Intelligent automobile navigation device and method integrated with front and back double-recording function

Abstract

The invention discloses an intelligent automobile navigation device and method integrated with a front-back double-recording function, and relates to the technical field of image processing, the device comprises a hardware guarantee assembly used for obtaining a front-back double-recording function module, the hardware guarantee assembly comprises a front camera group and a rear camera group, and the front camera group and the rear camera group are respectively composed of a left camera and a right camera. The data acquisition component acquires initial preposed and postposed video data. The auxiliary connection assembly is connected with the auxiliary recording control module, and the front and rear camera groups are connected therewith. And when any camera is shielded, the auxiliary acquisition component controls other cameras to perform auxiliary acquisition through the auxiliary recording control module to obtain auxiliary video data. And the data optimization component optimizes the initial video data by using the auxiliary video data and outputs the optimized front and back video data. And the video navigation assembly integrates the optimized video data set and provides navigation for the automobile. Therefore, the technical effects of improving the video acquisition integrity and improving the navigation precision are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and in particular to an intelligent automobile navigation device and method integrating front and rear dual recording functions. Background Art

[0002] Traditional navigation devices mostly rely on GPS and map data. However, in complex driving environments, a single source of information often cannot meet the needs of drivers. At the same time, traffic accidents occur frequently, and drivers have an increasing demand for real-time monitoring and recording of driving processes. Existing car navigation systems currently integrate camera functions for front and rear monitoring and recording. However, these systems often have single functions, insufficient video data processing capabilities, and recording is easily blocked. There are technical problems such as incomplete field of view of recorded data and inaccurate navigation. Summary of the invention

[0003] The present invention provides an intelligent automobile navigation device and method with integrated front and rear dual recording functions, so as to solve the technical problems of incomplete field of view of recorded data and inaccurate navigation in the prior art, and achieve the technical effects of improving the integrity of video acquisition and improving the navigation accuracy.

[0004] In a first aspect, the present invention provides an intelligent automobile navigation device with integrated front and rear dual recording functions, wherein the device comprises: A hardware guarantee component, the hardware guarantee component is used to obtain a front and rear dual recording function module, wherein the front and rear dual recording function module includes a front camera group and a rear camera group, the front camera group includes a left front camera and a right front camera, and the rear camera group includes a left rear camera and a right rear camera.

[0005] A data acquisition component is used to obtain an initial front video data group and an initial rear video data group.

[0006] An auxiliary connection component, the auxiliary connection component is used to obtain an auxiliary recording control module, and the front camera group and the rear camera group are both connected to the auxiliary recording control module.

[0007] The auxiliary acquisition component is used to control another camera to perform auxiliary acquisition through the auxiliary recording control module to obtain auxiliary video data when any camera in the front camera group or the rear camera group detects the presence of an obstacle.

[0008] A data optimization component is used to optimize the initial pre-video data group and the initial post-video data group according to the auxiliary video data, and output an optimized pre-video data group and an optimized post-video data group.

[0009] A video navigation component is used to integrate the optimized front-end video data set and the optimized rear-end video data set to navigate the current car.

[0010] In a second aspect, the present invention further provides an intelligent automobile navigation method integrating front and rear dual recording functions, wherein the method comprises: Obtain a front and rear dual recording function module, wherein the front and rear dual recording function module includes a front camera group and a rear camera group, the front camera group includes a left front camera and a right front camera, and the rear camera group includes a left rear camera and a right rear camera.

[0011] Get an initial pre-video data group and an initial post-video data group.

[0012] An auxiliary recording control module is obtained, and both the front camera group and the rear camera group are connected to the auxiliary recording control module.

[0013] When any camera in the front camera group or the rear camera group detects the presence of an obstacle, the auxiliary recording control module controls another camera to perform auxiliary acquisition to obtain auxiliary video data.

[0014] The initial pre-video data group and the initial post-video data group are optimized according to the auxiliary video data, and an optimized pre-video data group and an optimized post-video data group are output.

[0015] The optimized pre-video data set and the optimized post-video data set are integrated to navigate the current vehicle.

[0016] The present invention discloses an intelligent automobile navigation device and method with integrated front and rear dual recording functions, comprising: a hardware guarantee component for obtaining a front and rear dual recording function module, wherein the module comprises a front camera group and a rear camera group. The front camera group is composed of a left front camera and a right front camera, and the rear camera group is composed of a left rear camera and a right rear camera; a data acquisition component is used to obtain an initial front video data group and a rear video data group; an auxiliary connection component is used to obtain an auxiliary recording control module, and the front camera group and the rear camera group are both connected to the control module; when any camera in the front or rear camera group detects an obstacle occlusion, the auxiliary acquisition component controls the other camera to perform auxiliary acquisition through the auxiliary recording control module to obtain auxiliary video data; the data optimization component optimizes the initial front video data group and the rear video data group according to the auxiliary video data, and outputs the optimized front and rear video data groups; and the video navigation component integrates the optimized front video data group and the rear video data group to realize the navigation function of the current car. The intelligent automobile navigation device and method with integrated front and rear dual recording functions disclosed in the present invention solve the technical problems of incomplete field of view of recorded data and inaccurate navigation, and achieve the technical effects of improving the integrity of video acquisition and improving navigation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the intelligent automobile navigation device with integrated front and rear dual recording functions of the present invention; Figure 2 The figure is a flow chart of the intelligent automobile navigation method with integrated front and rear dual recording functions according to the present invention.

[0018] Explanation of the reference numerals: hardware support component 11, data acquisition component 12, auxiliary connection component 13, auxiliary acquisition component 14, data optimization component 15, video navigation component 16. DETAILED DESCRIPTION

[0019] The technical solution provided in the embodiments of the present invention is to solve the technical problems of incomplete field of view of recorded data and inaccurate navigation in the prior art. The overall idea adopted is as follows: First, the hardware guarantee component is used to obtain the front and rear dual recording function module, wherein the module includes a front camera group and a rear camera group, the front camera group is composed of a left front camera and a right front camera, and the rear camera group is composed of a left rear camera and a right rear camera; then, the data acquisition component is used to obtain the initial front video data group and the initial rear video data group; then, the auxiliary connection component obtains the auxiliary recording control module, and connects the front camera group and the rear camera group to the auxiliary recording control module; then, the auxiliary acquisition component is used to control the other camera to perform auxiliary acquisition through the auxiliary recording control module when any camera detects an obstacle occlusion, so as to obtain auxiliary video data; then, the data optimization component optimizes the initial front video data group and the initial rear video data group according to the auxiliary video data, and outputs the optimized front video data group and rear video data group; finally, the video navigation component integrates the optimized front video data group and rear video data group to provide navigation services for the current car.

[0020] The above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods of the specification to better understand the above technical solution. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments of the present invention. It should be understood that the present invention is not limited to the example embodiments used only to explain the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, it should be noted that, for the convenience of description, only the parts related to the present invention are shown in the drawings, rather than all of them. Example

[0021] Figure 1 The structure diagram of the intelligent automobile navigation device with integrated front and rear dual recording functions of the present invention is shown, wherein the device comprises: The hardware guarantee component 11 is used to obtain the front and rear dual recording function module, wherein the front and rear dual recording function module includes a front camera group and a rear camera group, the front camera group includes a left front camera and a right front camera, and the rear camera group includes a left rear camera and a right rear camera.

[0022] Specifically, the front and rear dual recording function module is a module for video recording and acquisition, which is used to realize the front and rear dual recording function, thereby enhancing the monitoring and recording capabilities. The front and rear dual recording function module includes a left front camera, a right front camera, a left rear camera and a right rear camera.

[0023] Specifically, the left front camera and the right front camera form a front camera group. The left front camera is used to capture images on the left side of the front, and the right front camera is used to capture images on the right side of the front, and cooperate with the left front camera to form a complete front field of view.

[0024] Specifically, the left rear camera and the right rear camera form a rear camera group, wherein the left rear camera is responsible for capturing images on the left side of the rear, and the right rear camera captures images on the right side of the rear. The left rear camera works together with the right rear camera to provide a comprehensive rear view.

[0025] Optionally, the above-mentioned left front camera, right front camera, left rear camera and right rear camera are cameras defined based on functions and do not refer to a single camera object. In other words, the left front camera, right front camera, left rear camera and right rear camera may include one or more camera devices. The specific number of camera devices is determined based on actual application scenarios, which helps to improve the recording quality and coverage of front and rear dual recording.

[0026] Optionally, the left front camera, right front camera, left rear camera and right rear camera can be a single type of camera device or a combination of multiple camera devices, so as to improve the environmental adaptability of the front and rear dual recording function module and ensure the all-weather front and rear dual recording capability. Exemplary cameras may include daylight cameras, infrared cameras, starlight cameras, etc.

[0027] The above-mentioned front and rear dual recording function module: through the cooperation of cameras in four directions, it can realize all-round monitoring of the front, back, left and right of the vehicle, and can simultaneously record the front and rear perspectives, so as to effectively prevent blind spots and improve the quality of video information collection during the vehicle's driving process.

[0028] The data acquisition component 12 is used to obtain an initial pre-video data set and an initial post-video data set.

[0029] Specifically, based on the preset acquisition parameters, the front and rear dual recording function modules are controlled to perform front and rear dual recording to obtain the initial front video data group and the initial rear video data group respectively, wherein the initial front video data group includes the initial left front video data and the initial right front video data; the initial rear video data group includes the initial left rear video data and the initial right rear video data.

[0030] Specifically, the preset acquisition parameters include the resolution, frame rate and encoding format of the video recording, which are used to ensure that the acquired initial pre-video data group and initial post-video data group meet the application requirements.

[0031] Specifically, multiple camera devices in the front and rear dual recording function module synchronously collect video data, and the video data collected by each camera device has a corresponding collection timestamp, ensuring the synchronization of the acquired initial front video data group and the initial rear video data group. Through the above steps, the initial video data group can be successfully acquired and stored, preparing for subsequent analysis and processing.

[0032] The auxiliary connection component 13 is used to obtain an auxiliary recording control module, and the front camera group and the rear camera group are both connected to the auxiliary recording control module.

[0033] Specifically, the auxiliary recording control module includes multiple control interfaces and control components, which are respectively connected to the camera devices in the front camera group and the rear camera group, and are used to control the device positions of the multiple camera devices in the front camera group and the rear camera group.

[0034] In some embodiments, the left front camera, the right front camera, the left rear camera and the right rear camera each include a rotatable part, and the control terminals of multiple rotatable parts are mapped and connected to the auxiliary recording control module, and the rotation of each camera is controlled by the auxiliary recording control module.

[0035] Specifically, the plurality of camera devices in the front camera group and the rear camera group are all equipped with a rotatable member, through which the auxiliary recording control module can control the rotation of each camera to adjust the recording direction. Exemplarily, the control method of the rotatable member includes motor drive or servo control.

[0036] Specifically, the control terminal of each rotatable part is mapped to the auxiliary recording control module to ensure that the control signal of each camera can be correctly received and processed. At the same time, a corresponding software interface is configured for each camera so that the auxiliary recording control module can recognize the control instructions of each camera, ensuring precise rotation control of the left front camera, right front camera, left rear camera and right rear camera, thereby improving the flexibility of video recording and the wide viewing angle coverage.

[0037] In some implementations, the rotatable part also includes a telescopic part, through which each camera is adjusted to be telescopic; wherein, when any camera in the front camera group or the rear camera group detects the presence of an obstacle, the telescopic part is controlled by the auxiliary recording control module to extend the other camera, and then the rotatable part is rotated for auxiliary collection to obtain auxiliary video data.

[0038] Optionally, the rotatable part also includes a telescopic part, which realizes the change of length by electric or pneumatic means, thereby realizing the telescopic adjustment function of the camera. Exemplarily, the telescopic part includes a slide rail, a bobbin, a screw, a push rod, a cylinder, etc. Through the telescopic part, the camera can adjust the distance according to the demand to adapt to different shooting scenes.

[0039] Optionally, each camera or the periphery of the camera is equipped with an obstacle detection sensor (such as an infrared sensor or an ultrasonic sensor) for real-time monitoring of obstacles in front of the camera. When any camera detects an obstacle, the sensor sends a signal to the auxiliary recording control module to activate the telescopic member to control the camera on the opposite side of the same camera group to extend outward; then, the auxiliary recording control module sends a control signal to the rotatable member to adjust the angle of the extended camera to obtain the best shooting angle and collect auxiliary video data on the blocked side.

[0040] The above configuration and execution steps of the device, through the combination of telescopic parts and rotatable parts, realize dynamic response to obstacles, ensure effective shooting in complex environments, reduce the loss of video data due to occlusion, and obtain high-quality video data.

[0041] The auxiliary acquisition component 14 is used to control another camera to perform auxiliary acquisition through the auxiliary recording control module to obtain auxiliary video data when any camera in the front camera group or the rear camera group detects the presence of an obstacle.

[0042] For example, when the field of view of the right front camera is obstructed due to the driving environment (such as buildings, other vehicles), the auxiliary recording control module controls the left front camera or other cameras to perform supplementary recording (auxiliary acquisition) to obtain auxiliary video data, thereby completing the missing parts in the acquisition and generating complete video information.

[0043] In some embodiments, the auxiliary recording control module controls another camera to perform auxiliary acquisition to obtain auxiliary video data, and the execution steps of the device include: Locate the camera that is blocked by obstacles; obtain blocked video data based on the camera that is blocked by obstacles; input the blocked video data into the auxiliary recording control module to perform three-dimensional occlusion positioning and obtain occlusion position information, wherein the auxiliary recording control module includes a three-dimensional space model; obtain the rotation angle based on the occlusion position information; the auxiliary recording control module controls another camera to perform auxiliary collection according to the rotation angle and obtain auxiliary video data.

[0044] Specifically, first, the sensor data of the obstacle detection sensor (such as infrared or laser sensor data) is used to detect whether there are physical obstacles in front of multiple cameras, so as to locate the cameras blocked by obstacles. Then, based on the above positioning results, the real-time video data of the corresponding cameras is obtained.

[0045] Specifically, the auxiliary recording control module first uses signal processing technology to monitor the output signal of the camera, converts the electrical signal into a digital signal, and then combines image analysis algorithms (such as edge detection or pattern recognition) to identify the occlusion in the picture, and uses the two-dimensional plane position information from the video data and the depth information from the obstacle detection sensor to model the occlusion and obtain the three-dimensional space model of the occlusion. The three-dimensional space model is used to describe the mathematical model of the position and shape of the object in the three-dimensional space. Finally, according to the constructed three-dimensional space model of the occlusion, the occlusion position information of the occlusion is determined, wherein the occlusion position information is three-dimensional position information.

[0046] Specifically, according to the occlusion position information of the occlusion object, the optimal rotation angle of the auxiliary camera is calculated, and the optimal angle is determined using geometric operations or optimization algorithms. For example, first, according to the position of the occlusion object, the area that needs to be re-covered is determined; then, the position of the camera and the occlusion object is represented as a vector, and the angle that the camera needs to rotate is calculated using vector dot product, and the vector calculation result is converted into a specific rotation angle using trigonometric functions. Then, according to the set objective function (such as minimizing the field of view deviation and occlusion area), the physical limitations and viewing range constraints of the camera are used to iteratively update the angle that the camera needs to rotate using methods such as gradient descent, genetic algorithm or particle swarm optimization, and the angle with the optimal corresponding objective function value is selected as the rotation angle.

[0047] Furthermore, the auxiliary recording control module is controlled to adjust the auxiliary camera according to the calculated rotation angle to collect video data. Automatically calculating and adjusting the camera angle helps to quickly respond to occlusion situations, thereby improving the flexibility and responsiveness of video data collection.

[0048] The data optimization component 15 is used to optimize the initial pre-video data group and the initial post-video data group according to the auxiliary video data, and output an optimized pre-video data group and an optimized post-video data group.

[0049] Specifically, the auxiliary video data is fused with the initial front video data group and the initial rear video data group, so as to complete the video data of the occluded range in the initial front video data group and the initial rear video data group. Among them, exemplary, the initial front video data group and the initial rear video data group are optimized according to the auxiliary video data, including: spatially aligning the acquisition angle and the camera position when the auxiliary video data is acquired, scaling and mapping the auxiliary video data, converting the auxiliary video data from the phase plane of another camera for auxiliary acquisition to the phase plane of multiple cameras that are occluded, splicing and synthesizing a complete picture, realizing the completion and optimization of the initial front video data group and the initial rear video data group, and ensuring the integrity of the video data.

[0050] Specifically, the optimized pre-video data set is a complete pre-video that has been supplemented and optimized; the optimized post-video data set is a complete post-video that has been optimized.

[0051] The video navigation component 16 is used to integrate the optimized pre-video data set and the optimized post-video data set to navigate the current vehicle.

[0052] Specifically, the optimized front video data set and the optimized rear video data set are complete video data without occlusion and have high video quality. Exemplarily, navigation is performed based on the above-mentioned optimized front video data set and optimized rear video data set. First, the optimized front and rear video data are synthesized to form a panoramic view; then, pedestrians, vehicles, obstacles, lane lines, traffic lights and signs on the road are identified through machine vision (such as yolo, R-CNN, Fast R-CNN), and the recognition results obtained will be used as the basic data for the current car navigation decision, which is used to ensure that the vehicle is driving in the correct lane and make assisted driving decisions.

[0053] By optimizing the front video data set and optimizing the rear video data set, comprehensive environmental perception and real-time analysis can be performed, which helps reduce the risk of accidents, improve navigation and travel efficiency, and enhance the driving experience.

[0054] In some embodiments, the auxiliary recording control module includes an occlusion detection module, and the occlusion detection module is used to perform obstacle occlusion detection on the front camera group or the rear camera group, including: Perform video frame extraction on the initial front video data group and the initial rear video data group, and output a front video frame group and a rear video frame group; perform edge information extraction on the front video frame group and the rear video frame group based on an edge detection algorithm, and output a front edge information group and a rear edge information group; perform obstacle occlusion detection according to the front edge information group and the rear edge information group, and obtain an obstacle detection return result, wherein the obstacle detection return result includes the presence of obstacle occlusion and the absence of obstacle occlusion.

[0055] Specifically, the occlusion detection module is a detection module based on an image recognition algorithm. The occlusion detection module performs obstacle occlusion detection on the front camera group or the rear camera group. Exemplarily, first, the initial front video data group and the initial rear video data group are frame extracted to obtain the front video frame group and the rear video frame group. Preferably, the above-mentioned front video frame group and the rear video frame group are key frame data of the video data in the initial front video data group and the initial rear video data group. Then, an edge detection algorithm (such as Canny, Sobel, etc.) is applied to extract the edge information in the front and rear video frames, and the front edge information group and the rear edge information group are obtained respectively. The front edge information group and the rear edge information group reflect the key edge features in the video frame. Finally, the front and rear edge information groups are analyzed, and by comparing the edge information changes of multiple frames, it is determined whether there is occlusion, and the possible occlusion area in the video frame is identified.

[0056] The above execution steps can quickly and accurately detect obstructions in the camera's field of view through comparison of edge information, provide support for subsequent adjustment of auxiliary cameras, and ensure the stability and integrity of video acquisition in complex environments.

[0057] In some implementations, performing obstacle occlusion detection according to the leading edge information group and the trailing edge information group includes: Identify the left front edge feature and the right front edge feature in the front edge information group, and the left rear edge feature and the right rear edge feature in the rear edge information group; calculate the edge ratios of the left front edge feature, the right front edge feature, the left rear edge feature, and the right rear edge feature, respectively; if the edge ratio coefficient is greater than or equal to the preset ratio coefficient, determine that there is an obstacle occlusion; if the edge ratio coefficient is less than the preset ratio coefficient, determine that there is no obstacle occlusion.

[0058] Optionally, based on the edge features, the image area of ​​the edge image formed by multiple edges is calculated to determine the edge ratio of the left front edge feature, the right front edge feature, the left rear edge feature and the right rear edge feature. The edge ratio is the ratio of the number of pixels of the image formed (enclosed) by the edge features to the total pixels.

[0059] Optionally, edge ratios of multiple consecutive video frames are obtained, and whether there is an obstacle occlusion is determined based on the change in the edge ratio. For example, if the edge ratio gradually increases, it may indicate that the obstacle is approaching or getting bigger, and if the edge ratio decreases, it may indicate that the obstacle is moving away or getting smaller. If the change trend of the ratio is continuously higher than a preset ratio, it is determined that there is an obstacle occlusion. If it is lower than a preset ratio or the change trend is unstable, it is determined that there is no obstacle occlusion.

[0060] Furthermore, the execution steps of the device also include: If both cameras in the front camera group or the rear camera group detect that there is an obstacle occlusion, obtain the occlusion video data of the same group; Perform backtracking according to the auxiliary recording control module to obtain the same group of backtracking video data; Perform prediction based on the same group of retrospective video data to obtain the same group of predicted video data; The occluded video data of the same group is optimized for three-dimensional reconstruction according to the predicted video data of the same group.

[0061] Specifically, when both cameras in the front or rear camera group detect an obstacle, it is confirmed that all cameras in the same group are blocked. At this time, the auxiliary recording control module is used to retrospectively obtain the historical video data of the same group, and the retrospective video data is used for analysis to predict future scene changes, that is, based on the pixel change trend in the historical video data, the video data within the future threshold time window is predicted to obtain the predicted video data of the same group, where the future threshold time window is determined based on the current vehicle's safety requirements and computing power level. Finally, the blocked video data is reconstructed in three dimensions based on the predicted video data, thereby improving the recognition and processing capabilities of blocked objects.

[0062] Through the above-mentioned execution steps, it is ensured that when the entire front camera group or the rear camera group is blocked, there is still a certain video acquisition capability, which helps to deal with short-term occlusion during the video acquisition process and ensure the continuity and integrity of the acquired video data.

[0063] In summary, the intelligent car navigation device with integrated front and rear dual recording functions provided by the present invention has the following technical effects: The hardware guarantee component obtains the front and rear dual recording function module, wherein the module includes the front camera group and the rear camera group. The front camera group consists of the left front camera and the right front camera, and the rear camera group includes the left rear camera and the right rear camera; the data acquisition component obtains the initial front video data group and the rear video data group; the auxiliary connection component obtains the auxiliary recording control module, and the front camera group and the rear camera group are both connected to the control module; when any camera in the front or rear camera group detects an obstacle occlusion, the auxiliary acquisition component controls the other camera through the auxiliary recording control module to perform auxiliary acquisition and obtain auxiliary video data; the data optimization component optimizes the initial front video data group and the rear video data group according to the auxiliary video data, and outputs the optimized front and rear video data groups; the video navigation component integrates the optimized front video data group and the rear video data group to realize the navigation function of the current car. Thereby achieving the technical effect of improving the integrity of video acquisition and improving navigation accuracy. Example

[0064] Figure 2 1 is a flow chart of the intelligent automobile navigation method of the present invention integrating front and rear dual recording functions. Figure 1 The structural schematic diagram of the intelligent automobile navigation device with integrated front and rear dual recording functions of the present invention can be used to achieve the following Figure 2 The process shown.

[0065] Based on the same concept as the intelligent car navigation device with integrated front and rear dual recording functions in the above embodiment, the present invention also provides an intelligent car navigation method with integrated front and rear dual recording functions, including: Obtain a front and rear dual recording function module, wherein the front and rear dual recording function module includes a front camera group and a rear camera group, the front camera group includes a left front camera and a right front camera, and the rear camera group includes a left rear camera and a right rear camera.

[0066] Get an initial pre-video data group and an initial post-video data group.

[0067] An auxiliary recording control module is obtained, and both the front camera group and the rear camera group are connected to the auxiliary recording control module.

[0068] When any camera in the front camera group or the rear camera group detects the presence of an obstacle, the auxiliary recording control module controls another camera to perform auxiliary acquisition to obtain auxiliary video data.

[0069] The initial pre-video data group and the initial post-video data group are optimized according to the auxiliary video data, and an optimized pre-video data group and an optimized post-video data group are output.

[0070] The optimized pre-video data set and the optimized post-video data set are integrated to navigate the current vehicle.

[0071] In some embodiments, the left front camera, the right front camera, the left rear camera and the right rear camera each include a rotatable part, and the control terminals of multiple rotatable parts are mapped and connected to the auxiliary recording control module, and the rotation of each camera is controlled by the auxiliary recording control module.

[0072] In some embodiments, the rotatable member further includes a telescopic member, through which each camera is adjusted to be telescopic.

[0073] Among them, when any camera in the front camera group or the rear camera group detects the existence of an obstacle, the auxiliary recording control module controls the telescopic part to extend the other camera, and then the rotatable part is rotated to perform auxiliary collection to obtain auxiliary video data.

[0074] In some embodiments, controlling another camera to perform auxiliary acquisition through the auxiliary recording control module to obtain auxiliary video data includes: Locate the camera that is blocked by obstacles; obtain blocked video data based on the camera that is blocked by obstacles; input the blocked video data into the auxiliary recording control module to perform three-dimensional occlusion positioning and obtain occlusion position information, wherein the auxiliary recording control module includes a three-dimensional space model; obtain the rotation angle based on the occlusion position information; the auxiliary recording control module controls another camera to perform auxiliary collection according to the rotation angle and obtain auxiliary video data.

[0075] In some embodiments, the auxiliary recording control module includes an occlusion detection module, and the occlusion detection module is used to perform obstacle occlusion detection on the front camera group or the rear camera group, including: Performing video frame extraction on the initial pre-video data group and the initial post-video data group, and outputting a pre-video frame group and a post-video frame group; Extracting edge information from the front video frame group and the rear video frame group based on an edge detection algorithm, and outputting a front edge information group and a rear edge information group; Obstacle occlusion detection is performed according to the leading edge information group and the trailing edge information group to obtain an obstacle detection return result, wherein the obstacle detection return result includes whether there is an obstacle occlusion or not.

[0076] In some implementations, performing obstacle occlusion detection according to the leading edge information group and the trailing edge information group includes: Identify the left front edge feature and the right front edge feature in the front edge information group, and the left rear edge feature and the right rear edge feature in the rear edge information group; calculate the edge ratios of the left front edge feature, the right front edge feature, the left rear edge feature, and the right rear edge feature, respectively; if the edge ratio coefficient is greater than or equal to the preset ratio coefficient, determine that there is an obstacle occlusion; if the edge ratio coefficient is less than the preset ratio coefficient, determine that there is no obstacle occlusion.

[0077] In some embodiments, the method further comprises: If both cameras in the front camera group or the rear camera group detect the presence of obstacle occlusion, obtain the occluded video data of the same group; backtrack according to the auxiliary recording control module to obtain the backtracked video data of the same group; predict according to the backtracked video data of the same group to obtain the predicted video data of the same group; perform three-dimensional reconstruction and optimization on the occluded video data of the same group according to the predicted video data of the same group.

[0078] It should be understood that the embodiments mentioned in this specification focus on their differences from other embodiments. The specific embodiments in the aforementioned embodiment 1 are also applicable to the intelligent car navigation method with integrated front and rear dual recording functions described in embodiment 2. For the sake of brevity of the specification, no further elaboration is given here.

[0079] It should be understood that the embodiments disclosed in the present invention and the above description can enable those skilled in the art to use the present invention to implement the present invention. At the same time, the present invention is not limited to the above-mentioned embodiments. It should be understood that those skilled in the art can still modify the technical solutions recorded in the above-mentioned embodiments, or replace some of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. An intelligent car navigation device with integrated front and rear dual recording functions, characterized in that: The device comprises: A hardware guarantee component, the hardware guarantee component is used to obtain a front and rear dual recording function module, wherein the front and rear dual recording function module includes a front camera group and a rear camera group, the front camera group includes a left front camera and a right front camera, and the rear camera group includes a left rear camera and a right rear camera; A data acquisition component, wherein the data acquisition component is used to obtain an initial pre-video data group and an initial post-video data group; An auxiliary connection component, the auxiliary connection component is used to obtain an auxiliary recording control module, and the front camera group and the rear camera group are both connected to the auxiliary recording control module; An auxiliary acquisition component, wherein when any camera in the front camera group or the rear camera group detects that there is an obstacle blocking it, the auxiliary acquisition component controls another camera to perform auxiliary acquisition through the auxiliary recording control module to obtain auxiliary video data; A data optimization component, the data optimization component is used to optimize the initial pre-video data group and the initial post-video data group according to the auxiliary video data, and output an optimized pre-video data group and an optimized post-video data group; A video navigation component is used to integrate the optimized front-end video data set and the optimized rear-end video data set to navigate the current car.

2. The device according to claim 1, characterized in that The left front camera, the right front camera, the left rear camera and the right rear camera each include a rotatable part, and the control terminals of multiple rotatable parts are mapped and connected to the auxiliary recording control module, and the rotation of each camera is controlled by the auxiliary recording control module.

3. The device according to claim 2, characterized in that The rotatable member also includes a telescopic member, through which each camera is adjusted to be telescopic; Among them, when any camera in the front camera group or the rear camera group detects the existence of an obstacle, the auxiliary recording control module controls the telescopic part to extend the other camera, and then the rotatable part is rotated to perform auxiliary collection to obtain auxiliary video data.

4. The device according to claim 1, characterized in that The auxiliary recording control module controls another camera to perform auxiliary acquisition to obtain auxiliary video data, and the execution steps include: Locate cameras that are blocked by obstacles; Obtaining blocked video data according to the camera blocked by obstacles; Inputting the occlusion video data into the auxiliary recording control module to perform three-dimensional occlusion positioning and obtain occlusion position information, wherein the auxiliary recording control module includes a three-dimensional space model; Acquire a rotation angle according to the occlusion position information; The auxiliary recording control module controls another camera to perform auxiliary collection according to the rotation angle to obtain auxiliary video data.

5. The device according to claim 1, characterized in that The auxiliary recording control module includes an occlusion detection module, and the occlusion detection module is used to perform obstacle occlusion detection on the front camera group or the rear camera group, including: Performing video frame extraction on the initial pre-video data group and the initial post-video data group, and outputting a pre-video frame group and a post-video frame group; Extracting edge information from the front video frame group and the rear video frame group based on an edge detection algorithm, and outputting a front edge information group and a rear edge information group; Obstacle occlusion detection is performed according to the leading edge information group and the trailing edge information group to obtain an obstacle detection return result, wherein the obstacle detection return result includes whether there is an obstacle occlusion or not.

6. The device according to claim 5, characterized in that Obstacle occlusion detection is performed according to the leading edge information group and the trailing edge information group, and the execution steps include: Identifying a left leading edge feature and a right leading edge feature in the leading edge information group, and a left trailing edge feature and a right trailing edge feature in the trailing edge information group; The edge ratios of the left front edge feature, the right front edge feature, the left rear edge feature and the right rear edge feature are calculated respectively. If the edge ratio coefficient is greater than or equal to the preset ratio coefficient, it is determined that there is an obstacle occlusion. If the edge ratio coefficient is less than the preset ratio coefficient, it is determined that there is no obstacle occlusion.

7. The device according to claim 5, characterized in that The device also includes: If both cameras in the front camera group or the rear camera group detect that there is an obstacle occlusion, obtain the occlusion video data of the same group; Perform backtracking according to the auxiliary recording control module to obtain the same group of backtracking video data; Perform prediction based on the same group of retrospective video data to obtain the same group of predicted video data; The occluded video data of the same group is optimized for three-dimensional reconstruction according to the predicted video data of the same group.

8. An intelligent automobile navigation method integrating front and rear dual recording functions, characterized in that: The method is applied to the intelligent automobile navigation device with integrated front and rear dual recording functions as described in any one of claims 1 to 7, and the method comprises: Acquire a front and rear dual recording function module, wherein the front and rear dual recording function module includes a front camera group and a rear camera group, the front camera group includes a left front camera and a right front camera, and the rear camera group includes a left rear camera and a right rear camera; Obtaining an initial pre-video data group and an initial post-video data group; Acquire an auxiliary recording control module, to which both the front camera group and the rear camera group are connected; When any camera in the front camera group or the rear camera group detects that there is an obstacle blocking it, the auxiliary recording control module controls another camera to perform auxiliary acquisition to obtain auxiliary video data; Optimizing the initial pre-video data group and the initial post-video data group according to the auxiliary video data, and outputting an optimized pre-video data group and an optimized post-video data group; The optimized pre-video data set and the optimized post-video data set are integrated to navigate the current vehicle.

Images