Intelligent automobile navigation device and method with front and rear recording functions integrated

Abstract

The application discloses an intelligent automobile navigation device and method integrated with front and rear recording functions, and relates to the technical field of image processing.The device comprises a hardware guarantee component, which is used for acquiring a front and rear recording function module, and comprises a front and rear camera group, which is respectively composed of left and right cameras.A data acquisition component acquires initial front and rear video data.An auxiliary connection component connects an auxiliary recording control module, and the front and rear camera groups are connected therewith.An auxiliary acquisition component controls other cameras to perform auxiliary acquisition through the auxiliary recording control module when any camera is blocked, and acquires auxiliary video data.A data optimization component optimizes the initial video data by using the auxiliary video data, and outputs optimized front and rear video data.A video navigation component integrates the optimized video data set, and provides navigation for an automobile.Further, the technical effects of improving video acquisition integrity and improving navigation accuracy are achieved.

Description

TECHNICAL FIELD

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

[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 increasingly demand real-time monitoring and recording of the driving process. The existing automobile navigation devices integrate camera functions for monitoring and recording in front and rear directions. However, these systems often have single functions, insufficient video data processing capabilities, and recording is easily obstructed. There are technical problems of incomplete recording data field of view and inaccurate navigation. SUMMARY

[0003] The present application provides an intelligent automobile navigation device and method integrating front and rear recording functions to solve the technical problems of incomplete recording data field of view and inaccurate navigation in the prior art, and achieve the technical effects of improving video collection integrity and improving navigation accuracy.

[0004] In a first aspect, the present application provides an intelligent automobile navigation device integrating front and rear recording functions, wherein the device comprises:

[0005] A hardware guarantee component is configured to obtain a front and rear recording function module, wherein the front and rear recording function module comprises a front camera group and a rear camera group, the front camera group comprises a left front camera and a right front camera, and the rear camera group comprises a left rear camera and a right rear camera.

[0006] A data acquisition component is configured to obtain an initial front video data group and an initial rear video data group.

[0007] An auxiliary connection component is configured to obtain an auxiliary recording control module, and the front camera group and the rear camera group are connected to the auxiliary recording control module.

[0008] An auxiliary acquisition component is configured to, when any camera in the front camera group or the rear camera group detects an obstacle obstruction, control another camera to perform auxiliary acquisition through the auxiliary recording control module, and obtain auxiliary video data.

[0009] A data optimization component is configured to optimize the initial front video data group and the initial rear video data group according to the auxiliary video data, and output an optimized front video data group and an optimized rear video data group.

[0010] a video navigation component for integrating the optimized front video data set and the optimized rear video data set to navigate the current vehicle.

[0011] In a second aspect, the present application further provides a method for intelligent vehicle navigation with integrated front and rear recording functions, wherein the method comprises:

[0012] obtaining a front and rear recording function module, wherein the front and rear recording function module comprises a front camera group and a rear camera group, the front camera group comprises a left front camera and a right front camera, and the rear camera group comprises a left rear camera and a right rear camera.

[0013] obtaining an initial front video data set and an initial rear video data set.

[0014] obtaining an auxiliary recording control module, and the front camera group and the rear camera group are connected to the auxiliary recording control module.

[0015] when any camera in the front camera group or the rear camera group detects an obstacle, the auxiliary recording control module controls another camera to collect auxiliary video data.

[0016] optimizing the initial front video data set and the initial rear video data set according to the auxiliary video data, and outputting an optimized front video data set and an optimized rear video data set.

[0017] integrating the optimized front video data set and the optimized rear video data set to navigate the current vehicle.

[0018] The application discloses an intelligent automobile navigation device and method integrated with front and rear dual-recording functions, and relates to the technical field of intelligent automobile navigation devices. 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 for acquiring initial front video data and rear video data; an auxiliary connection component is used for acquiring an auxiliary recording control module, and the front camera group and the rear camera group are connected with the control module; when any camera in the front or rear camera group detects an obstacle, the auxiliary recording control module is used to control the other camera to perform auxiliary acquisition and acquire auxiliary video data; a data optimization component is used for optimizing the initial front video data and the rear video data according to the auxiliary video data, and outputting optimized front and rear video data; and a video navigation component is integrated with the optimized front and rear video data to realize the navigation function of the current automobile. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 FIG. 1 is a structural schematic diagram of the intelligent automobile navigation device integrated with front and rear dual-recording functions according to the application.

[0020] Figure 2 FIG. 2 is a flowchart of the intelligent automobile navigation method integrated with front and rear dual-recording functions according to the application.

[0021] The reference signs are as follows: hardware guarantee component 11, data acquisition component 12, auxiliary connection component 13, auxiliary acquisition component 14, data optimization component 15, and video navigation component 16. DETAILED DESCRIPTION

[0022] The technical solution provided in the embodiment of the application is used to solve the technical problems of incomplete recording data and inaccurate navigation in the prior art, and the overall idea is as follows:

[0023] Firstly, the hardware guarantee component is used to acquire a 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 includes a left rear camera and a right rear camera; then, the data acquisition component is used to acquire an initial front video data group and an initial rear video data group; then, the auxiliary connection component acquires an auxiliary recording control module, and connects the front camera group and the rear camera group with the auxiliary recording control module; then, the auxiliary acquisition component is used to control another camera to perform auxiliary acquisition through the auxiliary recording control module when any camera detects an obstacle obstruction, so as to acquire auxiliary video data; further, 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, and provides navigation service for the current car.

[0024] The above technical solutions will be described in detail below in combination with the accompanying drawings and specific embodiments, so that the above technical solutions can be better understood. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments for explaining the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application. In addition, it should be noted that, for convenience of description, only parts related to the present application are shown in the drawings, not all. Embodiments

[0025] Figure 1 The structure of the intelligent automobile navigation device of the present application integrating front and rear dual recording functions is shown in the figure, wherein the device includes:

[0026] The hardware guarantee component 11 is used to 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.

[0027] Specifically, the front and rear dual recording function module is a module for video recording and acquisition, which is used to realize the video recording function of front and rear dual recording, thereby enhancing the monitoring and recording capability. 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.

[0028] Specifically, the left front camera and the right front camera form a front camera group, the left front camera is used to capture the image on the left side of the front, and the right front camera is used to capture the image on the right side of the front, and the left front camera cooperates to form a complete front view.

[0029] Specifically, the left rear camera and the right rear camera form a rear camera group, wherein the left rear camera is responsible for capturing the image on the left side of the rear, and the right rear camera captures the image on the right side of the rear, and the left rear camera and the left rear camera work together to provide a comprehensive rear view.

[0030] Optionally, the left front camera, the right front camera, the left rear camera and the right rear camera described above are function-based cameras, not pointing to a single camera object, in other words, the left front camera, the right front camera, the left rear camera and the right rear camera can each include one or more camera devices, and the specific number of camera devices is determined based on the actual application scenario, thereby helping to improve the recording quality and coverage of the front and rear recording.

[0031] Optionally, the left front camera, the right front camera, the left rear camera and the right rear camera described above can be a single type of camera device or a combination of multiple camera devices, thereby improving the environmental adaptability of the front and rear recording function module and ensuring all-weather front and rear recording capability. For example, it can include a white light camera, an infrared camera, a starlight camera, etc.

[0032] The above-mentioned front and rear recording function module: through the cooperation of the cameras in four directions, the all-around monitoring of the front and rear of the vehicle is realized, and the front and rear views can be recorded synchronously, so as to effectively prevent the blind area and improve the video information acquisition quality of the vehicle during driving.

[0033] The data acquisition component 12 is used to obtain an initial front video data set and an initial rear video data set.

[0034] Specifically, based on the preset acquisition parameters, the above-mentioned front and rear recording function module is controlled to record front and rear, and an initial front video data set and an initial rear video data set are obtained, wherein the initial front video data set includes initial left front video data and initial right front video data; the initial rear video data set includes initial left rear video data and initial right rear video data.

[0035] Specifically, the preset acquisition parameters include the resolution, frame rate and encoding format of video recording, which are used to ensure that the obtained initial front video data set and initial rear video data set meet the application requirements.

[0036] Specifically, the plurality of camera devices in the front and rear dual-recording function modules synchronously collect video data, and the video data collected by each camera device has a corresponding collection timestamp, ensuring the synchronization of the obtained initial front video data group and initial rear video data group. Through the above steps, the initial video data group can be successfully obtained and stored, preparing for subsequent analysis and processing.

[0037] An auxiliary connection assembly 13 is configured to obtain an auxiliary recording control module, and the front camera group and the rear camera group are connected with the auxiliary recording control module.

[0038] Specifically, the auxiliary recording control module includes a plurality of control interfaces and control components, which are connected with the camera devices in the front camera group and the rear camera group, respectively, for controlling the device positions of the plurality of camera devices in the front camera group and the rear camera group.

[0039] In some embodiments, the left front camera, the right front camera, the left rear camera, and the right rear camera each include a rotatable member, and control terminals of the plurality of rotatable members are mapped and connected to the auxiliary recording control module, so that the auxiliary recording control module controls the rotation of each camera.

[0040] Specifically, the plurality of camera devices in the front camera group and the rear camera group are each configured with a rotatable member, so that the auxiliary recording control module controls the rotation of each camera, thereby achieving adjustment of the recording direction. Exemplarily, the control mode of the rotatable member includes motor driving or servo control.

[0041] Specifically, the control terminal of each rotatable member is mapped to the auxiliary recording control module, ensuring that the control signal of each camera can be correctly received and processed, and at the same time, a corresponding software interface is configured for each camera, so that the auxiliary recording control module can identify the control instruction of each camera, ensuring accurate rotation control of the left front camera, the right front camera, the left rear camera, and the right rear camera, and improving the flexibility of video recording and the wide-angle coverage.

[0042] In some implementations, the rotatable member further includes a telescopic member, and the telescopic member is used to adjust the extension and retraction of each camera. When any camera in the front camera group or the rear camera group detects an obstacle, the auxiliary recording control module controls the telescopic member to extend another camera, and then rotates the rotatable member to assist in collecting auxiliary video data.

[0043] Optionally, the rotatable member further comprises a telescopic member, which realizes length change through electric or pneumatic mode, and further realizes the telescopic adjustment function of the camera. Exemplarily, the telescopic member comprises a sliding rail, a spool, a screw rod, a push rod, a pneumatic cylinder, etc. Through the telescopic member, the camera can be adjusted in distance according to the requirement to adapt to different shooting scenes.

[0044] 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 the 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 extend the camera on the opposite side in the same camera group. Subsequently, 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 the auxiliary video data of the blocked side.

[0045] The above configuration and execution steps of the device realize dynamic response to obstacles through the combination of the telescopic member and the rotatable member, ensure effective shooting in complex environments, reduce the missing of video data caused by obstruction, and further obtain high-quality video data.

[0046] The auxiliary acquisition assembly 14 is used for controlling 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 existence of an obstacle.

[0047] Exemplarily, when the right front camera is blocked in view due to the driving environment (such as buildings or other vehicles), the left front camera or other cameras are controlled by the auxiliary recording control module to perform supplementary recording (auxiliary acquisition) to obtain auxiliary video data, and further complete the missing part in the acquisition to generate complete video information.

[0048] 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:

[0049] Positioning the camera with obstacle obstruction; acquiring obstruction video data according to the camera with obstacle obstruction; inputting the obstruction video data into the auxiliary recording control module for three-dimensional obstruction positioning to obtain obstruction position information, wherein the auxiliary recording control module comprises a three-dimensional space model; acquiring a rotation angle according to the obstruction position information; the auxiliary recording control module controls another camera to perform auxiliary acquisition according to the rotation angle to obtain auxiliary video data.

[0050] Specifically, first, the presence of physical obstacles in front of multiple cameras is detected by sensor data (such as infrared or laser sensor data) of obstacle detection sensors, so as to locate the cameras that are blocked by obstacles. Then, based on the above positioning results, real-time video data of the corresponding cameras is obtained.

[0051] 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 blocking object in the picture, and uses two-dimensional plane position information from video data and depth information from obstacle detection sensors to model the blocking object, obtain a three-dimensional space model of the blocking object, which is a mathematical model used to describe the position and shape of an object in three-dimensional space. Finally, according to the three-dimensional space model of the blocking object constructed, the blocking position information of the blocking object is determined, wherein the blocking position information is three-dimensional position information.

[0052] Specifically, according to the blocking position information of the blocking 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 blocking object, the area that needs to be re-covered is determined; then, the positions of the camera and the blocking object are represented as vectors, and the vector dot product is used to calculate the angle that the camera needs to rotate, and the vector calculation result is converted into a specific rotation angle using trigonometric functions. Next, according to the set target function (such as minimizing the field of view deviation and the blocked area), the camera's physical limitations and the range of viewing angles are used as constraint conditions, and methods such as gradient descent, genetic algorithm, or particle swarm optimization are used to iteratively update the angle that the camera needs to rotate. The angle corresponding to the optimal value of the target function is selected as the rotation angle.

[0053] Further, the control auxiliary recording control module adjusts the auxiliary camera for video data acquisition according to the calculated rotation angle. By automatically calculating and adjusting the angle of the camera, it helps to quickly respond to the blocking situation, thereby improving the flexibility and responsiveness of video data acquisition.

[0054] The data optimization component 15 is configured to optimize the initial front video data set and the initial rear video data set based on the auxiliary video data, and output an optimized front video data set and an optimized rear video data set.

[0055] Specifically, the auxiliary video data is fused with the initial front video data set and the initial rear video data set to complete the video data in the occluded range of the initial front video data set and the initial rear video data set. For example, the initial front video data set and the initial rear video data set are optimized according to the auxiliary video data, including: spatial alignment according to the capture angle and the camera position when the auxiliary video data is captured, scaling and mapping the auxiliary video data, converting the auxiliary video data from the phase plane of another camera for auxiliary capture to the phase plane of the occluded multiple cameras, splicing to complete a complete picture, completing and optimizing the initial front video data set and the initial rear video data set, and ensuring the completeness of the video data.

[0056] Specifically, the optimized front video data set is a complete front video after supplement and optimization, and the optimized rear video data set is a complete rear video after optimization.

[0057] The video navigation component 16 is configured to integrate the optimized front video data set and the optimized rear video data set to navigate the current vehicle.

[0058] 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. For example, according to the optimized front video data set and the optimized rear video data set, the optimized front video data and the optimized rear video data are first synthesized to form a panoramic view, and then machine vision (such as yolo, R-CNN, Fast R-CNN) is used to identify pedestrians, vehicles, obstacles, lane lines, traffic signal lights and signboards on the road, and the identification results obtained are used as basic data for current vehicle navigation decision-making to ensure that the vehicle travels on the correct lane and makes auxiliary driving decisions.

[0059] Through the optimized front video data set and the optimized rear video data set, comprehensive environmental perception and real-time analysis can be performed, which helps to reduce the risk of accidents, improve navigation and travel efficiency, and enhance the driving experience.

[0060] In some embodiments, the auxiliary recording control module includes an occlusion detection module configured to detect obstacles occluding the front camera set or the rear camera set, including:

[0061] performing video frame extraction on the initial front video data set and the initial rear video data set to output a front video frame set and a rear video frame set; performing edge information extraction on the front video frame set and the rear video frame set based on an edge detection algorithm to output a front edge information set and a rear edge information set; and performing obstacle occlusion detection based on the front edge information set and the rear edge information set to obtain an obstacle detection return result, wherein the obstacle detection return result includes existence of obstacle occlusion and non-existence of obstacle occlusion.

[0062] Specifically, the obstacle detection module is a detection module based on an image recognition algorithm. The obstacle detection module is used to perform obstacle occlusion detection on the front camera set or the rear camera set. For example, first, frame extraction is performed on the initial front video data set and the initial rear video data set to obtain a front video frame set and a rear video frame set. Preferably, the front video frame set and the rear video frame set are key frame data of the initial front video data set and the initial rear video data set. Then, an edge detection algorithm (such as Canny or Sobel) is applied to extract edge information in the front video frame set and the rear video frame set to obtain a front edge information set and a rear edge information set, respectively. The front edge information set and the rear edge information set reflect key edge features in the video frame. Finally, the front edge information set and the rear edge information set are analyzed. By comparing the edge information of multiple frames, it is determined whether there is an occlusion, and a possible occlusion area in the video frame is identified.

[0063] The above execution steps can quickly and accurately detect the occlusion in the field of view of the camera by comparing the edge information, thereby providing support for subsequent adjustment of the auxiliary camera and ensuring the stability and integrity of video acquisition in a complex environment.

[0064] In some implementations, the obstacle occlusion detection based on the front edge information set and the rear edge information set includes the following execution steps:

[0065] identifying left front edge features and right front edge features in the front edge information set and left rear edge features and right rear edge features in the rear edge information set; and performing edge proportion calculation on the left front edge features, the right front edge features, the left rear edge features, and the right rear edge features, respectively. If an edge proportion coefficient is greater than or equal to a preset proportion coefficient, it is determined that there is obstacle occlusion. If the edge proportion coefficient is less than the preset proportion coefficient, it is determined that there is no obstacle occlusion.

[0066] Optionally, based on the edge features, an image area of an edge image formed by multiple edges is calculated to determine edge proportions of the left front edge features, the right front edge features, the left rear edge features, and the right rear edge features. The edge proportion is a proportion of a number of pixels of an image formed (enclosed) by the edge features to a total number of pixels.

[0067] Optionally, the edge proportion coefficients of the plurality of continuous video frames are acquired, and whether the obstacle shielding exists is determined according to the change of the edge proportion coefficients. For example, if the edge proportion gradually increases, it may indicate that the obstacle is approaching or becoming larger, if the edge proportion decreases, it may indicate that the obstacle is moving away or becoming smaller, if the change trend is higher than the preset proportion coefficient, it is determined that the obstacle shielding exists, if it is lower than the preset proportion coefficient or the change trend is unstable, it is determined that the obstacle shielding does not exist.

[0068] Further, the execution steps of the device further include:

[0069] If the obstacle shielding is detected by both cameras in the front camera group or the rear camera group, the same group of shielding video data is acquired;

[0070] According to the auxiliary recording control module, the same group of backtracking video data is acquired;

[0071] According to the same group of backtracking video data, the same group of predicted video data is acquired;

[0072] According to the same group of predicted video data, the same group of shielding video data is three-dimensionally reconstructed and optimized.

[0073] Specifically, when both cameras in the front or rear camera group detect the obstacle shielding, it is confirmed that the same group of cameras are shielded, at this time, through the auxiliary recording control module, the same group of historical video data is acquired by backtracking, and the backtracking video data is analyzed to predict the future scene change, that is, according to the change trend of the pixels in the historical video data, the video data in the future threshold time window is predicted to obtain the same group of predicted video data, wherein the future threshold time window is determined based on the safety requirement and the computing power level of the current vehicle. Finally, according to the predicted video data, the shielding video data is three-dimensionally reconstructed, thereby improving the recognition and processing capability of the shielding object.

[0074] Through the above execution steps, when the front camera group or the rear camera group is shielded, the device still has certain video acquisition capability, which helps to deal with the short-term shielding situation in the video acquisition process and ensures the continuity and integrity of the acquired video data.

[0075] In summary, the intelligent automobile navigation device with integrated front and rear recording functions provided by the application has the following technical effects:

[0076] The hardware guarantee component acquires a 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 includes a left rear camera and a right rear camera. The data acquisition component acquires an initial front video data group and an initial rear video data group. The auxiliary connection component acquires an auxiliary recording control module, and the front camera group and the rear camera group are connected with the control module. When any camera in the front or rear camera group detects an obstacle obstruction, the auxiliary acquisition component controls another camera to perform auxiliary acquisition through the auxiliary recording control module to acquire auxiliary video data. 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 optimized front and rear video data groups. The video navigation component integrates the optimized front video data group and the optimized rear video data group to realize the navigation function of the current automobile. Thus, the technical effects of improving video acquisition integrity and improving navigation accuracy are realized. Embodiment

[0077] Figure 2 is a flowchart of the intelligent automobile navigation method integrating front and rear dual-recording functions of the application. For example, Figure 1 The structural diagram of the intelligent automobile navigation device integrating front and rear dual-recording functions of the application can be used to realize the flowchart as shown in Figure 2

[0078] Based on the same idea as the intelligent automobile navigation device integrating front and rear dual-recording functions in the embodiment, the application also provides an intelligent automobile navigation method integrating front and rear dual-recording functions, which includes:

[0079] acquiring 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.

[0080] acquiring an initial front video data group and an initial rear video data group.

[0081] acquiring an auxiliary recording control module, and the front camera group and the rear camera group are connected with the auxiliary recording control module.

[0082] when any camera in the front camera group or the rear camera group detects an obstacle obstruction, controlling another camera to perform auxiliary acquisition through the auxiliary recording control module to acquire auxiliary video data.

[0083] optimizing the initial front video data group and the initial rear video data group according to the auxiliary video data, and outputting an optimized front video data group and an optimized rear video data group. ​

[0084] The optimized front video data set and the optimized rear video data set are integrated to guide the current vehicle.

[0085] In some embodiments, the left front camera, the right front camera, the left rear camera and the right rear camera each comprise a rotatable member, and control terminals of the plurality of rotatable members are connected to the auxiliary recording control module, and the auxiliary recording control module is used to control rotation of each camera.

[0086] In some embodiments, the rotatable member further comprises a telescopic member, and the telescopic member is used to adjust the extension and retraction of each camera.

[0087] When any camera in the front camera group or the rear camera group detects an obstacle blockage, the auxiliary recording control module controls the telescopic member to extend another camera, and the auxiliary recording control module controls the rotation of the rotatable member to assist in collecting auxiliary video data.

[0088] In some embodiments, the auxiliary recording control module controls another camera to assist in collecting auxiliary video data, including:

[0089] locating a camera with an obstacle blockage, obtaining blockage video data according to the camera with the obstacle blockage, inputting the blockage video data into the auxiliary recording control module to perform three-dimensional blockage positioning and obtain blockage position information, wherein the auxiliary recording control module comprises a three-dimensional space model, obtaining a rotation angle according to the blockage position information, and the auxiliary recording control module controls another camera to assist in collecting auxiliary video data according to the rotation angle.

[0090] In some embodiments, the auxiliary recording control module comprises a blockage detection module, and the blockage detection module is used to detect obstacle blockage of the front camera group or the rear camera group, including:

[0091] extracting video frames from the initial front video data set and the initial rear video data set to output a front video frame set and a rear video frame set;

[0092] extracting edge information from the front video frame set and the rear video frame set based on an edge detection algorithm to output a front edge information set and a rear edge information set;

[0093] detecting obstacle blockage according to the front edge information set and the rear edge information set to obtain an obstacle detection return result, wherein the obstacle detection return result comprises existence of obstacle blockage and non-existence of obstacle blockage.

[0094] In some implementations, the obstacle occlusion detection according to the front edge information set and the rear edge information set comprises:

[0095] The left front edge feature and the right front edge feature in the front edge information set and the left rear edge feature and the right rear edge feature in the rear edge information set are identified, and edge proportion calculation is performed on 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 proportion coefficient is greater than or equal to a preset proportion coefficient, it is judged that there is obstacle occlusion, and if the edge proportion coefficient is less than the preset proportion coefficient, it is judged that there is no obstacle occlusion.

[0096] In some embodiments, the method further comprises:

[0097] If the two cameras in the front camera group or the rear camera group detect that there is obstacle occlusion, the same group occlusion video data is obtained, the same group backtracking video data is obtained according to the auxiliary recording control module, the same group prediction video data is obtained according to the same group backtracking video data, and the three-dimensional reconstruction optimization of the same group occlusion video data is performed according to the same group prediction video data.

[0098] It should be understood that the embodiments mentioned in the specification focus on their differences from other embodiments, and the specific embodiments in the first embodiment are also applicable to the integrated front and rear dual-recording function intelligent automobile navigation method described in the second embodiment. For the sake of brevity of the specification, no further expansion is made here.

[0099] It should be understood that the embodiments disclosed in the present application and the above description can enable those skilled in the art to implement the present application. At the same time, the present application is not limited to the above-mentioned part of the embodiments, it should be understood that the ordinary skilled in the art can still modify the technical solutions recorded in the above-mentioned embodiments, or make equivalent replacement for some technical features; 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 application, and should be included in the protection scope of the present application.

Claims

1. An intelligent car navigation device integrating front and rear recording functions, characterized in that, The device comprises: a hardware guarantee component, configured to acquire a front-back dual-recording function module, wherein the front-back dual-recording function module comprises a front camera group and a rear camera group, the front camera group comprises a left front camera and a right front camera, and the rear camera group comprises a left rear camera and a right rear camera; a data acquisition component, configured to acquire an initial front video data group and an initial rear video data group; an auxiliary connection component, configured to acquire an auxiliary recording control module, and the front camera group and the rear camera group are connected with the auxiliary recording control module; an auxiliary acquisition component, configured to, when any camera in the front camera group or the rear camera group detects an obstacle blockage, control another camera to perform auxiliary acquisition through the auxiliary recording control module, and acquire auxiliary video data; a data optimization component, configured to optimize the initial front video data group and the initial rear video data group according to the auxiliary video data, and output an optimized front video data group and an optimized rear video data group; a video navigation component, configured to integrate the optimized front video data group and the optimized rear video data group to navigate a current vehicle; controlling another camera to perform auxiliary acquisition through the auxiliary recording control module to acquire auxiliary video data, and the execution step comprises: locating a camera with an obstacle blockage; acquiring blockage video data according to the camera with the obstacle blockage; inputting the blockage video data into the auxiliary recording control module to perform three-dimensional blockage positioning, and acquiring blockage position information, wherein the auxiliary recording control module comprises a three-dimensional space model; acquiring a rotation angle according to the blockage position information; controlling another camera to perform auxiliary acquisition according to the rotation angle through the auxiliary recording control module, and acquiring auxiliary video data; the auxiliary recording control module comprises a blockage detection module, and the blockage detection module is configured to detect an obstacle blockage of the front camera group or the rear camera group, and the execution step comprises: performing video frame extraction on the initial front video data group and the initial rear video data group, and outputting a front video frame group and a rear video frame group; performing edge information extraction on 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; performing obstacle blockage detection according to the front edge information group and the rear edge information group, and acquiring an obstacle detection return result, wherein the obstacle detection return result comprises an obstacle blockage and no obstacle blockage; performing obstacle blockage detection according to the front edge information group and the rear edge information group, and the execution step comprises: identifying left front edge features and right front edge features in the front edge information group, and left rear edge features and right rear edge features in the rear edge information group; The edge proportion calculation is performed on 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 proportion coefficient is greater than or equal to a preset proportion coefficient, it is judged that there is an obstacle blockage, if the edge proportion coefficient is less than the preset proportion coefficient, it is judged that there is no obstacle blockage; If both cameras in the front camera group or the rear camera group detect the existence of obstacle blockage, the same group of blocking video data is obtained; According to the auxiliary recording control module, the same group of backtracking video data is obtained; According to the same group of backtracking video data, the same group of prediction video data is obtained; According to the same group of prediction video data, the three-dimensional reconstruction optimization of the same group of blocking video data is performed.

2. The apparatus of claim 1, wherein, The left front camera, the right front camera, the left rear camera and the right rear camera each include a rotatable part, the control terminals of a plurality of rotatable parts are mapped and connected to the auxiliary recording control module, and the auxiliary recording control module is used for rotating control of each camera.

3. The apparatus of claim 2, wherein, The rotatable part further includes a telescopic part, and each camera is adjusted to be telescopic through the telescopic part. When any camera in the front camera group or the rear camera group detects the existence of obstacle blockage, the telescopic part is controlled by the auxiliary recording control module to extend another camera, and the auxiliary recording control module is used for auxiliary collection by rotating the rotatable part to obtain auxiliary video data.

4. The intelligent car navigation method integrating the front and rear recording functions, characterized in that, The method is applied to the intelligent automobile navigation device integrated with front and rear double recording functions according to any one of claims 1-3, and the method comprises: obtaining a front and rear double recording function module, wherein the front and rear double recording function module comprises a front camera group and a rear camera group, the front camera group comprises a left front camera and a right front camera, and the rear camera group comprises a left rear camera and a right rear camera; obtaining an initial front video data group and an initial rear video data group; obtaining an auxiliary recording control module, the front camera group and the rear camera group are connected with the auxiliary recording control module; When any camera in the front camera group or the rear camera group detects the existence of obstacle blockage, another camera is controlled by the auxiliary recording control module to perform auxiliary collection to obtain auxiliary video data; According to the auxiliary video data, the initial front video data group and the initial rear video data group are optimized to output an optimized front video data group and an optimized rear video data group; The optimized front video data group and the optimized rear video data group are integrated to navigate the current automobile.

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