Vehicle active camouflage stealth system and method

Abstract

The invention provides an active camouflage stealth system and method for a vehicle. The system comprises a central processing unit, a camera shooting unit and a lamp set controller which are connected with the central processing unit, and an RGB lamp set connected with the lamp set controller. Each RGB lamp set is composed of three lamps with the colors being red, green and blue, and the RGB lamp sets are fixed to a flexible net covering the top of the compartment and arranged into a rectangular array which is evenly distributed. The camera unit is used for shooting video images of the ground around the vehicle; and the central processing unit processes the video image to obtain a simulation image of the ground area under the vehicle, and controls the RGB lamp group based on the RGB pixel value of the simulation image, so that the vehicle image obtained by the reconnaissance equipment is approximate to the simulation image. The method has the advantages of novel hiding thought, simple and easy scheme implementation, good hiding effect and the like, and can effectively solve the problem of active optical band camouflage hiding of the vehicle in the road environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle stealth, and in particular relates to a vehicle active camouflage stealth system and method. Background Art

[0002] Vehicles are inevitably subject to detection by drones, satellites and radars in a confrontation environment. Once their positions are exposed, they will fail in the confrontation. Therefore, enhancing the camouflage and stealth effects of vehicles is a key way to improve their battlefield survivability. Camouflage is to reduce the difference between the target and the background in the optical, thermal infrared, and microwave bands in the electromagnetic wave scattering or radiation characteristics to conceal the target or reduce the detectability of the target; or simulate or expand the difference between the target and the environment to form a false target to deceive the enemy, generally including shielding, fusion, false display, avoidance and other technical means.

[0003] In order to solve the problems of vehicle camouflage and stealth and countering high-altitude drone and satellite detection, the present invention proposes a vehicle active camouflage and stealth system and method. Summary of the invention

[0004] In order to solve the above problems existing in the prior art, the present invention provides a vehicle active camouflage and stealth system and method. The solution is simple and easy to implement, has high cost-effectiveness, and can effectively solve the problem of active camouflage and stealth of vehicles in optical bands in road environments.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions.

[0006] In the first aspect, the present invention provides a vehicle active camouflage stealth system, comprising: a central processing unit, a camera unit and a light group controller connected to the central processing unit, and an RGB light group connected to the light group controller; each RGB light group consists of three lights of red, green and blue, respectively, and the RGB light groups are fixed on a flexible net covering the top of the vehicle and arranged in a uniformly distributed rectangular array; the camera unit is used to capture a video image of the ground around the vehicle; the central processing unit obtains a simulated image of the ground area under the vehicle by processing the video image, and controls the RGB light group based on the RGB pixel values ​​of the simulated image, so that the vehicle image obtained by the reconnaissance equipment is approximately the simulated image.

[0007] Furthermore, the camera unit includes a plurality of fisheye cameras installed on both sides of the vehicle body and at the front and rear of the vehicle, and the field of view of the fisheye camera is greater than 180 0 ×120 0 , sloping down 45 0 Install.

[0008] Furthermore, the rectangular array includes M rows×N columns of RGB light groups, and the analog image includes M rows×N columns of pixel points after interpolation or downsampling.

[0009] Furthermore, the method for controlling the RGB light group includes: the central processing unit outputs a control signal to the light group controller according to the RGB pixel value of the pixel point in the mth row and nth column, and the light group controller outputs a PWM pulse signal with a duty cycle proportional to the RGB pixel value to the red, green and blue lights in the mth row and nth column of the RGB light group; wherein m=1,2,...,M, n=1,2,...,N.

[0010] Furthermore, the method for obtaining the simulated image includes:

[0011] Get the video image output by the fisheye camera;

[0012] Processing the video image to obtain a panoramic surround image, which is in the shape of a rectangular ring surrounding the vehicle, and there is no image inside the rectangular ring;

[0013] The inner area of ​​the rectangular ring is filled with the panoramic surround image acquired in real time, and the image inside the rectangular ring is the simulated image.

[0014] Furthermore, the method for obtaining the panoramic surround image includes:

[0015] Perform distortion correction on the video image output by the fisheye camera based on camera calibration;

[0016] Performing bird's-eye-view orthographic projection transformation on the video image after distortion correction, converting the irregular quadrilateral image into a standard rectangular image;

[0017] The rectangular images transformed by orthographic projection are stitched together, and the overlapping areas of adjacent rectangular images are fused to obtain a panoramic stitching image.

[0018] Furthermore, the method for generating the simulated image specifically includes:

[0019] S1, initializing the image I inside the rectangular ring;

[0020] S2, obtaining the panoramic image I0(k-1) of the previous moment k-1, and combining I0(k-1) with the image I(k-1) into a rectangular image I1(k-1);

[0021] S3, predicting the images I1(k) and I(k) at the current time k based on I1(k-1);

[0022] S3.1. By solving a system of equations with i and j as known quantities and m and n as unknown quantities, the pixel point of the mth row and nth column of I1(k-1) corresponding to the pixel point of the ith row and jth column of I1(k) is obtained. The system of equations is:

[0023]

[0024] In the formula, horizontal arrows represent vectors, × represents vector multiplication, is the turning speed of the vehicle at the previous moment k-1, is the speed of the vehicle at the previous moment k-1, dt is the time interval between two adjacent moments, (x1, y1) and (x2, y2) are the coordinates of the physical positions corresponding to the pixel point in the mth row and nth column of I1(k-1) and the pixel point in the ith row and jth column of I1(k) in the geographic coordinate system, (x0, y0) is the coordinate of the steering center of the vehicle in the geographic coordinate system, the origin of the geographic coordinate system is located at a vertex of the rectangular area covered by the panoramic image on the ground, the x and y axes coincide with the two sides of the rectangular area passing through the vertex, L and W are the length and width of the rectangular area, L P , W P They are the physical length and width corresponding to a pixel, respectively, and int() represents rounding operation;

[0025] S3.2, set the pixel value of the pixel point in the i-th row and j-th column of I1(k) to the pixel value of the pixel point in the m-th row and n-th column of I1(k-1), traverse all the pixel points, and obtain I1(k) and I(k);

[0026] S4. Repeat steps S2 and S3 to obtain a continuously updated I(k), where I(k) is the simulated image.

[0027] Furthermore, the method for generating the simulated image includes:

[0028] Obtaining direction angles θ and φ of the reconnaissance device relative to the vehicle through an external interface, where θ is the angle between the line connecting the reconnaissance device and the vehicle and the longitudinal symmetric plumb plane of the vehicle, and φ is the angle between the line and the forward centerline of the vehicle;

[0029] The area occupied by image I is translated by an offset to obtain area I′, and the image at area I′ is cut out from I1(k) to obtain the simulated image; the offset is:

[0030] ΔX=int(h×tanθ / L P ) (2)

[0031]

[0032] Wherein, ΔX and ΔY are the number of pixels contained in the components of the offset in the x-axis and y-axis directions, respectively, and h is the height of the vehicle.

[0033] Furthermore, the method for generating the simulated image further includes:

[0034] If equation group (1) has no solution, the pixel value of the pixel point in the i-th row and j-th column of I1(k) is set to the pixel value of the pixel point in the i-th row and j-th column of I1(k-1).

[0035] In a second aspect, the present invention provides a method for applying the system to perform vehicle stealth, comprising the following steps performed in a central processing unit:

[0036] Acquire a video image of the ground around the vehicle output by a camera unit;

[0037] Obtaining a simulated image of the ground area under the vehicle by processing the video image;

[0038] The RGB light group is controlled based on the RGB pixel values ​​of the simulated image so that the vehicle image obtained by the reconnaissance equipment is approximated to the simulated image.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The present invention is provided with a central processing unit, a camera unit, a light group controller and an RGB light group connected to the light group controller, each RGB light group is composed of three lights of red, green and blue, the RGB light group is fixed on a flexible net covering the top of the car, and arranged in a uniformly distributed rectangular array, the camera unit is used to capture a video image of the ground around the vehicle, the central processing unit processes the video image to obtain a simulated image of the ground under the vehicle, and controls the RGB light group based on the RGB pixel value of the simulated image, so that the vehicle image obtained by the reconnaissance equipment is similar to the simulated image, thereby realizing the active camouflage and stealth of the vehicle. The present invention has the advantages of novel stealth ideas, simple and easy implementation of the scheme, good stealth effect, etc., and can effectively solve the problem of active camouflage and stealth of vehicles in optical bands under road environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a block diagram of the composition of a vehicle active camouflage stealth system according to an embodiment of the present invention, wherein: 1-central processing unit, 2-camera unit, 3-light group controller, 4-RGB light group.

[0042] Figure 2 This is a schematic diagram of the installation position of the camera unit.

[0043] Figure 3 Schematic diagram of video image distortion before (a) and after (b) correction.

[0044] Figure 4 Schematic diagram of video image before (a) and after (b) front projection transformation.

[0045] Figure 5 A schematic diagram of a panoramic view image.

[0046] Figure 6 Schematic diagram of the rectangular ground area covered by the panoramic surround image and the ground area under the vehicle.

[0047] Figure 7 This is a schematic diagram of the rectangular array of RGB light groups.

[0048] Figure 8 The present invention is a flowchart of a method for using the system to perform vehicle stealth according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0050] Figure 1 The present invention is a block diagram of a vehicle active camouflage stealth system according to an embodiment of the present invention, comprising: a central processing unit 1, a camera unit 2 and a light group controller 3 connected to the central processing unit 1, and an RGB light group 4 connected to the light group controller 3; each RGB light group 4 is composed of three lights of red, green and blue, respectively, and the RGB light groups 4 are fixed on a flexible net covering the top of the vehicle and arranged in a uniformly distributed rectangular array; the camera unit 2 is used to capture a video image of the ground around the vehicle; the central processing unit 1 obtains a simulated image of the ground area under the vehicle by processing the video image, and controls the RGB light group 4 based on the RGB pixel values ​​of the simulated image, so that the vehicle image obtained by the reconnaissance equipment is approximately the simulated image.

[0051] In this embodiment, the system is mainly composed of a central processing unit 1, a camera unit 2, a light group controller 3 and an RGB light group 4. The connection relationship between the various parts is as follows: Figure 1 The functional principle of each part is introduced below.

[0052] The camera unit 2 is mainly used to obtain video images of the road surface around the vehicle and output the video images to the central processing unit 1.

[0053] The RGB lamp group 4 is mainly used to generate light of different colors to simulate the pixel points of the image. Each RGB lamp group 4 is composed of three lights of red, green and blue. According to the principle of three primary colors, any color of light can be generated by controlling the brightness of each color of the lamp. The RGB lamp group 4 is fixed on a flexible net and arranged in a uniformly distributed rectangular array on the flexible net, such as Figure 7The flexible net with the RGB light group 4 installed is covered on the top of the car, so that the vehicle image obtained by the reconnaissance equipment is actually the image generated by the RGB light group 4 array.

[0054] The lamp group controller 3 is used to output a voltage signal to drive the RGB lamp group 4 under the control of the central processing unit, so that the RGB lamp group 4 emits light.

[0055] The central processing unit 1 is the control and data processing center of the system, which is used to coordinate the work of other units by outputting various control signals and complete the necessary data processing tasks. For example, the video image output by the camera unit 2 is processed to generate a simulated image of the ground area under the vehicle, and the RGB light group 4 array is controlled by the light group controller 3 based on the simulated image. Since there is no camera installed on the chassis of the vehicle, it is impossible to obtain a real image of the ground area under the vehicle. For this reason, this embodiment processes the video image of the ground around the vehicle to generate an image similar to the ground image around the vehicle, and uses this image as the image of the ground area under the vehicle, which is why it is called a simulated image. After obtaining the simulated image, each RGB light group 4 is controlled according to the RGB pixel value of each pixel on the image, and one RGB light group 4 simulates one pixel. In this way, after the light emitted by the RGB light group 4 array is obtained by the reconnaissance equipment, an image similar to the simulated image can be obtained, and the simulated image is very similar to the image around the vehicle, so it is difficult for the reconnaissance equipment to identify the vehicle from the obtained image, thereby playing a good stealth role.

[0056] As an optional embodiment, the camera unit 2 includes a plurality of fisheye cameras installed on both sides of the vehicle body and the front and rear of the vehicle, and the field of view of the fisheye camera is greater than 180 0 ×120 0 , sloping down 45 0 Install.

[0057] This embodiment provides a technical solution for the camera unit 2. The camera unit 2 of this embodiment is mainly composed of a plurality of fisheye cameras. Since the image around the vehicle needs to be obtained, the fisheye cameras are generally installed on both sides of the vehicle body and at the front and rear positions, such as Figure 2 As shown. The number of fisheye cameras is related to the length of the vehicle body. The longer the vehicle body, the more fisheye cameras are needed. Fisheye cameras use an extreme wide-angle lens. In order to maximize the viewing angle of the lens, the front lens of this lens is very short in diameter and protrudes toward the front of the lens in a parabolic shape, which is quite similar to the eyes of fish. The field of view of a fisheye camera is greater than 180 0 ×120 0 , sloping down 45 0 Installed to facilitate the acquisition of images of the ground around the vehicle body.

[0058] As an optional embodiment, the rectangular array includes M rows×N columns of RGB light groups 4, and the analog image includes M rows×N columns of pixel points after interpolation or downsampling.

[0059] This embodiment provides a technical solution for performing uniform processing on the simulated image. After obtaining the simulated image, the RGB light group 4 cannot be directly controlled according to the simulated image, and uniform processing of the simulated image and the array of the RGB light group 4 is required, that is, to make the pixels of the simulated image correspond to the RGB light group 4 one by one. This embodiment makes the number and distribution of the pixels of the simulated image consistent with those of the RGB light group 4 by interpolating or downsampling the simulated image.

[0060] As an optional embodiment, the method for controlling the RGB light group 4 includes: the central processing unit 1 outputs a control signal to the light group controller 3 according to the RGB pixel value of the pixel point in the mth row and nth column, and the light group controller 3 outputs a PWM pulse signal with a duty cycle proportional to the RGB pixel value to the red, green and blue lights in the mth row and nth column of the RGB light group 4; wherein m=1,2,...,M, n=1,2,...,N.

[0061] This embodiment provides a technical solution for controlling the RGB light group 4. This embodiment controls the RGB light group 4 corresponding to the pixel point according to the RGB pixel value of each pixel point of the simulated image after uniform processing. Each RGB light group 4 is composed of three lights of red, green and blue colors, respectively. The brightness of the three lights of red, green and blue corresponds to the RGB pixel value of the pixel point, and the brightness of the light is determined by the driving voltage or current of the light. In this embodiment, the brightness of the light is adjusted by the light group controller 3 outputting a PWM pulse signal with an adjustable duty cycle.

[0062] As an optional embodiment, the method for obtaining the simulated image includes:

[0063] Get the video image output by the fisheye camera;

[0064] Processing the video image to obtain a panoramic surround image, which is in the shape of a rectangular ring surrounding the vehicle, and there is no image inside the rectangular ring;

[0065] The inner area of ​​the rectangular ring is filled with the panoramic surround image acquired in real time, and the image inside the rectangular ring is the simulated image.

[0066] This embodiment provides a technical solution for obtaining the simulated image. First, a video image output by a fisheye camera is obtained, and then the video image is processed to obtain a panoramic surround image. The shape of the panoramic surround image is a rectangular ring surrounding the vehicle, such as Figure 5The ground area occupied by the panoramic image is shown in Figure 6 As shown. Since there is no camera installed on the chassis of the vehicle, there is no image inside the rectangular ring and it is set to black. In this embodiment, the simulated image can be obtained by filling the black area with the panoramic surround image acquired in real time. When the vehicle is moving straight along the road, the image of the road surface in front of the vehicle is actually used to simulate the image of the road surface below the vehicle; when the vehicle turns, the image of the road surface in front of the vehicle and on one side is used to simulate the image of the road surface below the vehicle. Since the road surface in front of the vehicle and on one side is very close to the road surface below, their actual images are very close. It is difficult for reconnaissance equipment to distinguish between them by using simulated images instead of actual images.

[0067] As an optional embodiment, the method for obtaining a panoramic surround image includes:

[0068] Perform distortion correction on the video image output by the fisheye camera based on camera calibration;

[0069] Performing bird's-eye-view orthographic projection transformation on the video image after distortion correction, converting the irregular quadrilateral image into a standard rectangular image;

[0070] The rectangular images transformed by orthographic projection are stitched together, and the overlapping areas of adjacent rectangular images are fused to obtain a panoramic stitching image.

[0071] This embodiment provides a technical solution for obtaining a panoramic image. The calculation of the panoramic image includes the steps of camera calibration, distortion correction, orthographic transformation and overlapping area stitching. The above steps are all prior art and will not be described in detail here. The image obtained in each step is as follows: Figure 3 , 4 shown.

[0072] As an optional embodiment, the method for generating the simulated image specifically includes:

[0073] S1, initializing the image I inside the rectangular ring;

[0074] S2, obtaining the panoramic image I0(k-1) of the previous moment k-1, and combining I0(k-1) with the image I(k-1) into a rectangular image I1(k-1);

[0075] S3, predicting the images I1(k) and I(k) at the current time k based on I1(k-1);

[0076] S3.1. By solving a system of equations with i and j as known quantities and m and n as unknown quantities, the pixel point of the mth row and nth column of I1(k-1) corresponding to the pixel point of the ith row and jth column of I1(k) is obtained. The system of equations is:

[0077]

[0078] In the formula, horizontal arrows represent vectors, × represents vector multiplication, is the turning speed of the vehicle at the previous moment k-1, is the speed of the vehicle at the previous moment k-1, dt is the time interval between two adjacent moments, (x1, y1) and (x2, y2) are the coordinates of the physical positions corresponding to the pixel point in the mth row and nth column of I1(k-1) and the pixel point in the ith row and jth column of I1(k) in the geographic coordinate system, (x0, y0) is the coordinate of the steering center of the vehicle in the geographic coordinate system, the origin of the geographic coordinate system is located at a vertex of the rectangular area covered by the panoramic image on the ground, the x and y axes coincide with the two sides of the rectangular area passing through the vertex, L and W are the length and width of the rectangular area, L P , W P They are the physical length and width corresponding to a pixel, respectively, and int() represents rounding operation;

[0079] S3.2, set the pixel value of the pixel point in the i-th row and j-th column of I1(k) to the pixel value of the pixel point in the m-th row and n-th column of I1(k-1), traverse all the pixel points, and obtain I1(k) and I(k);

[0080] S4. Repeat steps S2 and S3 to obtain a continuously updated I(k), where I(k) is the simulated image.

[0081] This embodiment provides a specific solution for generating the simulated image. This embodiment obtains the simulated image by using a real-time panoramic image to fill the internal image-free area surrounded by the panoramic image. The technical solution of this embodiment includes steps S1 to S4.

[0082] Step S1 initializes the area occupied by the simulated image I, for example, setting the pixel values ​​of all pixels to 0.

[0083] Step S2 obtains the panoramic image I0(k-1) of the previous moment, and combines I0(k-1) with image I(k-1) into a rectangular image I1(k-1). The advantage of this processing is that the coordinates of the pixel points of I and I0 are unified into an image coordinate system with a vertex of I1 as the coordinate origin, and each cycle of the combined image I1(k-1) can use the real-time data I0(k-1) of the panoramic image.

[0084] Step S3 predicts the combined image I1(k) and the simulated image I(k) at the current moment based on the combined image I1(k-1) at the previous moment and the motion state of the vehicle. The technical principle is: according to the physical position coordinates (coordinates in the geographic coordinate system) corresponding to each pixel point of I1(k-1), as well as the driving speed and turning speed of the vehicle, an equation for calculating the physical position coordinates reached by the pixel point at the current moment is listed, i.e., the first equation of the equation group (1). The second and third equations of the equation group (1) are the relationship between the physical position coordinates and the image pixel coordinates, and the last one is the value range of i, j, m, and n of the pixel coordinates expressed by an inequality. The equation group (1) takes i and j as known quantities and m and n as unknown quantities (of course, the unknown quantities and known quantities can also be exchanged), that is, by solving the equation group to obtain m and n corresponding to each group of i and j, the pixel value of the pixel point in the i-th row and j-th column of I1(k) is set to the pixel value of the pixel point in the m-th row and n-th column of I1(k-1). By traversing all pixels, we can get I1(k) and I(k).

[0085] Step S4 is to repeatedly execute steps S2 and S3 to obtain a continuously updated simulated image I(k).

[0086] As an optional embodiment, the method for generating the simulated image includes:

[0087] Obtaining direction angles θ and φ of the reconnaissance device relative to the vehicle through an external interface, where θ is the angle between the line connecting the reconnaissance device and the vehicle and the longitudinal symmetric plumb plane of the vehicle, and φ is the angle between the line and the forward centerline of the vehicle;

[0088] The area occupied by image I is translated by an offset to obtain area I′, and the image at area I′ is cut out from I1(k) to obtain the simulated image; the offset is:

[0089] ΔX=int(h×tanθ / L P ) (2)

[0090] ΔY=int(h×tanφ / W P ) (3)

[0091] Wherein, ΔX and ΔY are the number of pixels contained in the components of the offset in the x-axis and y-axis directions, respectively, and h is the height of the vehicle.

[0092] This embodiment is an improved solution of the previous embodiment. The technical solution of the previous embodiment is suitable for the situation when the reconnaissance equipment is located directly above the vehicle, or the solution adopted when the position information of the reconnaissance equipment cannot be obtained. When the position of the reconnaissance equipment is not directly above the vehicle, it is necessary to deviate the center position of the image I from the center position of the panoramic view image (the two are originally concentric). The offset is related to the height of the vehicle and the degree to which the reconnaissance equipment deviates from the top of the vehicle. The specific calculation formula of the offset is as shown in formulas (2) and (3). The positive or negative value of the offset is related to the relative direction (front, back, left, and right) of the vehicle and the reconnaissance equipment.

[0093] As an optional embodiment, the method for generating the simulated image further includes:

[0094] If equation group (1) has no solution, the pixel value of the pixel point in the i-th row and j-th column of I1(k) is set to the pixel value of the pixel point in the i-th row and j-th column of I1(k-1).

[0095] This embodiment provides a processing method when the equation group (1) in the previous embodiment has no solution. Since the values ​​of m, n and i, j are limited to a certain range, see the inequality in the equation group (1), therefore, when the vehicle speed or turning speed is high, it is possible that the values ​​of m and n obtained are out of range, that is, the equation group (1) has no solution. At this time, the pixel values ​​corresponding to the pixel points i and j remain unchanged at the previous moment.

[0096] Figure 7 The flowchart of a method for using the system to perform vehicle stealth according to an embodiment of the present invention includes the following steps performed in the central processing unit 1:

[0097] Step 101, obtaining a video image of the ground around the vehicle output by the camera unit 2;

[0098] Step 102, obtaining a simulated image of the ground area under the vehicle by processing the video image;

[0099] Step 103 , controlling the RGB light group 4 based on the RGB pixel values ​​of the simulated image, so that the vehicle image obtained by the reconnaissance equipment is approximately the simulated image.

[0100] The method of this embodiment, Figure 1 Compared with the technical solution of the system embodiment shown in the figure, its implementation principle and technical effect are similar and will not be repeated here.

[0101] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A vehicle active camouflage stealth system, characterized in that: include: A central processing unit, a camera unit and a light group controller connected to the central processing unit, and an RGB light group connected to the light group controller; each RGB light group consists of three lights of red, green and blue, respectively; the RGB light groups are fixed on a flexible net covering the top of the vehicle and arranged in a uniformly distributed rectangular array; the camera unit is used to capture a video image of the ground around the vehicle; the central processing unit processes the video image to obtain a simulated image of the ground area under the vehicle, and controls the RGB light group based on the RGB pixel values ​​of the simulated image, so that the vehicle image obtained by the reconnaissance equipment is approximately the simulated image.

2. The vehicle active camouflage stealth system according to claim 1, characterized in that: The camera unit includes multiple fisheye cameras installed on both sides of the vehicle body and the front and rear of the vehicle, and the field of view of the fisheye camera is greater than 180 0 ×120 0 , sloping down 45 0 Install.

3. The vehicle active camouflage stealth system according to claim 1, characterized in that: The rectangular array includes M rows×N columns of RGB light groups, and the analog image includes M rows×N columns of pixel points after interpolation or downsampling.

4. The vehicle active camouflage stealth system according to claim 3 is characterized in that: The method for controlling an RGB light group includes: a central processing unit outputs a control signal to a light group controller according to the RGB pixel value of a pixel point in the mth row and nth column, and the light group controller outputs a PWM pulse signal with a duty cycle proportional to the RGB pixel value to the red, green, and blue lights in the mth row and nth column RGB light group; wherein m=1,2,...,M, and n=1,2,...,N.

5. The vehicle active camouflage stealth system according to claim 1, characterized in that: The method for obtaining the simulated image comprises: Get the video image output by the fisheye camera; Processing the video image to obtain a panoramic surround image, which is in the shape of a rectangular ring surrounding the vehicle, and there is no image inside the rectangular ring; The inner area of ​​the rectangular ring is filled with the panoramic surround image acquired in real time, and the image inside the rectangular ring is the simulated image.

6. The vehicle active camouflage stealth system according to claim 5, characterized in that: Methods for obtaining panoramic surround images include: Perform distortion correction on the video image output by the fisheye camera based on camera calibration; Performing bird's-eye-view orthographic projection transformation on the video image after distortion correction, converting the irregular quadrilateral image into a standard rectangular image; The rectangular images transformed by orthographic projection are stitched together, and the overlapping areas of adjacent rectangular images are fused to obtain a panoramic stitching image.

7. The vehicle active camouflage stealth system according to claim 6, characterized in that: The method for generating the simulated image specifically includes: S1, initializing the image I inside the rectangular ring; S2, obtaining the panoramic image I0(k-1) of the previous moment k-1, and combining I0(k-1) with the image I(k-1) into a rectangular image I1(k-1); S3, predicting the images I1(k) and I(k) at the current time k based on I1(k-1); S3.

1. By solving a system of equations with i and j as known quantities and m and n as unknown quantities, the pixel point of the mth row and nth column of I1(k-1) corresponding to the pixel point of the ith row and jth column of I1(k) is obtained. The system of equations is: In the formula, horizontal arrows represent vectors, × represents vector multiplication, is the turning speed of the vehicle at the previous moment k-1, is the speed of the vehicle at the previous moment k-1, dt is the time interval between two adjacent moments, (x1, y1) and (x2, y2) are the coordinates of the physical positions corresponding to the pixel point in the mth row and nth column of I1(k-1) and the pixel point in the ith row and jth column of I1(k) in the geographic coordinate system, (x0, y0) is the coordinate of the steering center of the vehicle in the geographic coordinate system, the origin of the geographic coordinate system is located at a vertex of the rectangular area covered by the panoramic image on the ground, the x and y axes coincide with the two sides of the rectangular area passing through the vertex, L and W are the length and width of the rectangular area, L P , W P They are the physical length and width corresponding to a pixel, respectively, and int() represents rounding operation; S3.2, set the pixel value of the pixel point in the i-th row and j-th column of I1(k) to the pixel value of the pixel point in the m-th row and n-th column of I1(k-1), traverse all the pixel points, and obtain I1(k) and I(k); S4. Repeat steps S2 and S3 to obtain a continuously updated I(k), where I(k) is the simulated image.

8. The vehicle active camouflage stealth system according to claim 7, characterized in that: The method for generating the simulated image comprises: Obtain the direction angle θ of the reconnaissance equipment relative to the vehicle through the external interface. θ is the angle between the line connecting the reconnaissance equipment and the vehicle and the longitudinal symmetric vertical plane of the vehicle. is the angle between the connecting line and the forward center axis of the vehicle; The area occupied by image I is translated by an offset to obtain area I′, and the image in area I′ is cut out from I1(k) to obtain the simulated image; the offset is: ΔX=int(h×tanθ / L P ) (2) Wherein, ΔX and ΔY are the number of pixels contained in the components of the offset in the x-axis and y-axis directions, respectively, and h is the height of the vehicle.

9. The vehicle active camouflage stealth system according to claim 7, characterized in that: The method for generating the simulated image further includes: If equation group (1) has no solution, the pixel value of the pixel point in the i-th row and j-th column of I1(k) is set to the pixel value of the pixel point in the i-th row and j-th column of I1(k-1).

10. A method for making a vehicle invisible by using the system of claim 1, characterized in that: The process comprises the following steps executed in the central processing unit: Acquire a video image of the ground around the vehicle output by a camera unit; Obtaining a simulated image of the ground area under the vehicle by processing the video image; The RGB light group is controlled based on the RGB pixel values ​​of the simulated image so that the vehicle image obtained by the reconnaissance equipment is approximated to the simulated image.

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