A vehicle intelligent panoramic surround view system and a truck that can be used for truck navigation

Abstract

The present invention discloses a vehicle intelligent panoramic surround view system and a freight vehicle capable of being used for freight vehicle navigation. The vehicle intelligent panoramic surround view system includes: an image acquisition device, which includes a front camera (1), a left front head camera (2) and a right front head camera (3) installed on the vehicle head, and a rear camera (6), a left body camera (4) and a right body camera (5) installed on the vehicle body; a panoramic surround view splicing device, which performs panoramic surround view splicing on the images acquired by the image acquisition device; a display device, which is used for displaying the spliced images; a control and navigation device, which identifies the state of the vehicle, and when the vehicle is in a low-speed driving state, displays the spliced graphics output by the panoramic surround view splicing device on the display device for observation by vehicle occupants or drivers; and performs navigation on the vehicle driving according to the images acquired by the image acquisition device.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and particularly to a vehicle intelligent panoramic surround view system that can be used for truck navigation. Background Art

[0002] A vehicle panoramic surround view system refers to a system that installs multiple wide-angle cameras around a vehicle to cover all the visual field ranges around the vehicle, processes the multi-channel video images captured at the same time into a 360-degree top view of the vehicle body around the vehicle, and finally displays it on the screen of the center console, so that the driver can clearly check whether there are obstacles around the vehicle and understand the relative position and distance of the obstacles, to help the driver park or start the vehicle.

[0003] However, the vehicle panoramic surround view system in the prior art is only used for parking or starting the vehicle, and is not used for vehicle navigation, wasting the resources of the vehicle panoramic surround view system. In addition, the vehicle panoramic surround view system in the prior art is only applicable to sedans or box trucks, and is not applicable to hanging trucks. Summary of the Invention

[0004] The object of the present invention is to provide a vehicle intelligent panoramic surround view system that can be used for truck navigation to overcome or at least mitigate at least one of the above-mentioned defects in the prior art.

[0005] To achieve the above object, the present invention provides a vehicle intelligent panoramic surround view system that can be used for truck navigation. The truck includes a head and a body, and the body is hung to the head. The vehicle intelligent panoramic surround view system includes:

[0006] An image acquisition device, which includes a front camera, a left head camera, and a right head camera installed on the head, and a rear camera, a left body camera, and a right body camera installed on the body;

[0007] A panoramic surround view stitching device, which stitches the images acquired by the image acquisition device into a panoramic surround view;

[0008] A display device, which is used to display the stitched image;

[0009] A control and navigation device, which identifies the state of the vehicle, and when the vehicle is in a low-speed driving state, displays the stitched graphic output by the panoramic surround view stitching device on the display device for the vehicle occupants or the driver to observe; and navigates the vehicle driving according to the images acquired by the image acquisition device.

[0010] Preferably, both the front camera and the rear camera are binocular cameras. The binocular camera includes two same-specification camera units with the same height position and spaced apart horizontally: a first camera unit and a second camera unit. Among them, the distance between the target and the vehicle is determined in the following manner,

[0011] Step S1. Based on the image frames simultaneously and separately acquired by two camera units, a depth map is formed.

[0012] Step S2. Determine the common target features in the previous image frame and the current image frame acquired by the first camera unit, and the new target features in the current image frame.

[0013] Step S3. Based on the depth map, determine the relative distances between the common target features and the new target features and the vehicle.

[0014] Preferably, the vehicle intelligent panoramic surround view system includes a corner detection device. The corner detection device detects the relative corner between the vehicle body and the vehicle head, and transmits the relative corner to the panoramic surround view stitching device. Based on the relative corner, image stitching is performed on the images acquired by the front camera, the left front camera, and the right front camera installed on the vehicle head, and the images acquired by the rear camera, the left body camera, and the right body camera installed on the vehicle body.

[0015] Preferably, the corner detection device is installed at the connection between the vehicle body and the vehicle head, and includes a first member fixed relative to the vehicle body and a second member fixed relative to the vehicle head. The relative corner between the vehicle body and the vehicle head is determined by detecting the horizontal plane angle between the first member and the second member.

[0016] Preferably, both the left front camera and the left body camera are binocular cameras. The binocular camera includes two same-specification camera units with the same height position and spaced apart horizontally. Among them, the relative corner between the vehicle body and the vehicle head is determined in the following manner, and then based on the relative corner, image stitching is performed on the images acquired by the front camera, the left front camera, and the right front camera installed on the vehicle head, and the images acquired by the rear camera, the left body camera, and the right body camera installed on the vehicle body.

[0017] Step S41. Determine the common target features in the current frame images acquired by the left front camera and the left body camera.

[0018] Step S42. Based on the previous image frames respectively acquired by the two cameras of the left front camera, a depth map is formed. Based on the depth map, determine the first angular position of the common target feature relative to the vehicle head.

[0019] Step S43. Based on the previous image frames respectively acquired by the two cameras of the left body camera, a depth map is formed. Based on the depth map, determine the second angular position of the common target feature relative to the vehicle body.

[0020] Step S44. Determine the relative rotation angle between the vehicle body and the vehicle head based on the first angular position and the second angular position;

[0021] Or

[0022] Both the right front camera and the right body camera of the vehicle head are binocular cameras. The binocular camera includes two same - specification camera units with the same height position and spaced apart horizontally. Wherein, the relative rotation angle between the vehicle body and the vehicle head is determined in the following manner,

[0023] Step S51. Determine the common target features in the current frame images obtained by the right front camera and the right body camera of the vehicle head;

[0024] Step S52. Based on the previous image frames respectively obtained by the two cameras of the right front camera of the vehicle head, form a depth map. Based on the depth map, determine the first angular position of the common target feature relative to the vehicle head;

[0025] Step S53. Based on the previous image frames respectively obtained by the two cameras of the right body camera of the vehicle head, form a depth map. Based on the depth map, determine the second angular position of the common target feature relative to the vehicle body;

[0026] Step S54. Determine the relative rotation angle between the vehicle body and the vehicle head based on the first angular position and the second angular position.

[0027] Preferably, determine the first relative rotation angle based on Steps S41 - S43; determine the second relative rotation angle based on Steps S51 - S53; determine the relative rotation angle based on the average value of the first relative rotation angle and the second relative rotation angle.

[0028] Preferably, the vehicle being in a low - speed driving state means that the vehicle speed is less than or equal to 5 kilometers per hour, and the low - speed driving state includes forward and / or reverse.

[0029] Preferably, the control and navigation device outputs vehicle longitudinal control information and vehicle lateral control information based on the type of the target feature and the relative position of the target feature to the vehicle.

[0030] Preferably, when an obstacle is detected during driving, the control and navigation device performs longitudinal speed planning and lateral speed planning in the following manner,

[0031] First, establish a road model based on the obstacle information and map information obtained by the panoramic surround stitching device, divide the current lane into regions, and divide the region of the current lane with a length of L and a width of W directly in front of the truck into a braking region and a decelerating region; the region with a length of L1 and a width of W directly in front of the scenic sightseeing vehicle is the braking region, and the region with a length of L2 and a width of W in front of the braking region is the decelerating region. The distance between the braking region, the decelerating region and the left side of the lane is W1, and the distance between the braking region, the decelerating region and the right side of the lane is W2.

[0032] Among them, W = W0 * K01 + L0 * K02, where W0 is the maximum width of the truck; L0 is the length of the truck; K01 and K02 are set coefficients;

[0033] L1 is the braking distance when the truck brakes from the current driving speed to a stop with the maximum deceleration;

[0034] L2 = K1 * L1; K1 is a set coefficient;

[0035] Secondly, perform longitudinal speed planning according to the detected position of the obstacle to determine the target longitudinal speed Vlong.

[0036] If an obstacle located in the braking region is detected, Vlong = 0;

[0037] If an obstacle located in the decelerating region is detected, Vlong = V0 * (S - L1) / L2, where S is the distance between the obstacle and the truck; V0 is the current longitudinal speed;

[0038] Finally, if -0.3 < (W1 - W2) / (W1 + W2) < 0.3, determine the target lateral speed Vlat.

[0039] Vlat = V01 * (W1 - W2) / (W1 + W2), where V01 is the lateral speed preset based on the vehicle performance.

[0040] Preferably, the image acquisition device further includes an upward-looking camera, and the upward-looking camera is arranged at the upper part of the vehicle head and is used to obtain barcode information on the ceiling in tunnel and underground garage scenarios, and the barcode information is positioning information or warning information corresponding to the position where the barcode information is located.

[0041] The present invention also provides a truck, which includes a vehicle head and a vehicle body, the vehicle body is hung to the vehicle head, and the truck includes the vehicle intelligent panoramic surround system as described above.

[0042] The vehicle intelligent panoramic surround system of the present invention can be used for vehicle navigation and makes full use of the resources of the vehicle panoramic surround system. In addition, the vehicle panoramic surround system of the present invention can be applied to hanging trucks. Brief Description of the Drawings

[0043] Figure 1 It is a schematic diagram of a truck with a vehicle intelligent panoramic surround view system capable of being used for truck navigation according to an embodiment of the present invention.

[0044] Figure 2 It is a schematic diagram of the control method of the vehicle intelligent panoramic surround view system according to an embodiment of the present invention when encountering an obstacle.

[0045] Figure 3 It is a flowchart of image stitching using the front camera in front of the vehicle head, left camera, right camera, rear camera, left camera, and right camera on the vehicle body. Detailed implementation manners

[0046] In the drawings, the same or similar reference numerals are used to represent the same or similar elements or elements having the same or similar functions. The embodiments of the present invention will be described in detail below with reference to the drawings.

[0047] As Figure 1 shown, the truck applicable to the vehicle intelligent panoramic surround view system capable of being used for truck navigation according to an embodiment of the present invention includes a vehicle head and a vehicle body. The vehicle body is hung to the vehicle head, and the vehicle body can rotate relative to the vehicle head when the vehicle turns.

[0048] The vehicle intelligent panoramic surround view system includes: an image acquisition device, a panoramic surround view stitching device, a display device, and a control and navigation device.

[0049] The image acquisition device includes a front camera 1, a left vehicle head camera 2, and a right vehicle head camera 3 installed on the vehicle head, and a rear camera 6, a left vehicle body camera 4, and a right vehicle body camera 5 installed on the vehicle body.

[0050] It can be understood that the front camera 1 faces forward to observe the front of the vehicle (i.e., obtain the image in front of the vehicle); the rear camera 6 faces backward to observe the rear of the vehicle; the left vehicle head camera 2 and the left vehicle body camera 4 face left to observe the left side of the vehicle; the right vehicle head camera 3 and the right vehicle body camera 5 face right to observe the right side of the vehicle. The specific installation positions, installation structures, etc. of each camera can be set as needed. For example, the left vehicle head camera 2 and the right vehicle head camera 3 can be installed on the left and right rearview mirrors.

[0051] The panoramic surround view stitching device stitches the images obtained by the image acquisition device for panoramic surround view. Before performing the surround view stitching, the panoramic surround view stitching device can convert the images obtained by each camera into images with a top-down view angle, and then perform image stitching.

[0052] The display device is used to display the stitched image for the driver or other passengers to observe. The specific form, installation position, structure, etc. of the display device can be set as needed.

[0053] The control and navigation device identifies the state of the vehicle. When the vehicle is in a low-speed driving state, the stitched graphics output by the panoramic surround stitching device are displayed on the display device for the vehicle occupants or the driver to observe. As needed, the control and navigation device outputs a prompt signal or a warning signal to the driver based on the images collected by the image acquisition device, or outputs a control signal to directly control the vehicle, that is, it navigates the vehicle driving according to the images collected by the image acquisition device. The specific form, installation position, structure, etc. of the control and navigation device can be set as needed. For example, one implementation form of the control and navigation device is ADAS.

[0054] In one embodiment, both the front camera 1 and the rear camera 6 are binocular cameras. The binocular camera includes two same-specification imaging units with the same height position and spaced apart laterally: a first imaging unit and a second imaging unit. Thus, it is possible to measure the distance to targets such as obstacles in front of and behind the vehicle, which is used for navigation and can also be applied to scenarios of forward and reverse driving. The front camera 1 and the rear camera 6 determine the distance between the target and the vehicle in the following manner.

[0055] Step S1. Based on the image frames simultaneously acquired by the two imaging units respectively, a depth map is formed.

[0056] Step S2. Determine the common target features in the previous image frame and the current image frame acquired by the first imaging unit, as well as the new target features in the current image frame.

[0057] Step S3. Based on the depth map, determine the relative distances between the common target features and the new target features and the vehicle. Based on the change in the relative distance of the common target features at two consecutive frame times, combined with the speed of the vehicle, it is possible to assist in determining the type of the common target: a fixed obstacle or a moving obstacle. Thus, corresponding navigation is carried out. For the recognition of targets, a neural network can also be used for recognition.

[0058] For a hanging truck, the relative angle between the vehicle head and the vehicle body may change, which brings difficulties to image stitching. For this reason, the vehicle intelligent panoramic surround system according to an embodiment of the present invention includes a corner detection device 8. The corner detection device detects the relative corner between the vehicle body and the vehicle head and transmits the relative corner to the panoramic surround stitching device. Based on the relative corner, image stitching is performed on the images acquired by the front camera, the left head camera, and the right head camera installed on the vehicle head, as well as the images acquired by the rear camera, the left body camera, and the right body camera installed on the vehicle body. For example, the corner detection device is installed at the connection between the vehicle body and the vehicle head, and includes a first member fixed relative to the vehicle body and a second member fixed relative to the vehicle head. The relative corner between the vehicle body and the vehicle head is determined by detecting the horizontal plane angle between the first member and the second member.

[0059] In another embodiment of the present invention, both the left front camera and the left body camera are binocular cameras. The binocular camera includes two same-specification camera units with the same height position and spaced apart laterally. Wherein, the relative rotation angle between the body and the front of the vehicle is determined in the following manner, and then based on the relative rotation angle, the images obtained by the front camera, the left front camera, and the right front camera mounted on the front of the vehicle, and the images obtained by the rear camera, the left body camera, and the right body camera mounted on the body are subjected to image stitching. The stitching process is as Figure 3 shown, specifically:

[0060] Step S41. Determine the common target features in the current frame images obtained by the left front camera and the left body camera;

[0061] Step S42. Based on the previous image frames respectively obtained by the two cameras of the left front camera, a depth map is formed. Based on the depth map, determine the first angular position of the common target feature relative to the front of the vehicle. Actually, it is to determine the angle B1 between the line connecting the target feature and the camera and the center line of the front of the vehicle. For example, taking the camera position as the coordinate origin, taking the center line of the front of the vehicle as the Y-axis, and taking the vehicle width direction determined based on the front of the vehicle as the X-axis, assuming the coordinates of the target feature are x1, y1; it is easy to determine the angle B1 based on trigonometric functions.

[0062] Step S43. Based on the previous image frames respectively obtained by the two cameras of the left body camera, a depth map is formed. Based on the depth map, determine the second angular position of the common target feature relative to the body; actually, it is to determine the angle B2 between the line connecting the target feature and the camera and the center line of the body. For example, taking the camera position as the coordinate origin, taking the center line of the body as the Y'-axis, and taking the vehicle width direction determined based on the body as the X'-axis, assuming the coordinates of the target feature are x1', y1'; it is easy to determine the angle B2 based on trigonometric functions.

[0063] Step S44. Based on the first angular position and the second angular position, determine the relative rotation angle between the body and the front of the vehicle. The relative rotation angle can be based on the difference between the above two angles, that is, B1 - B2. The relative rotation angle is the angle between the center line of the front of the vehicle and the center line of the body. It can be understood that if the direction of the angle is considered, the angle can be defined in a vector manner.

[0064] Alternatively, both the right front camera and the right body camera are binocular cameras. The binocular camera includes two same-specification camera units with the same height position and spaced apart laterally. Wherein, the relative rotation angle between the body and the front of the vehicle is determined in the following manner,

[0065] Step S51. Determine the common target features in the current frame images obtained by the right front camera and the right body camera of the vehicle;

[0066] Step S52. Based on the image frames respectively obtained by the two cameras of the right front camera, form a depth map, and based on the depth map, determine the first angular position of the common target feature relative to the vehicle head;

[0067] Step S53. Based on the previous image frames respectively obtained by the two cameras of the right body camera, form a depth map, and based on the depth map, determine the second angular position of the common target feature relative to the vehicle body;

[0068] Step S54. Based on the first angular position and the second angular position, determine the relative rotation angle between the vehicle body and the vehicle head.

[0069] Preferably, determine the first relative rotation angle based on steps S41 - S44; determine the second relative rotation angle based on steps S51 - S54; determine the relative rotation angle based on the average value of the first relative rotation angle and the second relative rotation angle.

[0070] In the present invention, the vehicle being in a low - speed driving state means that the vehicle speed is less than or equal to 5 kilometers per hour, and the low - speed driving state includes forward and / or reverse.

[0071] In an embodiment of the present invention, the control and navigation device outputs vehicle longitudinal control information and vehicle lateral control information based on the type of the target feature and the relative distance between the target feature and the vehicle.

[0072] Preferably, when an obstacle is detected during driving, the control and navigation device performs longitudinal speed planning and lateral speed planning in the following manner.

[0073] First, establish a road model according to the obstacle information and the map information obtained by the panoramic surround stitching device, divide the current lane into regions, and divide the region of the current lane with a length of L and a width of W directly in front of the truck into a braking region and a decelerating region; the region with a length of L1 and a width of W directly in front of the scenic sightseeing vehicle is the braking region, and the region with a length of L2 and a width of W in front of the braking region is the decelerating region. The distance between the braking region, the decelerating region and the left side of the lane is W1, and the distance between the braking region, the decelerating region and the right side of the lane is W2.

[0074] Among them, W = W0*K01 + L0*K02, where W0 is the maximum width of the truck; L0 is the length of the truck; K01, K02 are set coefficients. For example, K01 is a constant greater than 1, which can be taken as 1.1, or can be determined based on the vehicle speed. K02 is, for example, a constant within the range of 0.01 - 0.05.

[0075] L1 is the braking distance for the truck to brake from the current driving speed to a stop with the maximum deceleration.

[0076] L2 = K1 * L1; K1 is a set coefficient; K1 can be, for example, a constant between 0.5 and 1.

[0077] Secondly, longitudinal speed planning is carried out according to the detected position of the obstacle to determine the target longitudinal speed V_longitudinal.

[0078] If an obstacle located within the braking area is detected, V_longitudinal = 0; at this time, the maximum deceleration can be applied.

[0079] If an obstacle (9) located within the deceleration area is detected, V_longitudinal = V0 * (S - L1) / L2, where S is the distance between the obstacle and the truck; V0 is the current longitudinal speed; at this time, the maximum deceleration or a smaller deceleration can be applied, which is selected according to the control strategy.

[0080] Finally, if -0.3 < (W1 - W2) / (W1 + W2) < 0.3, the target lateral speed V_transverse is determined.

[0081] V_transverse = V01 * (W1 - W2) / (W1 + W2), where V01 is the lateral speed preset based on the vehicle performance. At this time, the corresponding steering angle or lateral acceleration can be selected according to the control strategy.

[0082] In an embodiment of the present invention, the image acquisition device further includes an upward-looking camera 7, which is arranged at the upper part of the vehicle head and is used to obtain barcode information on the ceiling in tunnel and underground garage scenarios. The barcode information is positioning information or warning information corresponding to the position where the barcode information is located. For example, the barcode information can be associated with information such as the length of the tunnel and driving precautions.

[0083] The present invention also provides a truck, which includes a vehicle head and a vehicle body. The vehicle body is connected to the vehicle head, and the truck includes the vehicle intelligent panoramic surround view system as described above.

[0084] The vehicle intelligent panoramic surround view system of the present invention can be used for vehicle navigation and makes full use of the resources of the vehicle panoramic surround view system. In addition, the vehicle panoramic surround view system of the present invention is applicable to hanging trucks.

[0085] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Those of ordinary skill in the art should understand that: the technical solutions recorded in the foregoing embodiments can be modified, or some of the technical features can be equivalently replaced; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle intelligent panoramic surround view system that can be used for truck navigation, characterized in that, The truck includes a cab and a body, and the body is connected to the cab. The vehicle intelligent panoramic surround view system includes: An image acquisition device, which includes a front camera (1), a left cab camera (2), and a right cab camera (3) installed on the cab, and a rear camera (6), a left body camera (4), and a right body camera (5) installed on the body; A panoramic surround view stitching device, which stitches the images acquired by the image acquisition device into a panoramic surround view; A display device, which is used to display the stitched image; A control and navigation device, which identifies the state of the vehicle. When the vehicle is in a low-speed driving state, it displays the stitched image output by the panoramic surround view stitching device on the display device for the vehicle occupants or the driver to observe; and navigates the vehicle driving according to the images acquired by the image acquisition device; Both the left cab camera and the left body camera are binocular cameras. The binocular camera includes two same-specification camera units with the same height position and spaced apart horizontally. Among them, the relative rotation angle between the body and the cab is determined in the following manner, and then based on the relative rotation angle, the images acquired by the front camera, the left cab camera, and the right cab camera installed on the cab, and the images acquired by the rear camera, the left body camera, and the right body camera installed on the body are stitched. Step S41. Determine the common target features in the current frame images acquired by the left cab camera and the left body camera; Step S42. Based on the previous image frames respectively acquired by the two cameras of the left cab camera, form a depth map, and based on the depth map, determine the first angular position of the common target feature relative to the cab; Step S43. Based on the previous image frames respectively acquired by the two cameras of the left body camera, form a depth map, and based on the depth map, determine the second angular position of the common target feature relative to the body; Step S44. Based on the first angular position and the second angular position, determine the relative rotation angle between the body and the cab; Or Both the right cab camera and the right body camera are binocular cameras. The binocular camera includes two same-specification camera units with the same height position and spaced apart horizontally. Among them, the relative rotation angle between the body and the cab is determined in the following manner. Step S51. Determine the common target features in the current frame images acquired by the right cab camera and the right body camera; Step S52. Based on the previous image frames respectively acquired by the two cameras of the right cab camera, form a depth map, and based on the depth map, determine the first angular position of the common target feature relative to the cab; Step S53. Based on the previous image frames respectively acquired by the two cameras of the right body camera, form a depth map, and based on the depth map, determine the second angular position of the common target feature relative to the body; Step S54. Based on the first angular position and the second angular position, determine the relative rotation angle between the body and the cab.

2. The vehicle intelligent panoramic surround view system capable of being used for truck navigation according to claim 1, wherein The front camera (1) and the rear camera (6) are both binocular cameras. The binocular camera includes two same-specification camera units with the same height position and spaced apart horizontally: a first camera unit and a second camera unit. Wherein, the distance between the target and the vehicle is determined in the following manner, Step S1. Based on the image frames simultaneously acquired by the two camera units respectively, a depth map is formed. Step S2. Determine the common target features in the previous image frame and the current image frame acquired by the first camera unit, and the new target features in the current image frame. Step S3. Based on the depth map, determine the relative distances between the vehicle and the common target features and the new target features.

3. The vehicle intelligent panoramic surround view system capable of being used for truck navigation according to claim 1, wherein The vehicle intelligent panoramic surround-view system includes a corner detection device (8). The corner detection device detects the relative corner between the vehicle body and the vehicle head, and transmits the relative corner to the panoramic surround-view stitching device. Based on the relative corner, the images acquired by the front camera, the left front camera, and the right front camera installed on the vehicle head, and the images acquired by the rear camera, the left body camera, and the right body camera installed on the vehicle body are stitched. The corner detection device is installed at the connection between the vehicle body and the vehicle head, and includes a first component fixed relative to the vehicle body and a second component fixed relative to the vehicle head. The relative corner between the vehicle body and the vehicle head is determined by detecting the horizontal plane angle between the first component and the second component.

4. The vehicle intelligent panoramic surround view system capable of being used for truck navigation according to claim 1, wherein, Determine the first relative corner based on steps S41 - S44; determine the second relative corner based on steps S51 - S54; determine the relative corner based on the average value of the first relative corner and the second relative corner.

5. The vehicle intelligent panoramic surround view system capable of being used for truck navigation according to claim 1, wherein The vehicle being in a low-speed driving state means that: the vehicle speed is less than or equal to 5 kilometers per hour, and the low-speed driving state includes forward and / or reverse.

6. The vehicle intelligent panoramic surround-view system capable of being used for truck navigation according to any one of claims 1 - 5, wherein, The control and navigation device outputs vehicle longitudinal control information and vehicle lateral control information based on the type of the target feature and the relative position of the target feature and the vehicle.

7. The vehicle intelligent panoramic surround view system capable of being used for truck navigation according to any one of claims 1-5, characterized in that When an obstacle is detected during driving, the control and navigation device performs longitudinal speed planning and lateral speed planning in the following manner. First, establish a road model according to the obstacle information and the map information obtained by the panoramic surround-view stitching device, divide the current lane into regions. Divide the current lane region with a length of L and a width of W directly in front of the truck into a braking region and a deceleration region; the region with a length of L1 and a width of W directly in front of the scenic sightseeing vehicle is the braking region, and the region with a length of L2 and a width of W in front of the braking region is the deceleration region. The distances between the braking region, the deceleration region and the left side of the lane are W1, and the distances between the braking region, the deceleration region and the right side of the lane are W2. Wherein, W = W0 * K01 + L0 * K02, W0 is the maximum width of the truck; L0 is the length of the truck; K01, K02 are set coefficients. L1 is the braking distance for the truck to brake from the current driving speed to a stop with the maximum deceleration. L2 = K1 * L1; K1 is a set coefficient. Secondly, longitudinal speed planning is carried out according to the detected position of the obstacle to determine the target longitudinal speed V_longitudinal. If an obstacle located within the braking area is detected, V_longitudinal = 0. If an obstacle (9) located within the deceleration area is detected, V_longitudinal = V0 * (S - L1) / L2, where S is the distance between the obstacle and the truck, and V0 is the current longitudinal speed. Finally, if -0.3 < (W1 - W2) / (W1 + W2) < 0.3, the target lateral speed V_lateral is determined. V_lateral = V01 * (W1 - W2) / (W1 + W2), where V01 is the lateral speed preset in advance based on the vehicle performance.

8. The vehicle intelligent panoramic surround view system capable of being used for truck navigation according to any one of claims 1-5, characterized in that, The image acquisition device further includes an upward-looking camera (7), which is disposed at the upper part of the vehicle head and is used to obtain barcode information on the ceiling in tunnel and underground garage scenarios. The barcode information is positioning information or warning information corresponding to the position where the barcode information is located.

9. A truck, the truck comprising a cab and a body, the body being hooked to the cab, characterized in that, The truck includes the vehicle intelligent panoramic surround view system according to any one of claims 1-8.

Images