state of the vehicle-mounted panoramic controller according to the calibration record, wherein the current calibration state includes uncalibrated and calibrated; When the current calibration state of the on-board panoramic controller is uncalibrated, the calibration data inside each camera is directly obtained; When the current calibration state of the on-board panoramic controller is calibrated, it is continued to determine whether the recorded information stored in the on-board panoramic controller matches the unique identification code of each camera. If so, the calibration is terminated; otherwise, the calibration data inside each camera is obtained.

4. A panoramic image calibration method for aftermarket vehicles as claimed in claim 1, characterized in that: The step of determining whether the calibration data inside each camera is consistent, if so, importing the calibration data into the vehicle-mounted panoramic controller to complete the calibration setting of the vehicle-mounted panoramic controller; otherwise, after the calibration step is completed, a verification step is also included, and the verification step includes: Collect environmental information around the vehicle; Use the calibrated on-board panoramic controller to obtain a 360-degree panoramic image around the vehicle; The 360-degree panoramic image is matched with the collected environmental information. If the two are completely consistent, it is considered that the calibration setting of the on-board panoramic controller is successful; otherwise, it is considered that the calibration setting of the on-board panoramic controller is a failure.

5. A panoramic image calibration method for aftermarket vehicles as claimed in claim 4, characterized in that: After the verification step, an exit step is also included: Exit the after-sales calibration of the vehicle panoramic controller and return to the vehicle control system.

6. A panoramic image calibration method for aftermarket vehicles as claimed in claim 1, characterized in that: Before the step of obtaining the unique identification code of each camera, a camera status detection step is also included: Determine whether the camera can normally obtain image information of the surrounding environment. If so, the camera is considered to be in a normal working state; otherwise, the camera is considered to be in an abnormal working state and the calibration is terminated.

7. A panoramic image calibration method for aftermarket vehicles as claimed in claim 1, characterized in that: The cameras are wide-angle cameras, and the ideal fields of view of adjacent wide-angle cameras arranged on the vehicle body overlap with each other.

8. An after-sales panoramic image calibration device, characterized in that: The invention comprises a memory, a processor and a panoramic image calibration program stored in the memory and executable on the processor, wherein the panoramic image calibration program, when executed by the processor, implements the panoramic image calibration method for aftermarket vehicles as described in any one of claims 1 to 7.

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