Position calibration method, device and storage medium of driving safety system

Abstract

This application provides a method, device, and storage medium for calibrating the position of a driving safety system, relating to the field of calibration and detection technology. The method includes: responding to a calibration command, triggering a driver monitoring system to acquire an image from a calibration camera; determining the offset pixels of the calibration camera image based on the calibration camera image and a theoretical image of the calibration camera; and determining the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system, so as to apply the deviation information to the monitoring calculations of the driver monitoring system and complete the position calibration of the driving safety system. The method of this application utilizes the position of the calibration camera of the head-up display to determine the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system, and then uses the deviation information for position calibration; the method is simple and effective.

Description

Technical Field

[0001] This application relates to the field of calibration and testing technology, and in particular to a method, device and storage medium for calibrating the position of a driving safety system. Background Technology

[0002] Driver Monitor Systems (DMS) and Augmented Reality Head-Up Displays (AR-HUD) have been widely used in automobiles to identify eye information through DMS and then automatically adjust the virtual image height of AR-HUD according to the eye information.

[0003] Since there will inevitably be installation position errors during equipment installation, in order to reduce the impact of these errors on the linkage control, the existing DMS and AR-HUD need to be calibrated separately after installation. This will reduce the coordination error between the DMS and AR-HUD, and better match the AR recognition and automatic adjustment of the head-up display height functions of the DMS.

[0004] However, existing DMS and AR-HUD require different calibration devices and corresponding calibration procedures to be set up separately, which consumes a lot of time and human resources. Summary of the Invention

[0005] This application provides a method, device, and storage medium for calibrating the position of a driving safety system, in order to solve the problem that existing DMS and AR-HUD require setting up different calibration devices and corresponding calibration processes, which consumes a lot of time and human resources.

[0006] In a first aspect, this application provides a method for calibrating the position of a driving safety system, including:

[0007] In response to a calibration command, the driver monitoring system is triggered to acquire an image from the calibration camera; wherein the driver monitoring system is located on the dashboard of the vehicle, and the lens of the driver monitoring system is facing the eye position of the driver in the vehicle seat, and the calibration camera is located at the eye position of the driver in the vehicle seat and is positioned opposite to the lens of the driver monitoring system.

[0008] Based on the calibration camera image and the theoretical image of the calibration camera, the offset pixels of the calibration camera image are determined; and based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system, the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system is determined, so as to apply the deviation information to the monitoring calculation of the driver monitoring system and complete the position calibration of the driving safety system.

[0009] In one possible design, determining the offset pixels of the calibration camera image based on the calibration camera image and the theoretical image of the calibration camera includes:

[0010] Based on the theoretical image of the calibration camera, determine the theoretical position information and reference coordinate system of the calibration camera image; wherein, the reference coordinate system of the calibration camera image is used to locate the theoretical position information of the calibration camera;

[0011] Based on the calibration camera image and the reference coordinate system, determine the position information of the calibration camera image in the reference coordinate system;

[0012] Based on the image position information of the calibration camera and the theoretical position information of the calibration camera, the offset pixels of the calibration camera image are determined.

[0013] In one possible design, determining the offset pixels of the calibration camera image based on the calibration camera image position information and the theoretical position information of the calibration camera image includes:

[0014] The horizontal offset pixels of the calibrated camera image are determined based on the horizontal coordinate pixels in the position information of the calibrated camera image and the horizontal coordinate pixels in the theoretical position information of the calibrated camera image.

[0015] Based on the vertical coordinate pixels in the position information of the calibration camera image and the vertical coordinate pixels in the theoretical position information of the calibration camera image, determine the vertical offset pixels of the calibration camera image;

[0016] The rotation angle of the calibration camera image is determined based on the installation reference line in the calibration camera image position information and the installation reference line in the theoretical position information of the calibration camera image.

[0017] In one possible design, before determining the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibrated camera image and the pixel information of the driver monitoring system, the method further includes:

[0018] Based on the pixel information of the driver monitoring system, determine the horizontal pixel count and lateral field of view of the driver monitoring system;

[0019] Based on the ratio of the lateral field of view to the number of horizontal pixels, the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system is determined.

[0020] In one possible design, determining the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibrated camera image and the pixel information of the driver monitoring system includes:

[0021] Based on the lateral offset pixels of the calibration camera image and the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system, the lateral deviation angle between the actual installation position and the theoretical installation position of the driver monitoring system is determined.

[0022] Based on the longitudinal offset pixels of the calibration camera image and the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system, the longitudinal deviation angle between the actual installation position and the theoretical installation position of the driver monitoring system is determined.

[0023] Based on the rotation angle of the calibrated camera image, determine the rotation angle between the actual installation position and the theoretical installation position of the driver monitoring system.

[0024] In one possible design, after applying the deviation information to the monitoring calculations of the driver monitoring system to complete the position calibration of the driving safety system, the method further includes:

[0025] In response to the calibration command, the current gear position information of the head-up display is obtained, and the calibration camera is triggered to acquire the projected image generated by the head-up display;

[0026] Based on the projected image generated by the head-up display, the current gear position information of the head-up display, and the preset gear position information and projection image position mapping table, determine the gear position information that satisfies the preset gear position information and projection image position mapping table, so that the gear position information of the head-up display is calibrated to a position that matches the preset gear position information and projection image position mapping table.

[0027] Secondly, this application provides a position calibration device for a driving safety system, comprising:

[0028] The acquisition module is used to trigger the driver monitoring system to acquire the image from the calibration camera in response to a calibration command; wherein the driver monitoring system is located on the dashboard of the vehicle, and the lens of the driver monitoring system is facing the eye position of the driver in the vehicle seat, and the calibration camera is located at the eye position of the driver in the vehicle seat and is positioned opposite to the lens of the driver monitoring system.

[0029] The processing module is used to determine the offset pixels of the calibration camera image based on the calibration camera image and the theoretical image of the calibration camera; and to determine the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system, so as to apply the deviation information to the monitoring calculation of the driver monitoring system and complete the position calibration of the driving safety system.

[0030] Furthermore, the processing module is specifically used to determine the offset pixels of the calibration camera image based on the calibration camera image and the theoretical image of the calibration camera, including:

[0031] Based on the theoretical image of the calibration camera, determine the theoretical position information and reference coordinate system of the calibration camera image; wherein, the reference coordinate system of the calibration camera image is used to locate the theoretical position information of the calibration camera;

[0032] Based on the calibration camera image and the reference coordinate system, determine the position information of the calibration camera image in the reference coordinate system;

[0033] Based on the position information of the calibration camera image and the theoretical position information of the calibration camera image, the offset pixels of the calibration camera image are determined.

[0034] Furthermore, the processing module is specifically used to determine the offset pixels of the calibration camera image based on the calibration camera image position information and the theoretical position information of the calibration camera image, including:

[0035] The horizontal offset pixels of the calibrated camera image are determined based on the horizontal coordinate pixels in the position information of the calibrated camera image and the horizontal coordinate pixels in the theoretical position information of the calibrated camera image.

[0036] Based on the vertical coordinate pixels in the position information of the calibration camera image and the vertical coordinate pixels in the theoretical position information of the calibration camera image, determine the vertical offset pixels of the calibration camera image;

[0037] The rotation angle of the calibration camera image is determined based on the installation reference line in the calibration camera image position information and the installation reference line in the theoretical position information of the calibration camera image.

[0038] Preferably, the processing module is further configured to determine the horizontal pixel count and lateral field of view of the driver monitoring system based on the pixel information of the driver monitoring system before determining the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system.

[0039] Based on the ratio of the lateral field of view to the number of horizontal pixels, the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system is determined.

[0040] Furthermore, the processing module is specifically used to determine the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system, including:

[0041] Based on the lateral offset pixels of the calibration camera image and the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system, the lateral deviation angle between the actual installation position and the theoretical installation position of the driver monitoring system is determined.

[0042] Based on the longitudinal offset pixels of the calibration camera image and the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system, the longitudinal deviation angle between the actual installation position and the theoretical installation position of the driver monitoring system is determined.

[0043] Based on the rotation angle of the calibrated camera image, determine the rotation angle between the actual installation position and the theoretical installation position of the driver monitoring system.

[0044] Preferably, the acquisition module is specifically used to respond to the calibration command, acquire the current gear position information of the head-up display, and trigger the calibration camera to acquire the projected image generated by the head-up display;

[0045] The processing module is further specifically used to determine the gear information that satisfies the preset gear information and projection image position mapping table based on the projected image generated by the head-up display, the current gear information of the head-up display, and the preset gear information and projection image position mapping table, so that the gear information of the head-up display is calibrated to a position that matches the preset gear information and projection image position mapping table.

[0046] Thirdly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0047] The memory stores computer-executed instructions;

[0048] The processor executes computer execution instructions stored in the memory to implement the position calibration method of the driving safety system.

[0049] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement a position calibration method for a driving safety system.

[0050] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements a position calibration method for a driving safety system.

[0051] The driving safety system location calibration method, device, and storage medium provided in this application trigger the driver monitoring system to acquire a calibration camera image in response to a calibration command; determine the offset pixels of the calibration camera image based on the calibration camera image and the theoretical image of the calibration camera; and determine the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system; and apply the deviation information to the monitoring calculation of the driver monitoring system to complete the location calibration of the driving safety system. Compared to the prior art where DMS and AR-HUD require separate calibration equipment and corresponding calibration procedures, consuming significant time and manpower, this application utilizes the location of the calibration camera of the head-up display to determine the actual installation position of the driver monitoring system. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 This is a schematic diagram illustrating an application scenario for the location calibration of the driving safety system provided in this application embodiment;

[0054] Figure 2 A flowchart illustrating the position calibration method for the driving safety system provided in this application embodiment. Figure 1 ;

[0055] Figure 3 A flowchart illustrating the position calibration method for the driving safety system provided in this application embodiment. Figure 2 ;

[0056] Figure 4 A schematic diagram showing the superposition of the calibration camera image and the theoretical image of the calibration camera provided in the embodiments of this application;

[0057] Figure 5 A schematic diagram showing the pixel distribution of the lateral field of view of the driver monitoring system provided in this embodiment of the application on the calibration camera;

[0058] Figure 6 A flowchart illustrating the position calibration method for the driving safety system provided in this application embodiment. Figure 3 ;

[0059] Figure 7 This is a schematic diagram of the structure of the position calibration device for the driving safety system provided in the embodiments of this application;

[0060] Figure 8 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0061] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0062] A Driver Monitor System (DMS) is a technological system used to monitor driver behavior and status. This system typically uses cameras, sensors, and algorithms to monitor and analyze the driver's eyes, facial expressions, head posture, pupil movements, etc., in real time to detect driver fatigue, inattention, distraction, drowsiness, and other undesirable behaviors and states.

[0063] Augmented Reality-head-up displays (AR-HUDs) are displays that overlay virtual information onto the real world, allowing users to view this information without taking their eyes off the screen. AR-HUDs typically use projection technology to display information on a transparent screen above the driver's or user's line of sight.

[0064] After installation, existing DMS and AR-HUD require separate position calibrations to reduce coordination errors. For example, DMS calibration involves installing a DMS calibration device on the dashboard, collecting and comparing driver data monitored by both devices, and then correcting the DMS device after analysis to complete the calibration. AR-HUD calibration, on the other hand, can be achieved using the method described in patent CN115268086B. This method utilizes an image acquisition device to collect and analyze the relative relationship between the projected image and the gear position, thus calibrating the position of each gear in the head-up display relative to the projected image.

[0065] However, the two methods mentioned above require separate configuration of DMS calibration equipment and image acquisition devices, which means that calibration needs to be performed separately, consuming manpower and reducing calibration efficiency.

[0066] Based on the above-mentioned technical problems, the inventive concept of this application is to: acquire the calibration camera image for calibrating the head-up display through the driver monitoring system, and then compare the calibration camera image with the theoretical image of the calibration camera to obtain deviation information, thereby calibrating the driver monitoring system using the calibration camera for calibrating the head-up display, aiming to solve the above-mentioned technical problems of the prior art.

[0067] The specific application scenarios for this application are as follows:

[0068] Figure 1 This is a schematic diagram illustrating an application scenario of the position calibration method for a driving safety system provided in this application. For example... Figure 1 As shown, a calibration camera 105 is fixed on the driver's seat 101 at the driver's eye position. A head-up display 103 and a driver monitoring system 104 are installed on the dashboard 102 of the vehicle. The lens of the head-up display 103 faces the windshield of the vehicle, and the lens of the driver monitoring system 104 faces the calibration camera 105.

[0069] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0070] Figure 2 Schematic flowchart of the position calibration method for the driving safety system provided in the embodiments of this application Figure 1 .like Figure 2 As shown, the method includes:

[0071] S201. In response to the calibration command, the driver monitoring system is triggered to acquire the image from the calibration camera.

[0072] The driver monitoring system is located on the dashboard of the vehicle, with its camera facing the driver's eye position. The calibration camera is located at the driver's eye position and is positioned opposite the camera of the driver monitoring system.

[0073] Specifically, after the driver monitoring system and head-up display are installed, the calibration camera is installed on the driver's seat of the vehicle. The calibration electronic device is connected to both the driver monitoring system and the calibration camera. The user sends calibration commands through the electronic device, and the driver monitoring system takes pictures of the calibration camera based on the calibration commands to obtain the calibration camera image.

[0074] S202. Based on the calibration camera image and the theoretical image of the calibration camera, determine the offset pixels of the calibration camera image.

[0075] Specifically, the installation position of the calibration camera is based on the theoretical position of the calibration camera. The theoretical position of the calibration camera is pre-designed based on the position of the driver's eye position relative to the driver monitoring system. The offset pixel of the calibration camera image is obtained by comparing the offset position between the calibration camera image and the theoretical image of the calibration camera.

[0076] S203. Based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system, determine the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system, so as to apply the deviation information to the monitoring calculation of the driver monitoring system and complete the position calibration of the driving safety system.

[0077] Specifically, since the offset pixels of the calibration camera image represent the offset distance of the image, it is necessary to convert the offset distance of the image into the actual offset distance using the pixel information of the driver monitoring system. This conversion requires determining the actual offset distance based on the distance and position information between the driver monitoring system and the calibration camera.

[0078] By using the lateral field of view of the driver monitoring system and the length of the calibrated camera image, the deflection angle corresponding to each pixel length of the image is determined, and then the conversion unit of the offset distance is determined in terms of the deflection angle.

[0079] Since the deviation information between the actual installation position and the theoretical installation position is the actual offset distance, the theoretical installation position of the driver monitoring system is saved in the storage system according to the deviation information between the actual installation position and the theoretical installation position, so that the driver monitoring system can use the calibrated position for monitoring in subsequent monitoring processes.

[0080] The method provided in this embodiment triggers the driver monitoring system to acquire a calibration camera image in response to a calibration command; determines the offset pixels of the calibration camera image based on the calibration camera image and the theoretical image of the calibration camera; and determines the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system. This deviation information is then applied to the monitoring calculations of the driver monitoring system to complete the position calibration of the driving safety system. By using the position of the calibration camera image of the calibration head-up display to determine the deviation information between the theoretical and actual installation positions of the driver monitoring system, and then using the deviation information for position calibration, the method is simple and effective.

[0081] The position calibration method of the driving safety system of this application will be described in detail below with reference to a specific embodiment.

[0082] Figure 3Schematic flowchart of the position calibration method for the driving safety system provided in the embodiments of this application Figure 2 ; Figure 4 A schematic diagram showing the superposition of the calibration camera image and the theoretical image of the calibration camera provided in the embodiments of this application; Figure 5 This is a schematic diagram showing the pixel distribution decomposition of the lateral field of view of the driver monitoring system provided in this embodiment of the application on the calibration camera. Figure 3 As shown, the method includes:

[0083] S301, In response to the calibration command, the driver monitoring system is triggered to acquire the image from the calibration camera.

[0084] The driver monitoring system is located on the dashboard of the vehicle, with its camera facing the driver's eye position. The calibration camera is located at the driver's eye position and is positioned opposite the camera of the driver monitoring system.

[0085] The specific implementation of S301 is similar to that of S201, and will not be described again here.

[0086] S302. Based on the theoretical image of the calibration camera, determine the theoretical position information and reference coordinate system of the calibration camera image.

[0087] The reference coordinate system of the calibration camera is used to locate the theoretical position information of the calibration camera image.

[0088] Specifically, the reference coordinate system can be determined based on the vehicle's structural information. For example, the outline of the driver's seat can be used as a reference object, and the center point of the top of the driver's seat can be used as the origin to construct a reference coordinate system. This allows us to determine the position coordinates of the center position of the calibration camera image in the reference coordinate system, which is the theoretical position information of the calibration camera image.

[0089] S303. Based on the calibration camera image and the reference coordinate system, determine the position information of the calibration camera image in the reference coordinate system.

[0090] Specifically, the same driver's seat is used as a reference point, that is, the same reference coordinate system is used to determine the position information of the calibration camera image.

[0091] S304. Determine the horizontal offset pixels of the calibration camera image based on the horizontal coordinate pixels in the position information of the calibration camera image and the horizontal coordinate pixels in the theoretical position information of the calibration camera image.

[0092] Specifically, under the same reference coordinate system, the distance between the calibration camera image position and the theoretical position of the calibration camera can be calculated using the distance between two points; this distance represents the lateral offset pixels of the calibration camera image. Figure 4 As shown, the horizontal offset pixel is the horizontal distance a from O to O′.

[0093] S305. Based on the vertical coordinate pixels in the position information of the calibration camera image and the vertical coordinate pixels in the theoretical position information of the calibration camera image, determine the vertical offset pixels of the calibration camera image.

[0094] Specifically, such as Figure 4 As shown, the vertical offset pixel is the vertical distance b from O to O′.

[0095] S306. Determine the rotation angle of the calibration camera image based on the installation reference line in the calibration camera image position information and the installation reference line in the theoretical position information of the calibration camera image.

[0096] Specifically, such as Figure 4 As shown, the rotation angle is the angle γ between the tangents of the two lenses at the same point.

[0097] S307. Based on the pixel information of the driver monitoring system, determine the horizontal pixel count and lateral field of view of the driver monitoring system.

[0098] Specifically, taking a driver monitoring system with a horizontal field of view (FOV) of α and a resolution of 1920x1080 as an example, its horizontal pixel count is 1920.

[0099] S308. Based on the ratio of the lateral field of view to the number of horizontal pixels, determine the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system.

[0100] Specifically, such as Figure 5 As shown, A is the driver monitoring system, B is the calibration camera, and CD corresponds to an image with a resolution of 1920. Therefore, the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system is α / 1920.

[0101] S309. Based on the lateral offset pixels of the calibration camera image and the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system, determine the lateral deviation angle between the actual installation position and the theoretical installation position of the driver monitoring system.

[0102] Specifically, the lateral deviation angle between the actual installation position and the theoretical installation position of the driver monitoring system is a*α / 1920.

[0103] S310. Based on the longitudinal offset pixels of the calibration camera image and the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system, determine the longitudinal deviation angle between the actual installation position and the theoretical installation position of the driver monitoring system.

[0104] Specifically, the lateral deviation angle between the actual installation position and the theoretical installation position of the driver monitoring system is b*α / 1920.

[0105] S311. Based on the rotation angle of the calibration camera image, determine the rotation angle between the actual installation position and the theoretical installation position of the driver monitoring system.

[0106] Specifically, the rotation angle between the actual installation position and the theoretical installation position of the driver monitoring system is the same as the rotation angle of the calibration camera, which is γ.

[0107] The method provided in this embodiment triggers the driver monitoring system to acquire a calibration camera image in response to a calibration command; determines the theoretical position information and reference coordinate system of the calibration camera image based on the theoretical image of the calibration camera; determines the position information of the calibration camera image in the reference coordinate system based on the calibration camera image and the reference coordinate system; determines the lateral offset pixels of the calibration camera image based on the horizontal coordinate pixels in the position information of the calibration camera image and the horizontal coordinate pixels in the theoretical position information of the calibration camera image; determines the vertical offset pixels of the calibration camera image based on the vertical coordinate pixels in the position information of the calibration camera image and the vertical coordinate pixels in the theoretical position information of the calibration camera image; determines the rotation angle of the calibration camera image based on the installation reference line in the position information of the calibration camera image and the installation reference line in the theoretical position information of the calibration camera image; and determines the relative positional deviation between the driver monitoring system and the calibration camera on the image based on the positional offset of the image.

[0108] By determining the horizontal pixel count and lateral field of view of the driver monitoring system based on its pixel information, and by determining the theoretical rotation angle corresponding to each pixel of the driver monitoring system based on the ratio of the lateral field of view to the horizontal pixel count, the actual rotation angle corresponding to each pixel in the image is obtained, so that the image rotation angle can be converted into the actual rotation angle through calculation.

[0109] The actual rotation angle is obtained by determining the lateral deviation angle between the actual and theoretical installation positions of the driver monitoring system based on the lateral offset pixels of the calibration camera image and the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system; the longitudinal deviation angle between the actual and theoretical installation positions of the driver monitoring system is determined based on the longitudinal offset pixels of the calibration camera image and the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system; and the rotation angle between the actual and theoretical installation positions of the driver monitoring system is determined based on the rotation angle of the calibration camera image.

[0110] Figure 6Schematic flowchart of the position calibration method for the driving safety system provided in the embodiments of this application Figure 3 .like Figure 6 As shown, the method includes:

[0111] S601, in response to the calibration command, trigger the driver monitoring system to acquire the image from the calibration camera and the projected image generated by the head-up display from the calibration camera, and acquire the gear information of the current head-up display.

[0112] Specifically, the calibration command can simultaneously control the calibration of the driver monitoring system and the gear position of the head-up display. Therefore, based on the calibration command, the image and gear position information required for the calibration of the driver monitoring system and the gear position of the head-up display can be obtained simultaneously.

[0113] S602. Based on the calibration camera image and the theoretical image of the calibration camera, determine the offset pixels of the calibration camera image.

[0114] S603. Based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system, determine the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system, so as to apply the deviation information to the monitoring calculation of the driver monitoring system and complete the position calibration of the driving safety system.

[0115] The specific implementation methods of S602-603 are similar to those of S202-203, and will not be described again here.

[0116] S604. Based on the projected image generated by the head-up display, the current gear position information of the head-up display, and the preset gear position information and the projection image position mapping table, determine the gear position information that satisfies the preset gear position information and the projection image position mapping table.

[0117] Specifically, the nine-point image calibration method is used to select different gear positions and compare the projected image with the preset gear position information and the projection image position mapping table, so that the actual gear position and the projected image position meet the requirements of the preset gear position information and the projection image position mapping table, thereby completing the calibration of the head-up display. The specific implementation method can adopt a similar calibration method in the gear position calibration method and system and control device of patent CN115268086B, which will not be described in detail here.

[0118] The method provided in this embodiment, in response to a calibration command, triggers the driver monitoring system to acquire an image from a calibration camera and the calibration camera to acquire a projected image generated by a head-up display (HUD), and acquires the current gear position information of the HUD. Based on the calibration camera image and its theoretical image, the method determines the offset pixels of the calibration camera image. Based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system, the method determines the deviation between the actual installation position and the theoretical installation position of the driver monitoring system, applying this deviation information to the monitoring calculations of the driver monitoring system to complete the position calibration of the driving safety system. Based on the projected image generated by the HUD, the current gear position information of the HUD, and a preset gear position information and projection image position mapping table, the method determines the means to satisfy the gear position information and projection image position mapping table. This achieves the function of simultaneously calibrating the HUD and the driver monitoring system through a calibration camera, saving manpower and time resources, improving calibration efficiency, and requiring only a single calibration camera as the calibration device, thereby saving calibration equipment maintenance costs.

[0119] Figure 7 This is a schematic diagram of the structure of the position calibration device for the driving safety system provided in an embodiment of this application. Figure 7 As shown, the device includes:

[0120] The acquisition module 701 is used to trigger the driver monitoring system to acquire the image of the calibration camera in response to the calibration command; wherein the driver monitoring system is set at the dashboard of the vehicle and the lens of the driver monitoring system is facing the eye position of the driver in the vehicle seat, and the calibration camera is set at the eye position of the driver in the vehicle seat and is set opposite to the lens of the driver monitoring system.

[0121] The processing module 702 is used to determine the offset pixels of the calibration camera image based on the calibration camera image and the theoretical image of the calibration camera; and to determine the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system, so as to apply the deviation information to the monitoring calculation of the driver monitoring system and complete the position calibration of the driving safety system.

[0122] Furthermore, the processing module 702 is specifically used to determine the offset pixels of the calibration camera image based on the calibration camera image and the theoretical image of the calibration camera, including:

[0123] Based on the theoretical image of the calibration camera, the theoretical position information and reference coordinate system of the calibration camera image are determined; wherein, the reference coordinate system of the calibration camera image is used to locate the theoretical position information of the calibration camera.

[0124] Based on the calibration camera image and the reference coordinate system, determine the position information of the calibration camera image in the reference coordinate system;

[0125] Based on the position information of the calibration camera image and the theoretical position information of the calibration camera image, the offset pixels of the calibration camera image are determined.

[0126] Furthermore, the processing module 702 is specifically used to determine the offset pixels of the calibration camera image based on the calibration camera image position information and the theoretical position information of the calibration camera image, including:

[0127] Based on the horizontal coordinate pixels in the position information of the calibration camera image and the horizontal coordinate pixels in the theoretical position information of the calibration camera image, determine the horizontal offset pixels of the calibration camera image;

[0128] Based on the vertical coordinate pixels in the position information of the calibration camera image and the vertical coordinate pixels in the theoretical position information of the calibration camera image, determine the vertical offset pixels of the calibration camera image;

[0129] The rotation angle of the calibration camera image is determined based on the installation reference lines in the position information of the calibration camera image and the installation reference lines in the theoretical position information of the calibration camera image.

[0130] Preferably, the processing module 702 is further configured to determine the horizontal pixel count and lateral field of view of the driver monitoring system based on the pixel information of the driver monitoring system before determining the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system.

[0131] Based on the ratio of the lateral field of view to the number of horizontal pixels, the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system is determined.

[0132] Furthermore, the processing module 702 is specifically used to determine the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system, including:

[0133] Based on the lateral offset pixels of the calibration camera image and the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system, the lateral deviation angle between the actual installation position and the theoretical installation position of the driver monitoring system is determined.

[0134] Based on the longitudinal offset pixels of the calibration camera image and the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system, the longitudinal deviation angle between the actual installation position and the theoretical installation position of the driver monitoring system is determined.

[0135] Based on the rotation angle of the calibrated camera image, determine the rotation angle between the actual installation position and the theoretical installation position of the driver monitoring system.

[0136] Preferably, the acquisition module 701 is specifically used to respond to the calibration command, acquire the current gear position information of the head-up display, and trigger the calibration camera to acquire the projected image generated by the head-up display;

[0137] The processing module 702 is further specifically used to determine the gear information that satisfies the preset gear information and projection image position mapping table based on the projected image generated by the head-up display, the current gear information of the head-up display, and the preset gear information and projection image position mapping table, so that the gear information of the head-up display is calibrated to a position that matches the preset gear information and projection image position mapping table.

[0138] The position calibration device for the driving safety system provided in this embodiment can execute the position calibration method for the driving safety system in the above embodiment. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0139] In this embodiment of the invention, electronic devices or main control devices can be divided into functional modules according to the above method examples. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional module. It should be noted that the module division in this embodiment of the invention is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0140] In the specific implementation of the aforementioned driving safety system's position calibration device, each module can be implemented as a processor. The processor can execute computer execution instructions stored in the memory, causing the processor to execute the aforementioned driving safety system's position calibration method.

[0141] Figure 8 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application. Figure 8 As shown, the electronic device includes at least one processor 801 and a memory 802. The electronic device also includes a communication component 803. The processor 801, memory 802, and communication component 803 are connected via a bus 804.

[0142] In the specific implementation process, at least one processor 801 executes the computer execution instructions stored in the memory 802, causing at least one processor 801 to execute the position calibration method of the driving safety system executed on the electronic device side as described above.

[0143] The specific implementation process of processor 801 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0144] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0145] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0146] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0147] The above description of the functions implemented by electronic devices and main control devices has introduced the solutions provided by the embodiments of the present invention. It is understood that, in order to implement the above functions, the electronic device or main control device includes hardware structures and / or software modules corresponding to the execution of each function. By combining the units and algorithm steps of the various examples described in the embodiments of the present invention, the embodiments of the present invention can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solutions of the embodiments of the present invention.

[0148] This application also provides a computer program product, including a computer program that, when executed by a processor, implements a position calibration method for a driving safety system.

[0149] The computer program product provided in this embodiment can execute the position calibration method of the driving safety system in the above embodiment. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0150] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the position calibration method of the driving safety system described above.

[0151] The computer-readable storage medium provided in this embodiment can execute the position calibration method of the driving safety system in the above embodiment. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0152] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0153] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in an electronic device or a host device.

[0154] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0155] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calibrating the position of a driving safety system, characterized in that, include: In response to a calibration command, the driver monitoring system is triggered to acquire images from the calibration camera and the calibration camera to acquire projected images generated by the head-up display, and to acquire the current gear information of the head-up display; wherein, the driver monitoring system is located on the dashboard of the vehicle, and the lens of the driver monitoring system is facing the eye position of the driver in the vehicle seat, and the calibration camera is located at the eye position of the driver in the vehicle seat, and is positioned opposite to the lens of the driver monitoring system. Based on the calibration camera image and the theoretical image of the calibration camera, determine the offset pixels of the calibration camera image; Based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system, the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system is determined, so as to apply the deviation information to the monitoring calculation of the driver monitoring system and complete the position calibration of the driving safety system. Based on the projected image generated by the head-up display, the current gear position information of the head-up display, and the preset gear position information and projection image position mapping table, the gear position information that satisfies the preset gear position information and projection image position mapping table is determined, so that the gear position information of the head-up display is calibrated to a position that matches the preset gear position information and projection image position mapping table, thereby completing the calibration of the head-up display.

2. The method according to claim 1, characterized in that, Determining the offset pixels of the calibration camera image based on the calibration camera image and the theoretical image of the calibration camera includes: Based on the theoretical image of the calibration camera, the theoretical position information and reference coordinate system of the calibration camera image are determined; wherein, the reference coordinate system of the calibration camera is used to locate the theoretical position information of the calibration camera image. Based on the calibration camera image and the reference coordinate system, determine the position information of the calibration camera image in the reference coordinate system; Based on the position information of the calibration camera image and the theoretical position information of the calibration camera image, the offset pixels of the calibration camera image are determined.

3. The method according to claim 2, characterized in that, The step of determining the offset pixels of the calibration camera image based on the calibration camera image position information and the theoretical position information of the calibration camera image includes: The horizontal offset pixels of the calibrated camera image are determined based on the horizontal coordinate pixels in the position information of the calibrated camera image and the horizontal coordinate pixels in the theoretical position information of the calibrated camera image. Based on the vertical coordinate pixels in the position information of the calibration camera image and the vertical coordinate pixels in the theoretical position information of the calibration camera image, determine the vertical offset pixels of the calibration camera image; The rotation angle of the calibration camera image is determined based on the installation reference line in the calibration camera image position information and the installation reference line in the theoretical position information of the calibration camera image.

4. The method according to claim 3, characterized in that, Before determining the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibrated camera image and the pixel information of the driver monitoring system, the method further includes: Based on the pixel information of the driver monitoring system, determine the horizontal pixel count and lateral field of view of the driver monitoring system; Based on the ratio of the lateral field of view to the number of horizontal pixels, the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system is determined.

5. The method according to claim 4, characterized in that, The step of determining the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibrated camera image and the pixel information of the driver monitoring system includes: Based on the lateral offset pixels of the calibration camera image and the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system, the lateral deviation angle between the actual installation position and the theoretical installation position of the driver monitoring system is determined. Based on the longitudinal offset pixels of the calibration camera image and the theoretical installation rotation angle corresponding to each pixel of the driver monitoring system, the longitudinal deviation angle between the actual installation position and the theoretical installation position of the driver monitoring system is determined. Based on the rotation angle of the calibrated camera image, determine the rotation angle between the actual installation position and the theoretical installation position of the driver monitoring system.

6. A position calibration device for a driving safety system, characterized in that, include: The acquisition module is used to respond to the calibration command, trigger the driver monitoring system to acquire the image of the calibration camera and the calibration camera to acquire the projected image generated by the head-up display, and acquire the gear information of the current head-up display; wherein, the driver monitoring system is set at the dashboard of the vehicle, and the lens of the driver monitoring system is facing the eye position of the driver in the vehicle seat, and the calibration camera is set at the eye position of the driver in the vehicle seat, and is set opposite to the lens of the driver monitoring system. The processing module is used to determine the offset pixels of the calibration camera image based on the calibration camera image and the theoretical image of the calibration camera; and to determine the deviation information between the actual installation position and the theoretical installation position of the driver monitoring system based on the offset pixels of the calibration camera image and the pixel information of the driver monitoring system, so as to apply the deviation information to the monitoring calculation of the driver monitoring system and complete the position calibration of the driving safety system. The processing module is further configured to determine the gear information that satisfies the preset gear information and projection image position mapping table based on the projected image generated by the head-up display, the current gear position information of the head-up display, and the preset gear position information and projection image position mapping table, so that the gear position information of the head-up display is calibrated to a position that matches the preset gear position information and projection image position mapping table, thereby completing the calibration of the head-up display.

7. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 5.

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