Lateral view camera arrangement method and device based on camera view field

Abstract

The invention discloses a side-view camera arrangement method and device based on a camera view field, and the method comprises the steps: obtaining basic arrangement parameters of a side-view camera, and determining the basic position information of the side-view camera according to the basic arrangement parameters; according to the basic position information, the side front camera and the side rear camera are moved below the rearview mirror and on the front fender respectively until arrangement conditions are met, so that final position information of the side front camera and the side rear camera below the rearview mirror and on the front fender is determined; wherein the arrangement conditions include that the side front view field of the side front camera and the side rear view field of the side rear camera have an overlapping area with a preset size in the longitudinal axis direction of the vehicle, and the intersection point of the left side front view field and the right side front view field is located at a preset distance in front of a front bumper of the vehicle. The side-view camera solves the problem that a side-view camera in the prior art has a view blind area.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a side view camera arrangement method and device based on camera field of view. Background Art

[0002] Currently on the market, the side-view cameras of vehicles are either arranged entirely on the fenders or on the fenders and exterior mirrors. However, the angle at which the camera's field of view overlaps with the vehicle body is different, and most layout schemes are based on detecting the angles of the left and right lanes. The fields of view of the two cameras on the same side do not completely overlap, forming a small triangular blind spot, which poses a certain safety hazard. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a side-view camera arrangement method and device based on the camera field of view, aiming to solve the problem that the side-view camera arrangement method in the prior art has a blind spot in the field of view and presents certain safety hazards.

[0004] An object of the present invention is to provide a side view camera arrangement method based on camera field of view, which is used to arrange side view cameras on a vehicle, wherein the side view cameras include side front cameras respectively arranged under rearview mirrors on the vehicle for detecting the rear of the vehicle, and side rear cameras respectively arranged on the front fender of the vehicle for detecting the front of the vehicle, and the method includes: Acquire basic arrangement parameters of the side-view camera, and determine basic position information of the side-view camera according to the basic arrangement parameters; According to the basic position information, the side front camera and the side rear camera are respectively moved below the rearview mirror and on the front fender until a placement condition is met, so as to determine final position information of the side front camera and the side rear camera below the rearview mirror and on the front fender; Among them, the arrangement conditions include that the side front field of view of the side front camera and the side rear field of view of the side rear camera have an overlapping area of ​​a preset size along the longitudinal axis direction of the vehicle, and the intersection point of the left front field of view and the right front field of view is located at a preset distance in front of the front guard of the vehicle.

[0005] Furthermore, in the above-mentioned side view camera arrangement method based on the camera field of view, the basic arrangement parameters include a pitch angle, a roll angle and an arrangement height, the pitch angle being the angle between the optical axis of the side view camera and the horizontal ground, and the roll angle being the angle between the vertical plane of the side view camera and the horizontal ground.

[0006] Furthermore, in the above-mentioned side view camera arrangement method based on camera field of view, the step of determining basic position information of the side view camera according to the basic arrangement parameters comprises: The side view camera is arranged to ensure that the angle between the optical axis of the side view camera and the horizontal ground is zero, the angle between the vertical plane of the side view camera and the horizontal ground is 90 degrees, and the arrangement height is within a preset range.

[0007] Furthermore, in the above-mentioned side view camera arrangement method based on camera field of view, before the step of determining the final position information of the side front camera and the side rear camera below the rearview mirror and on the front fender, the method further includes: Controlling the overlapping angle between the side rear view field of the side rear camera and the body of the vehicle to be a set threshold; The setting threshold of the overlap angle is determined according to the installation angle error and manufacturing error of the side rear camera.

[0008] Furthermore, in the above-mentioned side view camera arrangement method based on camera field of view, the side front field of view of the side front camera and the side rear field of view of the side rear camera have an overlapping area of ​​a preset size along the longitudinal axis direction of the vehicle, and the preset size is 20cm-30cm.

[0009] Furthermore, in the above-mentioned side view camera arrangement method based on camera field of view, the intersection point of the left front view field and the right front view field is located at a preset distance in front of the front guard of the vehicle, and the preset distance is determined according to a preset overlapping angle between the side front view field and the vehicle body and the width of the vehicle: The calculation formula of the preset distance is: tan(β)=L / X; Wherein, β is the angle at which the side front field of view overlaps with the vehicle body, L is half the width of the vehicle, and X is the preset distance.

[0010] Furthermore, in the above-mentioned side view camera arrangement method based on camera field of view, the angle between the optical axis of the side front camera and the central axis of the vehicle body is 43 degrees, and the overlapping angle of the field of view of the side view camera on the same side is 10-12 degrees.

[0011] Another object of the present invention is to provide a side view camera arrangement device based on camera field of view, which is used to arrange side view cameras on a vehicle, wherein the side view cameras include side front cameras respectively arranged under rearview mirrors on the vehicle for detecting the rear of the vehicle, and side rear cameras respectively arranged on the front fender of the vehicle for detecting the front of the vehicle, and the device includes: An acquisition module, used to acquire basic arrangement parameters of the side-view camera, and determine basic position information of the side-view camera according to the basic arrangement parameters; a placement module, configured to move the side front camera and the side rear camera respectively below the rearview mirror and on the front fender according to the basic position information until a placement condition is met, so as to determine final position information of the side front camera and the side rear camera below the rearview mirror and on the front fender; Among them, the arrangement conditions include that the side front field of view of the side front camera and the side rear field of view of the side rear camera have an overlapping area of ​​a preset size along the longitudinal axis direction of the vehicle, and the intersection point of the left front field of view and the right front field of view is located at a preset distance in front of the front guard of the vehicle.

[0012] Another object of the present invention is to provide an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the program.

[0013] The present invention can make the left and right front view cameras perceive the target in the area directly in front of the vehicle by arranging the side view cameras, the side front view field of the side front camera and the side rear view field of the side rear camera having an overlapping area of ​​preset size along the longitudinal axis direction of the vehicle, and the intersection point of the left front view field and the right front view field being located at a preset distance in front of the vehicle's front guard. For target perception, the two side front view cameras can intersect and illuminate the same target as early as possible to more accurately identify the current and target positions, and the intersection point is set at a preset distance in front of the front guard, which is just the area where the second vehicle may appear except the first vehicle directly in front of the vehicle. The side view camera can be used to perceive the target of the front vehicle in the lane blocked by the front vehicle earlier, so as to predict the action of the front vehicle earlier and make corresponding control strategies. The overlapping angle between the cameras can cover the blind spots that may appear when the vehicle turns sideways or changes lanes. The problem that the side view camera arrangement method in the prior art has a blind spot in the field of vision and has certain safety hazards is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a flow chart of a side view camera arrangement method based on camera field of view in a first embodiment of the present invention; Figure 2 A schematic diagram of the angles of cameras in a side-view camera arrangement method based on the camera field of view in one embodiment of the present invention; Figure 3 Schematic diagram of the overlap of the field of view of a side front camera and a side rear camera in a side view camera arrangement method based on the camera field of view in one embodiment of the present invention; Figure 4 A schematic diagram of the intersection of the fields of view of a left front camera and a right front camera in a side view camera arrangement method based on the field of view of a camera in one embodiment of the present invention; Figure 5A schematic diagram of the overlap between the field of view of a side view camera and a vehicle body in a side view camera arrangement method based on the field of view of a camera in one embodiment of the present invention; Figure 6 It is a structural block diagram of a side view camera arrangement device based on the camera field of view in the third embodiment of the present invention.

[0015] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0016] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0017] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0019] The following will explain in detail, in conjunction with specific embodiments and drawings, how to solve the problem that the side view camera arrangement in the prior art has a blind spot and poses certain safety hazards.

[0020] Embodiment 1 See also Figure 1 , shown is a side view camera arrangement method based on camera field of view in a first embodiment of the present invention, which is used to arrange side view cameras on a vehicle, wherein the side view cameras include side front cameras respectively arranged under rearview mirrors on the vehicle for detecting the rear of the vehicle, and side rear cameras arranged on the front fenders of the vehicle for detecting the front of the vehicle, and the method includes steps S10~S11.

[0021] Step S10, obtaining basic arrangement parameters of the side view camera, and determining basic position information of the side view camera according to the basic arrangement parameters.

[0022] Among them, the basic layout parameters include pitch angle, roll angle and layout height, specifically, Figure 2 As shown, the camera has multiple angles, including pitch angle (Pitch), roll angle (Roll) and heading angle (Yaw). The pitch angle (Pitch) is the angle between the optical axis of the side-view camera (camera) and the horizontal ground, and the roll angle (Roll) is the angle between the vertical plane of the side-view camera and the horizontal ground. In the specific implementation, the side-view camera is arranged to ensure that the angle between the optical axis of the side-view camera (camera) and the horizontal ground is zero, the angle between the vertical plane of the side-view camera and the horizontal ground is 90 degrees, and the arrangement height is within the preset range, for example, the arrangement height is ≥700mm. Among them, the upper limit of the height depends on the specific vehicle model.

[0023] Step S11, according to the basic position information, the side front camera and the side rear camera are respectively moved below the rearview mirror and on the front fender until the arrangement conditions are met, so as to determine the final position information of the side front camera and the side rear camera below the rearview mirror and on the front fender.

[0024] Among them, after determining some basic layout parameters, a basic layout range of the camera can be determined, and then further layout adjustment can be carried out. Specifically, the layout conditions include that the side front field of view of the side front camera and the side rear field of view of the side rear camera have an overlapping area of ​​a preset size along the longitudinal axis of the vehicle, and the intersection of the left front field of view and the right front field of view is located at a preset distance in front of the front guard of the vehicle.

[0025] Specifically, Figure 3 As shown, the side front view field of the side front camera and the side rear view field of the side rear camera overlap to a certain extent, and there is an overlapping area of ​​20-30 cm along the longitudinal axis of the vehicle; and the arrangement of the heading angle of the camera requires that the intersection point of the left front camera field of view and the right front camera field of view is located at a preset distance in front of the vehicle, for example, Figure 4 As shown in the figure, the intersection point of the left front camera field of view and the right front camera field of view is located 7 meters in front of the vehicle. Figure 5 As shown, the camera field of view overlaps with the vehicle body by 7°, and the angle between the optical axis of the side front camera and the center axis of the vehicle body is 43°. The calculation formula for the preset distance is: tan(β)=L / X; Among them, β is the angle of overlap between the side front field of view and the vehicle body, L is half of the width of the vehicle, and X is the preset distance. Assuming that the vehicle width is 1.7 meters, half of the vehicle width is 0.85; that is, tan(7°)=0.85 / X, X=7 meters.

[0026] It should be noted that the purpose of doing so is to enable the left and right front-view cameras to perceive the target in the area directly in front of the vehicle, and for target perception, the two side front-view cameras The earlier the two cameras meet and capture the same target, the more accurate the current and target positions can be identified. From the perspective of the scene, the area 7m away from the front bumper is just the area where the first vehicle directly in front of the vehicle, that is, the front vehicle (the second vehicle) may appear. The fields of view of the two side front cameras meet here, so that the side view cameras can be used to perceive the front vehicle target in the lane that is blocked by the front vehicle earlier, so as to predict the action of the front vehicle earlier and make corresponding control strategies. Assuming that the field of view of the side front camera overlaps with the vehicle body by 3°, the left and right side front view fields of view meet at 16m in front of the vehicle. The targets within the range of 7m to 16m directly in front of the vehicle cannot be perceived by the side front camera, which is not conducive to realizing complex urban pilot assisted driving functions. A certain parallax needs to be guaranteed on the side front to achieve good depth perception.

[0027] In summary, the present invention can make the left and right front view cameras perceive the target in the area directly in front of the vehicle by arranging the side view cameras, the side front view field of the side front camera and the side rear view field of the side rear camera having an overlapping area of ​​preset size along the longitudinal axis of the vehicle, and the intersection point of the left front view field and the right front view field being located at a preset distance in front of the vehicle's front guard. For target perception, the two side front view cameras can more accurately identify the current and target positions by intersecting and photographing the same target as early as possible, and setting the intersection point at a preset distance in front of the front guard just to exclude the first vehicle directly in front of the vehicle, that is, the area where the second vehicle may appear. The side view camera can be used to perceive the target of the front vehicle in the lane blocked by the front vehicle earlier, so as to predict the action of the front vehicle earlier and make corresponding control strategies. The overlapping angles between the cameras can cover the blind spots that may appear when the vehicle turns sideways or changes lanes. The problem that the side view camera arrangement method in the prior art has a blind spot in the field of vision and has certain safety hazards is solved.

[0028] Embodiment 2 This embodiment also proposes a side view camera arrangement method based on the camera field of view. The difference between the side view camera arrangement method based on the camera field of view in this embodiment and the side view camera arrangement method based on the camera field of view in the first embodiment is that: Before the step of determining the final position information of the side front camera and the side rear camera below the rearview mirror and on the front fender, the method further includes: Controlling the overlapping angle between the side rear view field of the side rear camera and the body of the vehicle to be a set threshold; The setting threshold of the overlap angle is determined according to the installation angle error and manufacturing error of the side rear camera.

[0029] Specifically, the overlap angle between the side rear view field and the vehicle body is 2°, that is, the angle between the camera optical axis and the center axis of the vehicle body is 132°; the purpose of this is to consider the camera installation angle error (1°), manufacturing error (1°), and the need to detect the side rear field of view target without blind spots, and design the side rear view field to overlap with the vehicle body by 2°. The angle between the optical axis of the side front camera and the center axis of the vehicle body is 43°, and the overlap angle between the side rear view field and the vehicle body is 2°, then the overlap angle of the side view camera field of view on the same side is 10-12°; the overlap angle of the field of view between cameras is very important for multi-camera perception systems, which enhances the robustness, accuracy, continuity and integrity of the system, and provides necessary support for accurate three-dimensional reconstruction and comprehensive scene perception. The overlapping angle can cover the blind spots that may occur when the vehicle turns sideways or changes lanes, solve the problems of target splitting and false braking caused by blind spots, and improve the safety of the perception system. In intelligent assisted driving systems, this redundant information is crucial to preventing collisions and ensuring driving safety.

[0030] In summary, the side view camera arrangement method based on the camera field of view in the above embodiment of the present invention can make the left and right front view cameras perceive the target in the area directly in front of the vehicle by having the side front view field of the side front camera and the side rear view field of the side rear camera overlap in a preset size along the longitudinal axis of the vehicle when arranging the side view cameras, and the intersection point of the left front view field and the right front view field is located at a preset distance in front of the vehicle's front guard. For target perception, the two side front view cameras can intersect and illuminate the same target as early as possible to more accurately identify the current and target positions, and the intersection point is set at a preset distance in front of the front guard, which is just the area where the second car may appear except the first car directly in front of the vehicle, so that the side view camera can be used to perceive the target of the front car in the lane blocked by the front car earlier, so as to predict the action of the front car earlier and make corresponding control strategies. The overlapping angle between the cameras can cover the blind spots that may appear when the vehicle turns sideways or changes lanes. The problem that the side view camera arrangement method in the prior art has a blind spot and certain safety hazards is solved.

[0031] Embodiment 3 See also Figure 6 , shown is a side view camera arrangement device based on camera field of view proposed in a third embodiment of the present invention, which is used to arrange side view cameras on a vehicle, wherein the side view cameras include side front cameras respectively arranged under rearview mirrors on the vehicle for detecting the rear of the vehicle, and side rear cameras arranged on the front fender of the vehicle for detecting the front of the vehicle, and the device includes: An acquisition module 100, configured to acquire basic arrangement parameters of the side-view camera, and determine basic position information of the side-view camera according to the basic arrangement parameters; an arrangement module 200, configured to move the side front camera and the side rear camera respectively below the rearview mirror and on the front fender according to the basic position information until an arrangement condition is met, so as to determine final position information of the side front camera and the side rear camera below the rearview mirror and on the front fender; Among them, the arrangement conditions include that the side front field of view of the side front camera and the side rear field of view of the side rear camera have an overlapping area of ​​a preset size along the longitudinal axis direction of the vehicle, and the intersection point of the left front field of view and the right front field of view is located at a preset distance in front of the front guard of the vehicle.

[0032] Furthermore, in the above-mentioned side-view camera arrangement device based on the camera field of view, the basic arrangement parameters include a pitch angle, a roll angle and an arrangement height, the pitch angle being the angle between the optical axis of the side-view camera and the horizontal ground, and the roll angle being the angle between the vertical plane of the side-view camera and the horizontal ground.

[0033] Furthermore, in the above-mentioned side view camera arrangement device based on camera field of view, the step of determining the basic position information of the side view camera according to the basic arrangement parameters comprises: The side view camera is arranged to ensure that the angle between the optical axis of the side view camera and the horizontal ground is zero, the angle between the vertical plane of the side view camera and the horizontal ground is 90 degrees, and the arrangement height is within a preset range.

[0034] Furthermore, in the above-mentioned side view camera arrangement device based on camera field of view, before the step of determining the final position information of the side front camera and the side rear camera below the rearview mirror and on the front fender, the step further includes: Controlling the overlapping angle between the side rear view field of the side rear camera and the body of the vehicle to be a set threshold; The setting threshold of the overlap angle is determined according to the installation angle error and manufacturing error of the side rear camera.

[0035] Furthermore, in the above-mentioned side view camera arrangement device based on camera field of view, the side front field of view of the side front camera and the side rear field of view of the side rear camera have an overlapping area of ​​a preset size along the longitudinal axis direction of the vehicle, and the preset size is 20cm-30cm.

[0036] Furthermore, in the above-mentioned side view camera arrangement device based on camera field of view, the intersection point of the left front view field and the right front view field is located at a preset distance in front of the front guard of the vehicle, and the preset distance is determined according to a preset overlapping angle between the side front view field and the vehicle body and the width of the vehicle: The calculation formula of the preset distance is: tan(β)=L / X; Wherein, β is the angle at which the side front field of view overlaps with the vehicle body, L is half the width of the vehicle, and X is the preset distance.

[0037] Furthermore, in the above-mentioned side view camera arrangement device based on camera field of view, the angle between the optical axis of the side front camera and the central axis of the vehicle body is 43 degrees, and the overlapping angle of the field of view of the side view camera on the same side is 10-12 degrees.

[0038] The functions or operation steps implemented when the above modules are executed are substantially the same as those in the above method embodiments, and will not be repeated here.

[0039] Embodiment 4 Another aspect of the present invention further provides a readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of the method described in any one of the above embodiments 1 to 2 are implemented.

[0040] Embodiment 5 Another aspect of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of the above-mentioned embodiments one to two when executing the program.

[0041] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0042] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be specifically implemented in any computer-readable storage medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable storage medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0043] More specific examples (a non-exhaustive list) of computer-readable storage media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable storage medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0044] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0045] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0046] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A side view camera arrangement method based on camera field of view, characterized in that: The method is used for arranging side view cameras on a vehicle, wherein the side view cameras include side front cameras respectively arranged under rearview mirrors on the vehicle for detecting the rear of the vehicle, and side rear cameras arranged on the front fender of the vehicle for detecting the front of the vehicle, and the method includes: Acquire basic arrangement parameters of the side-view camera, and determine basic position information of the side-view camera according to the basic arrangement parameters; According to the basic position information, the side front camera and the side rear camera are respectively moved below the rearview mirror and on the front fender until the arrangement conditions are met, so as to determine the final position information of the side front camera and the side rear camera below the rearview mirror and on the front fender; Among them, the arrangement conditions include that the side front field of view of the side front camera and the side rear field of view of the side rear camera have an overlapping area of ​​a preset size along the longitudinal axis direction of the vehicle, and the intersection point of the left front field of view and the right front field of view is located at a preset distance in front of the front guard of the vehicle.

2. The side view camera arrangement method based on camera field of view according to claim 1, characterized in that: The basic arrangement parameters include a pitch angle, a roll angle and an arrangement height. The pitch angle is the angle between the optical axis of the side view camera and the horizontal ground. The roll angle is the angle between the vertical plane of the side view camera and the horizontal ground.

3. The side view camera arrangement method based on camera field of view according to claim 2, characterized in that: The step of determining the basic position information of the side-view camera according to the basic arrangement parameters comprises: The side view camera is arranged to ensure that the angle between the optical axis of the side view camera and the horizontal ground is zero, the angle between the vertical plane of the side view camera and the horizontal ground is 90 degrees, and the arrangement height is within a preset range.

4. The side view camera arrangement method based on camera field of view according to claim 1, characterized in that: Before the step of determining the final position information of the side front camera and the side rear camera below the rearview mirror and on the front fender, the method further includes: Controlling the overlapping angle between the side rear view field of the side rear camera and the body of the vehicle to be a set threshold; The setting threshold of the overlap angle is determined according to the installation angle error and manufacturing error of the side rear camera.

5. The side view camera arrangement method based on camera field of view according to claim 1, characterized in that: The side front field of view of the side front camera and the side rear field of view of the side rear camera have an overlapping area of ​​a preset size along the longitudinal axis direction of the vehicle, and the preset size is 20cm-30cm.

6. The side view camera arrangement method based on camera field of view according to claim 1, characterized in that: The intersection point of the left front field of view and the right front field of view is located at a preset distance in front of the front guard of the vehicle, and the preset distance is determined according to a preset overlapping angle between the side front field of view and the vehicle body and the width of the vehicle: The calculation formula of the preset distance is: tan(β)=L / X; Wherein, β is the angle at which the side front field of view overlaps with the vehicle body, L is half the width of the vehicle, and X is the preset distance.

7. The side view camera arrangement method based on camera field of view according to claim 1, characterized in that: The angle between the optical axis of the side front camera and the center axis of the vehicle body is 43 degrees, and the overlapping angle of the field of view of the side view camera on the same side is 10-12 degrees.

8. A side view camera arrangement device based on camera field of view, characterized in that: The device is used for arranging side view cameras on a vehicle, wherein the side view cameras include side front cameras respectively arranged under rearview mirrors on the vehicle for detecting the rear of the vehicle, and side rear cameras respectively arranged on the front fender of the vehicle for detecting the front of the vehicle, and the device includes: An acquisition module, used to acquire basic arrangement parameters of the side-view camera, and determine basic position information of the side-view camera according to the basic arrangement parameters; a placement module, configured to move the side front camera and the side rear camera respectively below the rearview mirror and on the front fender according to the basic position information until a placement condition is met, so as to determine final position information of the side front camera and the side rear camera below the rearview mirror and on the front fender; Among them, the arrangement conditions include that the side front field of view of the side front camera and the side rear field of view of the side rear camera have an overlapping area of ​​a preset size along the longitudinal axis direction of the vehicle, and the intersection point of the left front field of view and the right front field of view is located at a preset distance in front of the front guard of the vehicle.

9. A storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 7 when executing the program.

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