ICP multi-camera video acquisition system

Abstract

The present application discloses an ICP multi-camera video acquisition system, which belongs to the field of autonomous driving technology. The system includes: at least one camera; a calibration plate, which is used to calibrate the camera; a calibration plate frame, which is used to set the calibration plate; and a movable camera bracket, which is used to set the camera, including: an upper cross bar, one end of which is fixedly connected to the inherent hole position of the vehicle A-pillar on the other side of the driver, and the other end extends to the middle of the vehicle instrument panel; a first connecting rod, one end of which is fixedly connected to the middle of the upper cross bar, and the other end passes downward through the vehicle instrument panel; a lower cross bar, one end of which is fixedly connected to the other end of the first connecting rod. The present application uses a movable camera bracket to fix the camera in the car, better monitor the driver's driving status, and improve safety during autonomous driving; the calibration plate is fixed by the calibration plate frame to better calibrate the camera.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to an ICP multi-camera video acquisition system. Background Art

[0002] In the field of autonomous driving, to ensure safety, real-time monitoring of the driver's driving status is necessary. This monitoring involves checking whether the driver is paying attention to the road ahead, whether their driving posture is dangerous, and whether they are smoking. If any driver misbehavior is detected, prompt alerts can be issued to ensure safety during the autonomous driving process. Therefore, to accurately monitor the driver's driving status, it is necessary to rationally position in-vehicle cameras in a suitable location to accurately capture the driver's status and avoid missing information. However, the most common existing practice is to place a camera directly in front of the driver to monitor the driver's status. This approach fails to effectively capture information below the driver's head and waist. If the driver's posture is incorrect, relevant information cannot be obtained to provide alerts and ensure safety during the autonomous driving process. Furthermore, during driving, the vehicle may experience bumps, causing the driver and camera to shake, potentially resulting in erroneous and inaccurate images captured by the camera. Therefore, camera calibration is necessary to ensure the accuracy of captured images. The existing method involves simply sticking a calibration strip on the seat to calibrate the camera. However, this method will cause the calibration strip to change due to changes in the seat position, and is also easily affected by the shaking of the vehicle, resulting in inaccurate camera images. Summary of the Invention

[0003] In view of the inaccurate and unreasonable positioning of cameras in the existing technology, which makes it impossible to obtain the driver's driving status information and correct the driver's incorrect driving style, affecting the safety of autonomous driving; in addition, when the driver's driving status is filmed and monitored by the camera, it is easily affected by the shaking of the vehicle, resulting in inaccurate camera shooting images. This application proposes an ICP multi-camera video acquisition system.

[0004] In one technical solution of the present application, an ICP multi-camera video acquisition system is provided, comprising: at least one camera; a calibration plate for calibrating the camera; a calibration plate rack for setting the calibration plate; and a movable camera bracket for setting the camera, comprising: an upper cross bar, one end of which is fixedly connected to the inherent hole position of the vehicle A-pillar on the other side of the driver, and the other end extends to the middle of the vehicle dashboard, which is located above the vehicle dashboard and is bent according to the shape of the dashboard; a first connecting rod, one end of which is fixedly connected to the middle of the upper cross bar, and the other end passes downward through the vehicle dashboard; a lower cross bar, one end of which is fixedly connected to the other end of the first connecting rod, and the other end extends toward the driver's side, wherein the camera is set on the upper cross bar and / or the lower cross bar, and can be moved left and right and rotated to shoot the driver's driving status.

[0005] Optionally, an angle adjustment member is provided on the upper cross bar and / or the lower cross bar to fix the camera, wherein the position and angle of the angle adjustment member are adjusted to achieve lateral movement and rotation of the camera. A length scale is provided on the upper cross bar and / or the lower cross bar to mark the position of the camera; an angle scale is provided on the angle adjustment member to mark the angle of the camera.

[0006] Optionally, the movable camera bracket also includes: a second connecting rod, one end of which is fixedly connected to the lower cross bar; a camera fixing plate, one end of which is fixedly connected to the other end of the second connecting rod and supported by the second connecting rod; a support rod, one end of which is fixedly connected to the other end of the camera fixing plate and the other end of which is fixedly connected to the bottom of the vehicle for supporting the camera fixing plate, wherein the camera is set on the camera fixing plate and can be moved laterally and rotated at an angle on the fixing plate to shoot the driver's driving status.

[0007] Optionally, the camera fixing plate includes: a slide rail, which is arranged on the upper surface of the camera fixing plate; a slider, which is engaged with the slide rail and slides along the slide rail, wherein the camera is set on the slider and its position is adjusted as the slider slides.

[0008] Optionally, the camera fixing plate also includes: a third connecting rod, one end of which is fixedly connected to the slider; an angle adjustment member fixed to the other end of the third connecting rod, wherein the camera is set on the angle adjustment member, and the angle of the camera is adjusted as the angle adjustment member rotates.

[0009] Optionally, the calibration plate frame includes: a first connecting member, one end of which is fixedly connected to an inherent hole position on the inner side of a B-pillar of the vehicle; a first cross bar, one end of which is fixedly connected to the other end of the first connecting member; a second connecting member, one end of which is fixedly connected to the other end of the first cross bar, and the other end is fixedly connected to the inherent hole position on the inner side of another B-pillar of the vehicle, wherein multiple calibration plates are arranged on the first cross bar for calibrating the camera inside the vehicle.

[0010] Optionally, a guide rail is provided on the first crossbar, and the calibration plate can change its position along the guide rail, and / or a length scale is provided on the first crossbar, and the position of the calibration plate is marked by the length scale.

[0011] Optionally, the first connecting member and the second connecting member are respectively fixedly connected to the corresponding vehicle B-pillar through preset holes on the vehicle B-pillar.

[0012] Optionally, it also includes: at least one vertical rod, one end of which is fixedly connected to the first cross rod, and the other end extends downward between the driver's seat and the co-driver's seat, wherein a calibration plate is set on at least one vertical rod to calibrate the camera inside the vehicle.

[0013] Optionally, the calibration plate frame also includes: at least one second cross bar, which is arranged on at least one vertical bar and fixedly connected to at least one vertical bar, wherein the calibration plate is arranged on at least one second cross bar for calibrating the camera inside the vehicle, and the distance between at least one vertical bar and at least one second cross bar and the driver's seat and the co-driver's seat respectively is greater than a preset threshold.

[0014] The beneficial effects of this application are: using a movable camera bracket to fix the camera inside the vehicle, changing the camera position and angle by lateral movement and rotation of the camera, thereby determining the optimal camera shooting position, thereby better monitoring the driver's driving status and improving safety during autonomous driving. This application utilizes the existing structure of the vehicle's B-pillar, setting a crossbar behind the driver's seat, and setting multiple calibration plates on the crossbar for calibrating and checking the camera to ensure the accuracy of the captured images. At the same time, the crossbar is fixed with a connecting piece to ensure the stability of the calibration plate and will not be affected by the shaking of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0016] Figure 1 A structural diagram of an embodiment of the ICP multi-camera video acquisition system of the present application is shown.

[0017] Figure 2 A schematic structural diagram of an embodiment of a movable camera bracket of the present application is shown;

[0018] Figure 3 A schematic structural diagram of an example of a movable camera bracket of the present application is shown;

[0019] Figure 4 A schematic structural diagram of an example of a movable camera bracket of the present application is shown;

[0020] Figure 5 A schematic structural diagram of an embodiment of a movable camera bracket of the present application is shown;

[0021] Figure 6 A schematic structural diagram of an embodiment of a camera fixing plate of the present application is shown;

[0022] Figure 7 A schematic structural diagram of an embodiment of a camera fixing plate of the present application is shown;

[0023] Figure 8 A schematic structural diagram of an embodiment of a camera fixing plate of the present application is shown;

[0024] Figure 9 A schematic structural diagram of an embodiment of the calibration plate rack of the present application is shown;

[0025] Figure 10 A schematic structural diagram of an example of a calibration plate rack of the present application is shown;

[0026] Figure 11 A schematic structural diagram of an example of a calibration plate rack of the present application is shown;

[0027] Figure 12 A schematic structural diagram of an example of a calibration plate rack of the present application is shown;

[0028] Figure 13 A schematic diagram of the structure of an example of the ICP multi-camera video acquisition system of the present application is shown;

[0029] Figure 14 The figure shows a structural diagram of an example of the ICP multi-camera video acquisition system of the present application. Description of the drawings:

[0031] 101 camera, 102 calibration plate, 103 calibration plate holder, 104 movable camera bracket, 1041 first crossbar, 1042 first connecting rod, 1043 second crossbar, 1044 angle adjustment member, 201 second connecting rod, 202 camera fixing plate, 203 support rod, 2021 slide rail, 2022 slider, 2023 third connecting rod, 801 length scale, 802 angle scale, 1031 first connecting member, 1032 first crossbar, 1033 second connecting member, 301 calibration plate, 1034 vertical rod, 1035 second crossbar, A multiple camera fixing points, B movable camera bracket, C calibration plate holder.

[0032] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0033] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0034] The terms "first," "second," "third," "fourth," and the like (if any) in the specification and claims of the present application and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions, e.g., a product or apparatus comprising a series of steps or units is not necessarily limited to those units explicitly listed, but may include other units not explicitly listed or inherent to those products or apparatuses.

[0035] In the field of autonomous driving, to ensure safety, real-time monitoring of the driver's driving status is necessary. This monitoring involves checking whether the driver is paying attention to the road ahead, whether their driving posture is dangerous, and whether they are smoking. If any driver misbehavior is detected, prompt alerts can be issued to ensure safety during the autonomous driving process. Therefore, to accurately monitor the driver's driving status, it is necessary to rationally position in-vehicle cameras in a suitable location to accurately capture the driver's status and avoid missing information. However, the most common existing practice is to place a camera directly in front of the driver to monitor the driver's status. This approach fails to effectively capture information below the driver's head and waist. If the driver's posture is incorrect, relevant information cannot be obtained to provide alerts and ensure safety during the autonomous driving process. Furthermore, during driving, the vehicle may experience bumps, causing the driver and camera to shake, potentially resulting in erroneous and inaccurate images captured by the camera. Therefore, camera calibration is necessary to ensure the accuracy of captured images. The existing method involves simply sticking a calibration strip on the seat to calibrate the camera. However, this method will cause the calibration strip to change due to changes in the seat position, and is also easily affected by the shaking of the vehicle, resulting in inaccurate camera images.

[0036] In response to the above problems, the present application provides an ICP multi-camera video acquisition system, comprising: at least one camera; a calibration plate for calibrating the camera; a calibration plate rack for setting the calibration plate; and a movable camera bracket for setting the camera, comprising: an upper cross bar, one end of which is fixedly connected to the vehicle A-pillar on the other side of the driver, and the other end extends to the middle of the vehicle dashboard, which is located above the vehicle dashboard and is bent according to the shape of the dashboard; a first connecting rod, one end of which is fixedly connected to the middle of the upper cross bar, and the other end passes downward through the vehicle dashboard; a lower cross bar, one end of which is fixedly connected to the other end of the first connecting rod, and the other end extends toward the driver's side, wherein the camera is set on the upper cross bar and / or the lower cross bar, and can be moved left and right and rotated to shoot the driver's driving status.

[0037] The ICP multi-camera video acquisition system of the present application is fixedly supported by the vehicle's A-pillar through the provision of a movable camera bracket. It is fixed using the vehicle's own structure and hole positions, eliminating the need for major modifications to the vehicle, saving costs and being simple and easy to use. By providing upper and lower crossbars, the camera can be positioned and adjusted, thereby determining the optimal detection position and angle of the camera to ensure monitoring of the driver's driving status. Due to differences in driver height, body shape, and driving habits, a fixed camera will not be able to meet the requirements for driver monitoring status detection. By adjusting the camera position and angle, the monitoring requirements of different drivers can be met, ensuring the safety of the autonomous driving process. At the same time, the acquired monitoring data is of great significance to the research on the autonomous driving process and the camera position setting of vehicle manufacturers. In addition, by providing a calibration plate holder, a dedicated installation position is set for the calibration plate, which can better calibrate the camera, ensuring the authenticity and accuracy of the camera-captured images even when encountering situations such as camera shake.

[0038] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0039] Figure 1 A structural diagram of an embodiment of the ICP multi-camera video acquisition system of the present application is shown.

[0040] exist Figure 1 In the illustrated embodiment, the ICP multi-camera video acquisition system of the present application includes: at least one camera 101; a calibration plate 102, which is used to calibrate the camera; a calibration plate rack 103, which is used to set the calibration plate; and a movable camera bracket 104, which is used to set the camera, including: an upper cross bar, one end of which is fixedly connected to the inherent hole position of the vehicle A-pillar on the other side of the driver, and the other end extends to the middle of the vehicle dashboard, which is located above the vehicle dashboard and is bent according to the shape of the dashboard; a first connecting rod, one end of which is fixedly connected to the middle of the upper cross bar, and the other end passes downward through the vehicle dashboard; a lower cross bar, one end of which is fixedly connected to the other end of the first connecting rod, and the other end extends toward the driver's side, wherein the camera is set on the upper cross bar and / or the lower cross bar, and can be moved left and right and rotated to shoot the driver's driving status.

[0041] Figure 2 A structural schematic diagram of an embodiment of the movable camera bracket of the present application is shown.

[0042] exist Figure 2In the embodiment shown, the movable camera bracket 104 of the present application includes an upper cross bar 1041, one end of which is fixedly connected to the inherent hole position of the vehicle A-pillar on the other side of the driver, and the other end extends to the middle of the vehicle dashboard. It is located above the vehicle dashboard and is bent according to the shape of the dashboard.

[0043] In this embodiment, one end of the upper cross bar is fixedly connected to the inherent hole position of the vehicle A-pillar on the other side of the driver. The original hole position of the vehicle A-pillar itself is used for fixed connection. The connection method includes but is not limited to bolt connection. By using the vehicle A-pillar as a support point for the camera bracket, there is no need to add an additional fixed structure, saving design costs and bracket space. The other end of the upper cross bar extends to the middle of the vehicle dashboard and is located above the vehicle dashboard. The specific structure of the dashboard will also vary depending on the vehicle model. Correspondingly, the upper cross bar is designed with an adaptive bending design to meet the design requirements of different vehicles.

[0044] Figure 3 A structural schematic diagram of an example of a movable camera bracket of the present application is shown.

[0045] like Figure 3 As shown, one end of the upper crossbar 1041 is fixed by the vehicle A-pillar for support. The upper crossbar is fixed by the existing hole position of the vehicle A-pillar, and no additional fixing parts need to be added, which is simple and easy.

[0046] Specifically, the upper cross bar can be a round tube, wherein the thickness and other characteristics of the upper cross bar can be reasonably selected according to the actual conditions of use, and this application does not impose any specific restrictions.

[0047] exist Figure 1 In the illustrated embodiment, the movable camera bracket of the present application includes a first connecting rod 1042 , one end of which is fixedly connected to the middle portion of the upper crossbar, and the other end of which passes downward through the vehicle dashboard.

[0048] In this embodiment, the first connecting rod is fixedly connected to the middle part of the upper cross bar, and the connection mode can be selected to be welding. The other end extends downward through the vehicle instrument panel and serves as a connecting piece of the lower cross bar at the back.

[0049] exist Figure 1 In the illustrated embodiment, the movable camera bracket of the present application includes a lower cross bar 1043 , one end of which is fixedly connected to the other end of the first connecting bar, and the other end of which extends toward the driver's side.

[0050] In this embodiment, one end of the lower crossbar is fixedly connected to the other end of the first connecting rod, using the first connecting rod as support. The other end of the lower crossbar extends an appropriate distance toward the driver's side. The lower crossbar is located on the lower front side of the instrument panel, preferably to avoid interfering with the driver's driving operations. By configuring the upper and lower crossbars, at least one camera is positioned on the upper and / or lower crossbars. The camera can be moved laterally and rotated along the crossbars, thereby accommodating drivers of different body shapes and different driving habits, such as the forward or rearward position of the driver's seat. This allows for perfect monitoring of the driver's driving status, timely alerting the driver of incorrect driving behavior, and ensuring the safety of the autonomous driving process.

[0051] Optional, Figure 4 FIG. 1 shows a structural diagram of an example of a movable camera bracket of the present application. Figure 4 As shown, the upper crossbar and / or the lower crossbar are provided with an angle adjustment member 1044 for fixing the camera, wherein the position and angle of the angle adjustment member are adjusted to achieve lateral movement and rotation of the camera.

[0052] In this optional embodiment, to facilitate camera position adjustment, angle adjustment members are provided on the upper and / or lower crossbars. These members secure the camera, allowing adjustment of the camera's position and angle by changing the position and angle of the members. The angle adjustment members can be existing rotatable components, such as hinges or bolts. A clamping structure, such as a clamp, can be used to secure the angle adjustment members to the upper and / or lower crossbars, facilitating both removal and installation. The angle adjustment members can rotate vertically and / or horizontally.

[0053] Optionally, a length scale is provided on the upper crossbar and / or the lower crossbar to mark the position of the camera; and an angle scale is provided on the angle adjustment member to mark the angle of the camera.

[0054] In this optional embodiment, in order to grasp the camera position more accurately, a length scale is set on the upper cross bar and / or the lower cross bar, and an angle scale is set on the angle adjustment part. By setting the scale, the camera position can be quantified, which not only realizes the qualitative analysis of the camera position, but also realizes the quantitative analysis. By recording the driver's driving status at different positions by the camera, the background processor can analyze the best shooting position and shooting angle, and provide guidance to subsequent vehicle manufacturers on the installation of the camera.

[0055] Optional, Figure 5 A structural schematic diagram of an embodiment of the movable camera bracket of the present application is shown.

[0056] exist Figure 4In the embodiment shown, the movable camera bracket of the present application also includes: a second connecting rod 201, one end of which is fixedly connected to the lower cross bar; a camera fixing plate 202, one end of which is fixedly connected to the other end of the second connecting rod and supported by the second connecting rod; a support rod 203, one end of which is fixedly connected to the other end of the camera fixing plate, and the other end of which is fixedly connected to the bottom of the vehicle, for supporting the camera fixing plate, wherein the camera is set on the camera fixing plate.

[0057] In this embodiment, in order to expand the installation position of the camera and to better monitor the driver's driving status, the movable camera bracket of the present application is also provided with a second connecting rod 201, a camera fixing plate 202 and a support rod 203.

[0058] One end of the second connecting rod is fixedly connected to the lower crossbar, while the other end extends upward and is fixedly connected to one end of the camera mounting plate. The camera is mounted on the mounting plate, where it can be adjusted and its angle altered based on actual measurement requirements. The other end of the mounting plate is fixedly connected to one end of a support rod, which in turn is fixedly connected to the vehicle's bottom, providing support for the mounting plate.

[0059] Specifically, the camera mounting plate is located between the driver and co-pilot, and its specific position does not affect the driver's driving operation. The camera mounting plate can be fixed to the second connecting rod and the support rod using welding or clamps. The advantage of clamps is that they facilitate disassembly. Welding prevents loosening of the connecting components, ensuring a certain degree of stability. The specific installation location and connection method can be appropriately selected based on the design requirements of the specific situation.

[0060] Optional, Figure 6 An embodiment of the camera fixing plate of the present application is shown. Figure 6 As shown, the camera fixing plate includes: a slide rail 2021, which is arranged on the upper surface of the camera fixing plate; a slider 2022, which is engaged with the slide rail and slides along the slide rail, wherein the camera is set on the slider and its position is adjusted as the slider slides.

[0061] In this optional embodiment, a slide rail is provided on the camera mounting plate, and a slider can be provided on the slide rail, wherein the slider can slide along the slide rail to achieve position change. The camera can be mounted on the slider, and the camera position can be adjusted by sliding the slider.

[0062] Specifically, the slide rails can be arranged appropriately according to actual requirements. For example, a single slide rail can be arranged along the direction of the camera fixing plate, or cross-shaped slide rails can be arranged, etc. The specific slide rail arrangement is not specifically limited in this application.

[0063] Optional, Figure 7 An embodiment of the camera fixing plate of the present application is shown. Figure 7 As shown, the camera fixing plate also includes: a third connecting rod 2023, one end of which is fixedly connected to the slider; an angle adjustment member 1044, which is fixed to the other end of the third connecting rod, wherein the camera is set on the angle adjustment member, and the angle of the camera is adjusted as the angle adjustment member rotates.

[0064] In this alternative embodiment, to accommodate different heights, a third connecting rod is provided on the slider. One end of the third connecting rod is fixedly connected to the slider, and the other end is provided with an angle adjustment member. The camera is mounted on the angle adjustment member. The camera position is adjusted by sliding the slider, and the camera angle is adjusted by rotating the angle adjustment member. This allows for tailored photography of different drivers. The angle adjustment member can rotate vertically, horizontally, or horizontally.

[0065] Optional, Figure 8 An embodiment of the camera fixing plate of the present application is shown. Figure 8 As shown, a length scale 801 is provided on the slide rail for marking the position of the camera; an angle scale 802 is provided on the angle adjustment member for marking the angle of the camera.

[0066] In this optional embodiment, a length scale is provided on the slide rail, and an angle scale is provided on the angle adjustment member, thereby achieving a quantitative expression of the camera position and enabling better recording of the camera position.

[0067] The ICP multi-camera video acquisition system of the present application uses a movable camera bracket, an upper crossbar, a lower crossbar, and a camera fixing plate to widen the camera installation area, so that the camera can better shoot and monitor the driver's driving status. In addition, the camera can be adjusted in position and angle to adapt to the monitoring of different drivers and drivers with different driving habits. By setting the length scale and the angle scale, the quantitative recording of the camera position can be achieved, and the optimal camera monitoring position can be determined more accurately. Through the subsequent analysis of the camera monitoring data, guiding opinions on the manufacturer's camera installation can be made. This can better monitor the driver's driving status and improve the safety during the automatic driving process.

[0068] Figure 9 A structural schematic diagram of an embodiment of the calibration plate rack of the present application is shown.

[0069] exist Figure 9 In the illustrated embodiment, the calibration plate frame 103 of the present application includes: a first connecting member 1031, one end of which is fixedly connected to a fixed hole on the inner side of a B-pillar of the vehicle.

[0070] In this embodiment, the first connecting member and the vehicle can be fixedly connected by bolts by utilizing the existing holes in the B-pillar of the vehicle. Figure 10 An example of the calibration plate frame of the present application is shown. The connection relationship between the first connecting member and the second connecting member and the vehicle B-pillar is as follows: Figure 10 shown.

[0071] Specifically, the position and hole location of the B-pillar vary across different vehicle models, and the first connector's structure is adjusted accordingly. To ensure stability, the first connector must maintain a certain thickness and strength, ensuring it remains integrated with the vehicle and prevents loosening or breakage when the vehicle travels on bumpy roads.

[0072] exist Figure 9 In the illustrated embodiment, the calibration plate frame of the present application includes: a first crossbar 1032, one end of which is fixedly connected to the other end of the first connector; a second connector 1033, one end of which is fixedly connected to the other end of the first crossbar and the other end of which is fixedly connected to a fixed hole on the inner side of the other B-pillar of the vehicle.

[0073] In this embodiment, the first connecting member and the second connecting member have the same structure, and the first cross bar is fixed to the vehicle through the first connecting member and the second connecting member to ensure the stability of the first cross bar when the vehicle shakes. A calibration plate can be set on the first cross bar, and the calibration plate is fixedly connected to the first cross bar. Therefore, even when the vehicle shakes, the consistency of the calibration plate and the vehicle can be guaranteed. The calibration plate in this structure is used to calibrate and check the camera to ensure the accuracy of the photos taken by the camera, wherein the first cross bar is used to fix the calibration plate 102, wherein the setting of the calibration plate is as shown in FIG. Figure 1 Example in .

[0074] Figure 11 An example of the calibration plate frame of the present application is shown. The specific connection relationship between the first connecting member and the second connecting member and the first crossbar is as follows: Figure 11 The first crossbar is fixedly connected to the first connecting member and the second connecting member, and specifically, bolts are used for connection, which is convenient for assembly and disassembly.

[0075] Optionally, a guide rail is provided on the first crossbar, and the calibration plate can change position along the guide rail.

[0076] In this optional embodiment, a slide rail is provided on the calibration plate to facilitate placement on the first crossbar. Sliding the calibration plate on the rail allows the plate to be repositioned, enabling calibration of cameras in different locations. This adapts to the calibration needs of different vehicle models and cameras in different locations.

[0077] Optionally, a length scale is provided on the first crossbar, and the position of the calibration plate is marked by the length scale.

[0078] In this optional embodiment, a length scale is provided on the first crossbar to quantitatively set and record the position of the calibration plate. The calibration plate's position is determined based on the length scale, which also facilitates recording. If the calibration plate is unsuitable and needs adjustment, the calibration plate's position can be adjusted more accurately based on the recorded length scale. The length scale allows for a transition from qualitative to quantitative consideration of the calibration plate, facilitating recording and subsequent data analysis.

[0079] Optionally, the calibration plate frame of the present application also includes: at least one vertical rod 104, one end of which is fixedly connected to the first cross bar, and the other end extends downward between the driver's seat and the co-driver's seat, wherein the calibration plate is set on at least one vertical rod for calibrating the camera inside the vehicle.

[0080] In this optional embodiment, the provision of more calibration plates can better ensure the accuracy of camera calibration and verification. Therefore, at least one vertical rod is provided, one end of which is fixedly connected to the first crossbar, and the other end extends downward between the driver's seat and the co-driver's seat, so as not to affect the driver's driving and at the same time not to occupy as much space as possible inside the vehicle. A calibration plate is provided on at least one vertical rod, and the camera is calibrated and verified by the calibration plate. By adding a new vertical rod and coordinating it with the original first crossbar, the calibration plate is provided, the number of calibration plates is increased, and then the number of calibration plates in the camera's field of view is increased, thereby improving the accuracy of camera calibration.

[0081] Optionally, the calibration plate frame of the present application also includes: at least one second horizontal bar 105, which is arranged on at least one vertical bar and fixedly connected to at least one vertical bar, wherein the calibration plate is arranged on at least one second horizontal bar to calibrate the camera inside the vehicle, and the distance between at least one vertical bar and at least one second horizontal bar and the driver's seat and the co-driver's seat respectively is greater than a preset threshold.

[0082] In this optional embodiment, at least one second crossbar is provided on at least one vertical bar, wherein the second crossbar is fixedly provided on the vertical bar. The second crossbar is used to fix the calibration plate. By providing the second crossbar, the number of calibration plates is increased, thereby increasing the number of calibration plates in the camera field of view, thereby improving the accuracy of camera calibration. At the same time, in order not to affect normal driving behavior, when providing the vertical bar and the second crossbar, it is necessary to ensure that the distance between at least one vertical bar and at least one second crossbar and the driver's seat or the co-driver's seat is greater than a preset threshold value. This ensures that the adjustment of the seat will not be affected.

[0083] Figure 12An example of a calibration plate rack of this application is shown. Figure 12 As shown, the calibration plate rack is provided with two vertical bars 1034 and three second horizontal bars 1035. The calibration plates are mounted on the first and second horizontal bars, respectively. The specific arrangement of the vertical bars and second horizontal bars can be reasonably set based on the actual vehicle space and the number of calibration plates required, and this application does not impose any specific restrictions.

[0084] Specifically, the preset threshold value can be set to 3-5 cm. The setting of the specific preset threshold value can be reasonably selected according to the actual situation, and this application does not impose any specific restrictions.

[0085] Optionally, a guide rail is provided on at least one vertical rod and / or at least one second cross rod, and the calibration plate can be changed in position along the guide rail.

[0086] In this optional embodiment, guide rails are provided on at least one vertical rod and / or at least one second horizontal rod. The guide rails allow the calibration plate to slide along the vertical rod and the second horizontal rod, changing its position and calibrating cameras at different locations. This allows for calibration of cameras in different vehicle models and locations.

[0087] Optionally, at least one vertical rod and / or at least one second horizontal rod is provided with a length scale, and the position of the calibration plate is marked by the length scale.

[0088] In this optional embodiment, length scales are provided on the vertical rod and the second horizontal rod to quantitatively record the position of the calibration plate. The calibration plate's position is determined based on the length scale, which also facilitates recording. If the calibration plate is unsuitable and needs adjustment, the calibration plate's position can be adjusted more accurately based on the recorded length scale. The length scale allows for a qualitative and quantitative assessment of the calibration plate, facilitating recording and subsequent data analysis.

[0089] Specifically, between the first crossbar, the vertical bar and the second crossbar, fixing members can be used to fix the three structures to ensure the stability of the entire structure.

[0090] Figure 13 An example of the ICP multi-camera video acquisition system of the present application is shown.

[0091] like Figure 13 As shown in the example, the ICP multi-camera video acquisition system of this application is deployed inside the vehicle. Figure 13This diagram primarily illustrates the placement of the movable camera mount within the vehicle. Section A shows the multiple camera mounting points and the corresponding cameras, which monitor the driver's driving status. Section B shows the movable camera mount, where cameras can be mounted to better capture the driver's driving status.

[0092] Figure 14 An example of the ICP multi-camera video acquisition system of the present application is shown.

[0093] like Figure 14 As shown in the example, Figure 14 The diagram shows the location of the calibration plate holder within the vehicle. Section C represents the camera calibration plate holder, which is equipped with a calibration plate. This plate is used to calibrate the cameras in section A and the cameras on the movable camera bracket to ensure the authenticity and accuracy of the camera images.

[0094] The calibration plate frame in the ICP multi-camera video acquisition system of the present application utilizes the existing structure of the vehicle's B-pillar, sets a crossbar behind the driver's seat, and sets multiple calibration plates on the crossbar for calibrating and checking the camera to ensure the accuracy of the captured pictures. At the same time, the crossbar is fixed by a connector to ensure the stability of the calibration plate and will not be affected by the shaking of the vehicle. At the same time, the length scale is set, and the calibrated position is quantitatively recorded, so that the position adjustment of the calibration plate is more accurate. Through the setting of the guide rail, it is possible to easily adjust the position of the calibration plate to meet different calibration requirements in response to different vehicle models and different camera settings. This ensures the accuracy of the photos taken by the camera.

[0095] In the embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0096] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0097] The above are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structural transformations made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An ICP multi-camera video acquisition system, characterized in that: include: At least one camera; A calibration plate, used for calibrating the camera; a calibration plate rack, used for setting the calibration plate; as well as A movable camera bracket for setting up the camera, comprising: An upper crossbar, one end of which is fixedly connected to the inherent hole of the vehicle A-pillar on the other side of the driver, and the other end extends to the middle of the vehicle instrument panel, which is located above the vehicle instrument panel and is bent according to the shape of the instrument panel; a first connecting rod, one end of which is fixedly connected to the middle portion of the upper crossbar and the other end of which passes downward through the vehicle instrument panel; a lower cross bar, one end of which is fixedly connected to the other end of the first connecting bar, and the other end of which extends toward the driver's side, wherein the camera is arranged on the upper cross bar and / or the lower cross bar and can be moved left and right and rotated to capture the driver's driving status; An angle adjustment member is provided on the upper crossbar and / or the lower crossbar for fixing the camera, wherein the position and angle of the angle adjustment member are adjusted to achieve lateral movement and rotation of the camera, and a length scale is provided on the upper crossbar and / or the lower crossbar for marking the position of the camera; The angle adjustment member is provided with an angle scale for marking the angle of the camera; The movable camera bracket further comprises: a second connecting rod, one end of which is fixedly connected to the lower crossbar; a camera fixing plate, one end of which is fixedly connected to the other end of the second connecting rod and supported by the second connecting rod; A support rod, one end of which is fixedly connected to the other end of the camera fixing plate, and the other end of which is fixedly connected to the bottom of the vehicle, for supporting the camera fixing plate, wherein The camera is arranged on the camera fixing plate and can be moved laterally and rotated at an angle on the fixing plate to shoot the driver's driving status.

2. The ICP multi-camera video acquisition system according to claim 1, characterized in that: The camera fixing plate includes: a slide rail, which is arranged on the upper surface of the camera fixing plate; The slider is engaged with the slide rail and slides along the slide rail. The camera is arranged on a slider and its position is adjusted as the slider slides.

3. The ICP multi-camera video acquisition system according to claim 2, characterized in that: The camera fixing plate further comprises: a third connecting rod, one end of which is fixedly connected to the slider; An angle adjustment member is fixed to the other end of the third connecting rod, wherein The camera is arranged on the angle adjusting member, and the angle of the camera is adjusted as the angle adjusting member rotates.

4. The ICP multi-camera video acquisition system according to claim 1, characterized in that: The calibration plate frame comprises: A first connecting member, one end of which is fixedly connected to a fixed hole on the inner side of a B-pillar of the vehicle; a first crossbar, one end of which is fixedly connected to the other end of the first connecting member; The second connecting member has one end fixedly connected to the other end of the first cross bar, and the other end fixedly connected to the inherent hole on the inner side of the other B-pillar of the vehicle, wherein A plurality of calibration plates are arranged on the first crossbar for calibrating the cameras inside the vehicle.

5. The ICP multi-camera video acquisition system according to claim 4, characterized in that: A guide rail is provided on the first crossbar, and the calibration plate can change its position along the guide rail.

6. The ICP multi-camera video acquisition system according to claim 5, characterized in that: The first connecting member and the second connecting member are respectively fixedly connected to the corresponding vehicle B-pillar through preset holes on the vehicle B-pillar.

7. The ICP multi-camera video acquisition system according to claim 6, characterized in that: Also includes: At least one vertical rod, one end of which is fixedly connected to the first cross rod, and the other end of which extends downward between the driver's seat and the co-driver's seat, wherein The calibration plate is arranged on the at least one vertical rod and is used to calibrate the camera inside the vehicle.

8. The ICP multi-camera video acquisition system according to claim 7, characterized in that: The calibration plate frame also includes: At least one second crossbar is provided on the at least one vertical bar and is fixedly connected to the at least one vertical bar, wherein The calibration plate is arranged on the at least one second cross bar to calibrate the camera inside the vehicle. The distances between the at least one vertical bar and the at least one second cross bar and the driver's seat and the co-driver's seat respectively are greater than a preset threshold.

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