Calibration method, system and device for distraction early-warning area of cockpit and vehicle

Abstract

The invention provides a calibration method, system and device for a distraction early-warning area of a cockpit and a vehicle, and the system comprises a driver monitoring camera, a depth camera, a double-sided checkerboard calibration plate and a plurality of mark points arranged in the distraction early-warning area. The method comprises the following steps: acquiring images of a double-sided checkerboard calibration plate shot by a first camera and a depth camera at the same moment; determining the transformation TCD from the coordinate system D of the depth camera to the coordinate system C of the first camera according to the image; determining the transformation TDW from the distraction early warning area coordinate system W to the coordinate system D of the depth camera according to the image; and determining the transformation TWC from the coordinate system C of the first camera to the coordinate system W of the distraction early warning area. According to the technical scheme, the conversion relation between the driver monitoring camera and the distraction early warning area coordinate system is calibrated, so that the problem that the view field of the driver monitoring camera cannot cover the distraction early warning area is solved.

Description

Technical Field

[0001] The present invention relates to the field of image processing, and in particular to a method, system, device and vehicle for calibrating a distraction warning area in a cockpit. Background Art

[0002] In order to strengthen the protection of vehicle occupants and vulnerable road users such as pedestrians and cyclists, and reduce traffic accident rates and casualties, the European Union has formulated and implemented the Advanced Driver Distraction Warning System (ADDW) standard, which specifies the distraction warning area in the cockpit and gives a warning when the driver's attention is in the distraction warning area.

[0003] However, according to the EU's advanced driver distraction warning system standards, the distraction warning area is generally designated below the cockpit instrument panel, and the driver monitoring camera usually shoots towards the driver's face, and its field of view cannot cover the distraction warning area. Therefore, the image information captured by the driver monitoring camera cannot determine whether the driver is distracted. Summary of the invention

[0004] Embodiments of the present invention provide a method, system, device and vehicle for calibrating a distraction warning area in a cockpit, so as to solve the problem in the prior art that the field of view of a driver monitoring camera cannot cover the distraction warning area.

[0005] In order to achieve the above-mentioned object, on the one hand, a method for calibrating a distraction warning area in a cockpit is provided, wherein a first camera for monitoring a driver is arranged in the cockpit, the distraction warning area is pre-set, and the distraction warning area includes a distraction warning boundary, and is characterized in that a depth camera and a double-sided checkerboard calibration plate are also arranged in the cockpit; a first marking point M1, a second marking point M2 and a third marking point M3 are arranged in the distraction warning area, wherein the first marking point M1 and the second marking point M2 are located on the distraction warning boundary, and the third marking point M3 is located directly below the first marking point M1; the double-sided checkerboard calibration plate includes a first surface and a second surface, and the checkerboard corner points of the first surface and the second surface correspond to each other one by one; the positions of the depth camera and the double-sided checkerboard calibration plate are set so that the first camera can completely capture the first surface, and the depth camera can completely capture the second surface; the calibration method comprises:

[0006] Obtaining a first image taken by the first camera and a second image taken by the depth camera at the same time, wherein the first image includes an image of the first surface, and the second image includes: an image of the second surface and an image of the distraction warning area;

[0007] Determine a transformation T from the coordinate system D of the depth camera to the coordinate system C of the first camera according to the image of the first surface in the first image and the image of the second surface in the second image. CD ,in:

[0008]

[0009] in, is the coordinate system B pre-established on the first surface of the double-sided checkerboard calibration plate 1 Transformation to the coordinate system C of the first camera, is the coordinate system B pre-established on the second surface of the double-sided checkerboard calibration plate 2 to the coordinate system B 1 The transformation of The coordinate system B 2 Transformation to the coordinate system D of the depth camera;

[0010] According to the three-dimensional coordinates P of the first marking point M1, the second marking point M2 and the third marking point M3 in the image of the distraction warning area contained in the second image in the coordinate system D of the depth camera, M1 , P M2 , P M3 , determine the transformation T of the distraction warning area coordinate system W to the coordinate system D of the depth camera DW , where the distraction warning area coordinate system W is established with M1 as the origin, the line connecting M1 and M2 as the x-axis, and the line connecting M1 and M3 as the y-axis;

[0011] According to the transformation T from the coordinate system D of the depth camera to the coordinate system C of the first camera CD and the transformation T of the distraction warning area coordinate system W to the coordinate system D of the depth camera DW , determine the transformation T from the coordinate system C of the first camera to the coordinate system W of the distraction warning area WC ,in:

[0012] T WC =(T CD ·T DW ) -1 .

[0013] Preferably, the calibration method, wherein:

[0014] The coordinate system B is established as follows 1 : The origin is the upper left corner of the selected square. The horizontal axis is established through the origin in the horizontal direction, and the horizontal axis is positive from left to right. The vertical axis is established through the origin in the vertical direction, and the vertical axis is positive from top to bottom.

[0015] The coordinate system B is established as follows 2 : The origin is the upper right corner of the selected square. The horizontal axis is established through the origin in the horizontal direction, and the horizontal axis is positive from right to left. The vertical axis is established through the origin in the vertical direction, and the vertical axis is positive from top to bottom.

[0016] in:

[0017]

[0018] d is the thickness of the double-sided checkerboard calibration plate.

[0019] Preferably, in the calibration method, the double-sided checkerboard calibration plate is a transparent calibration plate in which white grids are light-transmissive and black grids are opaque, and the thickness of the transparent calibration plate is d=0.

[0020] Preferably, the calibration method, wherein the three-dimensional coordinates P of the first marking point M1, the second marking point M2 and the third marking point M3 in the coordinate system D of the depth camera are M1 , P M2 , P M3 , determine the transformation T of the distraction warning area coordinate system W to the coordinate system D of the depth camera DW The steps include:

[0021] Determine the vector representation of the x-axis of the distraction warning area coordinate system W in the coordinate system D of the depth camera:

[0022] Among them, norm represents the norm normalization operation;

[0023] Determine the vector representation of the y-axis of the distraction warning area coordinate system W in the coordinate system D of the depth camera:

[0024]

[0025] The vector of the z-axis of the distraction warning area coordinate system W in the coordinate system D of the depth camera is expressed as:

[0026]

[0027] The reason is:

[0028]

[0029] R represents the rotation transformation of the distraction warning area coordinate system W to the coordinate system D of the depth camera; t represents the translation transformation of the distraction warning area coordinate system W to the coordinate system D of the depth camera; P M1 x represents the three-dimensional coordinate P M1 The x-coordinate in PM1 y represents the three-dimensional coordinate P M1 The y coordinate in P M1 z represents the three-dimensional coordinate P M1 The z coordinate in ;

[0030] in:

[0031]

[0032] t=[P M1 x P M1 y M1 z] T .

[0033] Preferably, the calibration method further comprises:

[0034] According to the transformation T from the coordinate system C of the first camera to the coordinate system W of the distraction warning area WC Determine the intersection of the driver's sight line and the xy plane in the distraction warning area coordinate system W;

[0035] When the intersection point is below the distraction warning boundary, it is determined that the driver is in a distracted state.

[0036] In another aspect, a system for calibrating a distraction warning area in a cockpit is provided, which uses any of the calibration methods described above to calibrate a distraction warning area in a cockpit, comprising: a first camera arranged in a cockpit for monitoring a driver, the distraction warning area being pre-set, the distraction warning area including a distraction warning boundary, and further comprising:

[0037] A depth camera and a double-sided chessboard calibration plate are also arranged in the cockpit; a first marking point M1, a second marking point M2 and a third marking point M3 are arranged in the distraction warning area, wherein the first marking point M1 and the second marking point M2 are located on the distraction warning boundary, and the third marking point M3 is located directly below the first marking point M1; the double-sided chessboard calibration plate includes a first surface and a second surface, and the chessboard corner points of the first surface and the second surface correspond one to one; the positions of the depth camera and the double-sided chessboard calibration plate are set so that the first camera can completely capture the first surface, and the depth camera can completely capture the second surface.

[0038] On the other hand, a device for calibrating a cockpit distraction warning area is provided, comprising a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement the steps of any of the calibration methods described above.

[0039] On the other hand, a computer-readable storage medium is provided, wherein at least one program is stored in the storage medium, and the at least one program is executed by a processor to implement the steps of any of the calibration methods described above.

[0040] On the other hand, a computer program product is provided, comprising a computer program, characterized in that when the computer program is executed by a processor, the steps of any of the calibration methods described above are implemented.

[0041] In yet another aspect, a vehicle is provided that uses any calibration method as described above to calibrate a cockpit distraction warning area.

[0042] The above technical solution has the following technical effects:

[0043] The technical solution of the embodiment of the present invention uses a driver monitoring camera, a depth camera, a double-sided checkerboard calibration plate and a number of marking points set in the distraction warning area. By obtaining the image of the double-sided checkerboard calibration plate taken by the first camera and the depth camera at the same time, and by calibrating the conversion relationship between the driver monitoring camera and the distraction warning area coordinate system, the problem of the driver monitoring camera's field of view not being able to cover the distraction warning area is solved.

[0044] The technical solution of the embodiment of the present invention can provide the distraction warning system with the key information required to determine whether the driver is distracted. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of a calibration system for calibrating a vehicle cockpit using a method for calibrating a cockpit distraction warning area according to an embodiment of the present invention;

[0046] Figure 2 It is a flowchart of a method for calibrating a distraction warning area in a cockpit according to an embodiment of the present invention;

[0047] Figure 3 A schematic diagram of a coordinate system established on a side of a double-sided chessboard calibration plate facing a driver monitoring camera in one embodiment of the present invention;

[0048] Figure 4 Schematic diagram of a coordinate system established on a side of a double-sided chessboard calibration plate facing a depth camera in one embodiment of the present invention. DETAILED DESCRIPTION

[0049] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0050] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0051] The calibration method of the cockpit distraction warning area of ​​the embodiment of the present invention realizes the calibration of the cockpit distraction warning area by establishing the conversion between the coordinate system of the driver monitoring camera and the coordinate system of the distraction warning area, and then the driver monitoring camera can be used to achieve the purpose of distraction warning. The calibration method of the embodiment of the present invention is implemented by a driver monitoring camera, a depth camera, a pre-customized double-sided checkerboard calibration plate and a plurality of marking points set in the distraction warning area arranged in the cockpit. The implementation process of the calibration method of the embodiment of the present invention is described below in conjunction with the accompanying drawings.

[0052] Embodiment 1:

[0053] Figure 1 A schematic diagram of a calibration system for calibrating a vehicle cockpit using the method for calibrating a cockpit distraction warning area according to an embodiment of the present invention.

[0054] like Figure 1 The system for calibrating the distraction warning area in the cockpit of the embodiment includes: a first camera, i.e., a driver monitoring camera, arranged in the cockpit for monitoring the driver, wherein the distraction warning area is pre-set, and the distraction warning area includes a distraction warning boundary, i.e., a distraction warning area dividing line, Figure 1 In the embodiment, the dividing line is indicated by a dotted line, that is, attention needs to be warned below the dotted line; the calibration system of this embodiment also includes: a depth camera and a pre-customized double-sided checkerboard calibration board also arranged in the cockpit. In which, a first marking point M1, a second marking point M2 and a third marking point M3 are arranged in the distraction warning area, wherein the first marking point M1 and the second marking point M2 are located on the distraction warning boundary, and the third marking point M3 is located directly below the first marking point M1; the double-sided checkerboard calibration board includes a first side and a second side, and the checkerboard corner points of the first side and the second side correspond one to one; the positions of the depth camera and the double-sided checkerboard calibration board are set so that the first camera can fully capture the first side, and the depth camera can fully capture the second side. In which, the depth camera can obtain image and point cloud data. In which, the first side is the side facing the driver monitoring camera; the second side is the side facing the depth camera.

[0055] In a specific implementation, the installation position of the depth camera is determined according to the layout of the cockpit and the installation position of the driver monitoring camera. Generally, the position of the monitoring camera on a vehicle model is fixed and cannot be changed, so it is necessary to adjust the placement of the depth camera and the double-sided checkerboard calibration plate at the same time so that both the monitoring camera and the depth camera can capture the complete checkerboard calibration plate. In a specific implementation, if Figure 1 In most cases, the monitoring camera C is pre-arranged on the A-pillar of the car cockpit; in this case, the depth camera D can be arranged above the main driver's seat. In other implementations, the depth camera D can be arranged in other positions as long as both the monitoring camera and the depth camera can capture the complete checkerboard calibration plate.

[0056] Embodiment 2:

[0057] Figure 2 FIG. 1 is a flow chart of a method for calibrating a distraction warning area in a cockpit according to an embodiment of the present invention. Figure 2 The method for calibrating the cockpit distraction warning area using the calibration system of the embodiment of the present invention comprises the following steps:

[0058] Obtaining a first image taken by a first camera and a second image taken by a depth camera at the same time, wherein the first image includes an image of a first side of a double-sided checkerboard calibration plate, and the second image includes: an image of a second side of the double-sided checkerboard calibration plate and an image of a distraction warning area;

[0059] Determine the transformation T of the coordinate system D of the depth camera to the coordinate system C of the first camera, i.e., the driver monitoring camera, based on the image of the first surface in the first image and the image of the second surface in the second image. CD ,in:

[0060]

[0061] in, is the coordinate system B pre-established on the first side of the double-sided checkerboard calibration plate 1 Transformation to the coordinate system C of the first camera, is the coordinate system B pre-established on the second side of the double-sided checkerboard calibration plate 2 To coordinate system B 1 The transformation of is the coordinate system B 2 To the depth camera coordinate system D transformation; In a specific implementation, the camera extrinsic parameter estimation method of the prior art is used to obtain the above transformation and

[0062] According to the three-dimensional coordinates P of the first marking point M1, the second marking point M2 and the third marking point M3 in the image of the distraction warning area contained in the second image in the coordinate system D of the depth camera M1 , P M2 , P M3 , determine the transformation T from the distraction warning area coordinate system W to the depth camera coordinate system D DW , where the distraction warning area coordinate system W is established with M1 as the origin, the line connecting M1 and M2 as the x-axis, and the line connecting M1 and M3 as the y-axis;

[0063] According to the transformation T from the coordinate system D of the depth camera to the coordinate system C of the first camera CD and the transformation T from the distraction warning area coordinate system W to the depth camera coordinate system D DW , determine the transformation T from the coordinate system C of the first camera to the coordinate system W of the distraction warning area WC ,in:

[0064] T WC =(T CD ·T DW ) -1 .

[0065] In a specific implementation, Figure 3 As shown, the coordinate system B is established on the first side of the double-sided checkerboard calibration plate in the following manner 1 :The origin is the upper left corner of the selected square. The horizontal axis is established through the origin in the horizontal direction, and the horizontal axis is positive from left to right. The vertical axis is established through the origin in the vertical direction, and the vertical axis is positive from top to bottom. Figure 4 As shown, the coordinate system B is established on the first side of the double-sided checkerboard calibration plate in the following manner 2 : The origin is the upper right corner of the selected square. The horizontal axis is established through the origin in the horizontal direction, and the horizontal axis is positive from right to left. The vertical axis is established through the origin in the vertical direction, and the vertical axis is positive from top to bottom.

[0066] in:

[0067]

[0068] Where d is the thickness of the double-sided checkerboard calibration plate, and the value of d is known.

[0069] In other implementations, coordinate system B 1 and coordinate system B 2 It can be established in other ways, such as using other grids to determine the origin, which will not be described here.

[0070] In a specific implementation, the double-sided checkerboard calibration plate is a transparent calibration plate in which white grids are light-transmissive and black grids are light-opaque, and the thickness of the transparent calibration plate is d=0.

[0071] In a specific implementation, with the help of an image captured by a depth camera, such as a color image, the image includes an image of the distraction warning area, the position of each marker point is segmented from the image, and the coordinates of each marker point in the depth camera point cloud data are obtained, that is, the three-dimensional coordinates P of the first marker point M1, the second marker point M2 and the third marker point M3 in the coordinate system D of the depth camera M1 , P M2 , P M3 , then determine the transformation T from the distraction warning area coordinate system W to the depth camera coordinate system D DW The steps include:

[0072] Determine the vector representation of the x-axis of the distraction warning area coordinate system W in the depth camera coordinate system D:

[0073] Among them, norm represents the norm normalization operation;

[0074] Determine the vector representation of the y-axis of the distraction warning area coordinate system W in the depth camera coordinate system D:

[0075]

[0076] The vector of the z-axis of the distraction warning area coordinate system W in the depth camera coordinate system D is expressed as:

[0077]

[0078] From this, we can get the transformation T from the distraction warning area coordinate system W to the depth camera coordinate system D DW for:

[0079]

[0080] R represents the rotation transformation from the distraction warning area coordinate system W to the depth camera coordinate system D;

[0081] t represents the translation transformation from the distraction warning area coordinate system W to the depth camera coordinate system D; P M1 x represents the three-dimensional coordinate P M1 The x-coordinate in P M1 y represents the three-dimensional coordinate P M1 The y coordinate in P M1 z represents the three-dimensional coordinate P M1 The z coordinate in ;

[0082] in:

[0083]

[0084] t=[P M1 xP M1 YM1 z] T .

[0085] The embodiment of the present invention provides a method for calibrating a distraction warning area in a cockpit, which does not provide specific information on how to be distracted, but can be used in combination with a distraction detection system for detecting distraction to determine whether the driver is distracted; in addition, the distraction warning area is defined in accordance with the EU ADDW standard, and the setting of the distraction warning area depends on the design parameters of each motor vehicle. In the implementation of the embodiment of the present invention, the distraction warning area in the cockpit and its distraction warning boundary are both predetermined, and the embodiment of the present invention is implemented when the positions of the distraction warning area and its distraction warning boundary are known.

[0086] In one application scenario, a distraction warning method that can be implemented using the calibration method of an embodiment of the present invention is as follows: by transforming the attention information monitored by the driver monitoring camera, such as the driver's sight line, into the distraction warning area coordinate system, then calculating the intersection of the driver's sight line and the xy plane of the distraction warning area coordinate system. If the intersection coordinates are within Figure 1 If the vehicle is below the dashed line, the driver is distracted.

[0087] Embodiment three:

[0088] The present invention also provides a device for calibrating a cockpit distraction warning area, comprising a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement the steps of the calibration method described above.

[0089] Further, as an executable solution, the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the computer unit, and various interfaces and lines are used to connect the various parts of the entire computer unit.

[0090] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the computer unit by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0091] Embodiment 4:

[0092] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the calibration method of the present invention are implemented.

[0093] If the module / unit integrated in the computer unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory) and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0094] Embodiment five:

[0095] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the calibration method described above are implemented.

[0096] Embodiment six:

[0097] The present invention also provides a vehicle that uses the calibration method described above to calibrate a cockpit distraction warning area.

[0098] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A method for calibrating a distraction warning area in a cockpit, wherein a first camera for monitoring a driver is arranged in the cockpit, the distraction warning area is pre-set, and the distraction warning area includes a distraction warning boundary, characterized in that: A depth camera and a double-sided chessboard calibration plate are also provided in the cockpit; a first mark point M1, a second mark point M2 and a third mark point M3 are provided in the distraction warning area, wherein the first mark point M1 and the second mark point M2 are located on the distraction warning boundary, and the third mark point M3 is located directly below the first mark point M1; the double-sided chessboard calibration plate includes a first surface and a second surface, and the chessboard corner points of the first surface and the second surface correspond one to one; the positions of the depth camera and the double-sided chessboard calibration plate are set so that the first camera can completely capture the first surface, and the depth camera can completely capture the second surface; the calibration method includes: Obtaining a first image taken by the first camera and a second image taken by the depth camera at the same time, wherein the first image includes an image of the first surface, and the second image includes: an image of the second surface and an image of the distraction warning area; Determine a transformation T from the coordinate system D of the depth camera to the coordinate system C of the first camera according to the image of the first surface in the first image and the image of the second surface in the second image. CD ,in: in, is a transformation from the coordinate system B1 pre-established in the first surface of the double-sided checkerboard calibration plate to the coordinate system C of the first camera, is a transformation from the coordinate system B2 pre-established on the second surface of the double-sided checkerboard calibration plate to the coordinate system B1, is the transformation of the coordinate system B2 to the coordinate system D of the depth camera; According to the three-dimensional coordinates P of the first marking point M1, the second marking point M2 and the third marking point M3 in the image of the distraction warning area contained in the second image in the coordinate system D of the depth camera, M1 , P M2 , P M3 , determine the transformation T of the distraction warning area coordinate system W to the coordinate system D of the depth camera DW , where the distraction warning area coordinate system W is established with M1 as the origin, the line connecting M1 and M2 as the x-axis, and the line connecting M1 and M3 as the y-axis; According to the transformation T from the coordinate system D of the depth camera to the coordinate system C of the first camera CD and the transformation T of the distraction warning area coordinate system W to the coordinate system D of the depth camera DW , determine the transformation T from the coordinate system C of the first camera to the coordinate system W of the distraction warning area WC ,in: T WC =(T CD ·T DW ) -1 。 2. The calibration method according to claim 1, characterized in that: The coordinate system B1 is established in the following manner: the origin is the upper left corner of the selected square, a horizontal axis is established through the origin in the horizontal direction, and the horizontal axis is positive from left to right, and a vertical axis is established through the origin in the vertical direction, and the vertical axis is positive from top to bottom; The coordinate system B2 is established in the following manner: the origin is the upper right corner of the selected square, a horizontal axis is established through the origin in the horizontal direction, from right to left is the positive direction of the horizontal axis, and a vertical axis is established through the origin in the vertical direction, from top to bottom is the positive direction of the vertical axis; in: d is the thickness of the double-sided checkerboard calibration plate.

3. The calibration method according to claim 2, characterized in that: The double-sided checkerboard calibration plate is a transparent calibration plate with white grids being light-transmissive and black grids being opaque, and the thickness of the transparent calibration plate is d=0.

4. The calibration method according to claim 2, characterized in that: According to the three-dimensional coordinates P of the first marking point M1, the second marking point M2 and the third marking point M3 in the coordinate system D of the depth camera M1 , P M2 , P M3 , determine the transformation T of the distraction warning area coordinate system W to the coordinate system D of the depth camera DW The steps include: Determine the vector representation of the x-axis of the distraction warning area coordinate system W in the coordinate system D of the depth camera: Among them, norm represents the norm normalization operation; Determine the vector representation of the y-axis of the distraction warning area coordinate system W in the coordinate system D of the depth camera: The vector of the z-axis of the distraction warning area coordinate system W in the coordinate system D of the depth camera is expressed as: in: R represents the rotation transformation of the distraction warning area coordinate system W to the coordinate system D of the depth camera; t represents the translation transformation of the distraction warning area coordinate system W to the coordinate system D of the depth camera; P M1 x represents the three-dimensional coordinate P M1 The x-coordinate in P M1 y represents the three-dimensional coordinate P M1 The y coordinate in P M1 z represents the three-dimensional coordinate P M1 The z coordinate in ; in: t=[P M1 x P M1 y P M1 z] T 。 5. The calibration method according to claim 1, characterized in that: Also includes: According to the transformation T from the coordinate system C of the first camera to the coordinate system W of the distraction warning area WC Determine the intersection of the driver's sight line and the xy plane in the distraction warning area coordinate system W; When the intersection point is below the distraction warning boundary, it is determined that the driver is in a distracted state.

6. A cockpit distraction warning area calibration system, which uses the calibration method according to any one of claims 1 to 5 to calibrate the cockpit distraction warning area, comprising: A first camera for monitoring the driver is arranged in the cockpit, wherein the distraction warning area is pre-set, and the distraction warning area includes a distraction warning boundary, and is characterized in that it also includes: A depth camera and a double-sided chessboard calibration plate are also arranged in the cockpit; a first marking point M1, a second marking point M2 and a third marking point M3 are arranged in the distraction warning area, wherein the first marking point M1 and the second marking point M2 are located on the distraction warning boundary, and the third marking point M3 is located directly below the first marking point M1; the double-sided chessboard calibration plate includes a first surface and a second surface, and the chessboard corner points of the first surface and the second surface correspond one to one; the positions of the depth camera and the double-sided chessboard calibration plate are set so that the first camera can completely capture the first surface, and the depth camera can completely capture the second surface.

7. A device for calibrating a cockpit distraction warning area, characterized in that: The method comprises a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement the steps of the calibration method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The storage medium stores at least one program, and the at least one program is executed by a processor to implement the steps of the calibration method according to any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the calibration method according to any one of claims 1 to 5 are implemented.

10. A vehicle that uses the calibration method according to any one of claims 1 to 5 to calibrate a cockpit distraction warning area.

Images