Calibration method and system for distance line of electronic rearview mirror of automobile

Abstract

The invention discloses a calibration method and system for an automobile electronic rearview mirror distance line, and mainly relates to the technical field of commercial vehicle rearview mirror distance line calibration. The method comprises the following steps: calibrating positions of two positioning points at the front part and the rear part of a vehicle; four mark points which can be recognized by the camera are marked on the left side and the right side of the vehicle respectively; according to the four marking points marked on the left side and the right side of the vehicle respectively, all image information of the vehicle is collected, and coordinate value information of the marking points is obtained; calculating the distance between an object behind the vehicle and the vehicle according to the coordinate value information of the mark point; and setting three distance points, calculating the distance points and then outputting a distance line. The beneficial effects of the invention lie in that the remote point behind the vehicle is calibrated through the distance calculation of the close-distance calibration point, and the distance line is displayed through the display screen, so that the distance of the rear object is accurately indicated.

Description

Technical Field

[0001] The invention relates to the technical field of commercial vehicle rearview mirror distance line calibration, in particular to a method and system for calibrating the distance line of an automobile electronic rearview mirror. Background Art

[0002] With the implementation of GB / T 15084, most manufacturers have pushed the electronic rearview mirror system into the R&D or implementation stage. Since the electronic rearview mirror uses a display screen to display the rear image, it is difficult to judge the distance of the rear vehicle. It is necessary to mark the distance line on the display screen. When the rear vehicle approaches, the distance line can accurately judge the distance between the rear vehicle and the vehicle. The distance line on the display screen varies due to the height and angle of the external camera installed on different vehicles, and the image range displayed on the display screen is different.

[0003] Therefore, there is an urgent need for a method and system for calibrating the distance line of an electronic rearview mirror of an automobile to calibrate the distance line of the electronic rearview mirror of the vehicle. Summary of the invention

[0004] The purpose of the present invention is to provide a method and system for calibrating the distance line of an automobile electronic rearview mirror, which calibrates the long-distance points behind the vehicle by calculating the distance of short-distance calibration points, and displays the distance line on a display screen to accurately indicate the distance of the rear object.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] On the one hand, a method for calibrating a distance line of an electronic rearview mirror of an automobile is provided, comprising the following steps:

[0007] S1: calibrate the positions of the two positioning points at the front and rear of the vehicle;

[0008] S2: Mark four points on the left and right sides of the vehicle that can be recognized by the camera;

[0009] S3: According to the four marking points marked on the left and right sides of the vehicle in step S2, all image information is collected, and the coordinate value information of the marking points is obtained;

[0010] S4: Calculate the distance between the object behind the vehicle and the vehicle according to the coordinate value information of the marking point;

[0011] S5: Set three distance points, calculate the distance points and output the distance lines.

[0012] Preferably, in step S1, the positions of two positioning points at the front and rear of the vehicle are calibrated, specifically:

[0013] An auxiliary positioning tool is used to calibrate the positions of the two positioning points at the front and rear of the vehicle respectively. The auxiliary positioning tool is specifically: in the shape of a long strip, the length of which is greater than the width of the vehicle to be equipped with the electronic rearview mirror. The auxiliary positioning tool is provided with two points, and the distance between the two points is also greater than the width of the vehicle to be equipped with the electronic rearview mirror.

[0014] Preferably, the auxiliary positioning tool is used to calibrate the positions of the two positioning points at the front of the vehicle respectively, specifically: calibrate the positions of the two positioning points at the front of the vehicle, the two positioning points are located at the front end of the vehicle, and are symmetrical with respect to the central axis of the vehicle, and the line connecting the two points is perpendicular to the central axis of the vehicle;

[0015] An auxiliary positioning tool is used to calibrate the positions of the two positioning points at the rear of the vehicle. Specifically, the positions of the two positioning points at the rear of the vehicle are calibrated. The two positioning points are located at the rear end of the vehicle and are symmetrical relative to the center axis of the vehicle. The line connecting the two points is perpendicular to the center axis of the vehicle.

[0016] Preferably, in step S2, specifically: four marking points identifiable by the camera are marked on the left and right sides of the vehicle, two on the left side of the vehicle and two on the right side.

[0017] Preferably, the left camera captures images of two marked points on the left side of the vehicle, and the right camera captures images of two marked points on the right side of the vehicle. The images are transmitted to the vehicle controller, and the vehicle controller transmits the images directly to the display screens on the left and right sides of the vehicle and displays them without processing on the display screens on the left and right sides of the vehicle.

[0018] Preferably, the step S3 is specifically as follows: two positioning points and a coordinate axis are displayed on the display screens on the left and right sides of the vehicle, and a total of four positioning points on the left and right sides of the vehicle are calibrated with different coordinate values ​​in the coordinate axis.

[0019] Preferably, the step S4 is specifically as follows: the coordinate values ​​of the four positioning points are input into the vehicle controller, and the vehicle controller calculates the distance of the object behind the vehicle from the vehicle based on the coordinate value information of the existing calibration points, combined with the height value, observation range and distortion correction value of the camera.

[0020] Preferably, the step S5 is specifically as follows: setting three distance points, where the three distance points are the distances between the rear object and the vehicle, inputting the set distance values ​​into the vehicle controller, and the vehicle controller calculates the three distance points and displays the distance lines on the display screen according to the coordinate axis positions of the display screen.

[0021] Preferably, when the lower portion of the object behind the vehicle coincides with the distance line, the distance represented by the distance line is the distance from the object behind the vehicle to the vehicle.

[0022] On the other hand, a calibration system based on the above-mentioned automotive electronic rearview mirror distance line calibration method is provided, comprising:

[0023] The data calibration module is used to: calibrate the positions of two positioning points at the front and rear of the vehicle; mark four marking points that can be recognized by the camera on the left and right sides of the vehicle;

[0024] The data acquisition module is used to: collect all image information of the four marking points marked on the left and right sides of the vehicle respectively in step S2, and obtain the coordinate value information of the marking points;

[0025] The data processing module is used to: calculate the distance of the object behind the vehicle from the vehicle according to the coordinate value information of the marking point;

[0026] The data output module is used to: set three distance points, calculate the distance points and output the distance line.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] By calculating the distance of the short-distance calibration points, the long-distance points behind the vehicle are calibrated, and the distance lines are displayed on the display screen to accurately indicate the distance of the rear objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a flow chart of the method of the present invention;

[0030] Figure 2 is a schematic diagram of an auxiliary positioning tool of the present invention;

[0031] Figure 3 It is a schematic diagram for determining the calibration points required for the calibration of the present invention;

[0032] Figure 4 is a schematic diagram of a process of determining a display screen distance line by the system of the present invention;

[0033] Figure 5 It is a schematic diagram of the actual positioning point corresponding to the distance line on the display screen of the present invention;

[0034] Figure 6 It is a schematic diagram of the system structure of the present invention. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the application equally.

[0036] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0037] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meanings of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0038] Example:

[0039] like Figure 1 As shown, this embodiment provides a method for calibrating the distance line of an automotive electronic rearview mirror, comprising the following steps:

[0040] S1: calibrate the positions of the two positioning points at the front and rear of the vehicle;

[0041] S2: Mark four camera-recognizable points on the left and right sides of the vehicle.

[0042] S3: According to the four marking points marked on the left and right sides of the vehicle in step S2, all image information is collected, and the coordinate value information of the marking points is obtained;

[0043] S4: Calculate the distance between the object behind the vehicle and the vehicle according to the coordinate value information of the marking point;

[0044] S5: Set three distance points, calculate the distance points and output the distance lines.

[0045] like Figure 2 As shown, in step S1, the positions of the front and rear of the vehicle are calibrated, specifically:

[0046] An auxiliary positioning tool is used to calibrate the positions of the two positioning points at the front and rear of the vehicle respectively. The auxiliary positioning tool is specifically: in the shape of a long strip, the length of which is greater than the width of the vehicle to be equipped with the electronic rearview mirror. The auxiliary positioning tool is provided with two points, and the distance between the two points is also greater than the width of the vehicle to be equipped with the electronic rearview mirror.

[0047] The vehicle makes a mark point on the ground at a close distance, and the mark point is displayed on the electronic rearview mirror display screen. The coordinate information of the mark point is recorded and input into the controller for calibration. The system will accurately calculate the distance of the real object seen on the display screen. Input the set distance and the distance line corresponding to this distance will be displayed on the display screen.

[0048] This calibration method requires a vehicle auxiliary calibration tool. The length a of the auxiliary calibration tool should be greater than the outermost width of the vehicle. Corresponding marks c are made at both ends of the auxiliary calibration tool. The distance b+b at point c should also be greater than the outer width of the vehicle and should be symmetrical relative to the midpoint of the tool.

[0049] like Figure 3-4 As shown, place the auxiliary calibration tool longitudinally at the bottom of the vehicle and move it close to the ground so that the calibration tool fits the front tire of the vehicle, and the fitting part is behind the front tire. After the auxiliary calibration tool fits the two front wheels of the vehicle, it should be perpendicular to the longitudinal symmetry axis of the vehicle. Move the calibration tool along the length direction of the auxiliary calibration tool so that the two marked points c on the calibration tool are symmetrical with respect to the longitudinal symmetry axis of the vehicle. At this time, mark the positions of the two points c, record them as points B and E, and make corresponding marks on the ground.

[0050] Place the auxiliary calibration tool longitudinally at the bottom of the vehicle and move it close to the ground so that the calibration tool fits the rear tire of the vehicle, and the fitting part is behind the rear tire. After the auxiliary calibration tool fits the two rear wheels of the vehicle, it should be perpendicular to the longitudinal symmetry axis of the vehicle. Move the calibration tool along the length direction of the auxiliary calibration tool so that the two marked points c on the calibration tool are symmetrical with respect to the longitudinal symmetry axis of the vehicle. At this time, mark the positions of the two c points, record them as points C and F, and make corresponding marks on the ground.

[0051] Connect points B and C and extend the line segment. Set a point M between B and C and mark it on the ground so that it can be clearly observed within the field of view of camera 1. Set a point D on the extended line of BC and mark it on the ground so that it can be clearly observed within the field of view of camera 1. The distance between point D and point C should not be too large and should be controlled within 2 meters. Use the same method to mark points N and G and make corresponding marks on the ground.

[0052] like Figure 5As shown, camera 1 collects image information and transmits it to controller 2, which sends the processed image information to display screen 3 for display. Taking the right side of the vehicle as an example (the same applies to the left side), the two points N and G marked on the ground will be displayed on the display screen. Record the coordinate values ​​of points N and G on the display screen at this time, and input the coordinate values ​​into controller 2. Controller 2 will calculate the distance of the object behind the vehicle from the vehicle based on the distance between points N and G, combined with the height value, observation range and distortion correction value of camera 1. Input the preset distance value into controller 2, and controller 2 will calculate the distance points X, Y, and Z, and display the distance lines x, y, and z represented by the distance points X, Y, and Z on the display screen.

[0053] During driving, the distance lines x, y, and z on the display screen can be used to more accurately judge the distance to the vehicle behind to ensure driving safety.

[0054] like Figure 6 As shown, this embodiment also provides a system for calibrating the distance line of an automotive electronic rearview mirror, including:

[0055] The data calibration module is used to: calibrate the positions of two positioning points at the front and rear of the vehicle; mark four marking points that can be recognized by the camera on the left and right sides of the vehicle;

[0056] The data acquisition module is used to: collect all image information of the four marking points marked on the left and right sides of the vehicle respectively in step S2, and obtain the coordinate value information of the marking points;

[0057] The data processing module is used to: calculate the distance of the object behind the vehicle from the vehicle according to the coordinate value information of the marking point;

[0058] The data output module is used to: set three distance points, calculate the distance points and output the distance line.

[0059] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A method for calibrating the distance line of an automotive electronic rearview mirror, characterized in that: The following steps are involved: S1: calibrate the positions of the two positioning points at the front and rear of the vehicle; S2: Mark four points on the left and right sides of the vehicle that can be recognized by the camera; S3: According to the four marking points marked on the left and right sides of the vehicle in step S2, all image information is collected, and the coordinate value information of the marking points is obtained; S4: Calculate the distance between the object behind the vehicle and the vehicle according to the coordinate value information of the marking point; S5: Set three distance points, calculate the distance points and output the distance lines.

2. The method for calibrating the distance line of an automotive electronic rearview mirror according to claim 1, characterized in that: In step S1, the positions of two positioning points at the front and rear of the vehicle are calibrated, specifically: An auxiliary positioning tool is used to calibrate the positions of the two positioning points at the front and rear of the vehicle respectively. The auxiliary positioning tool is specifically: in the shape of a long strip, the length of which is greater than the width of the vehicle to be equipped with the electronic rearview mirror. The auxiliary positioning tool is provided with two points, and the distance between the two points is also greater than the width of the vehicle to be equipped with the electronic rearview mirror.

3. A method for calibrating the distance line of an automotive electronic rearview mirror according to claim 2, characterized in that: The auxiliary positioning tool is used to calibrate the positions of the two positioning points at the front of the vehicle respectively, specifically: calibrate the positions of the two positioning points at the front of the vehicle, the two positioning points are located at the front end of the vehicle, and are symmetrical with respect to the center axis of the vehicle, and the line connecting the two points is perpendicular to the center axis of the vehicle; An auxiliary positioning tool is used to calibrate the positions of the two positioning points at the rear of the vehicle. Specifically, the positions of the two positioning points at the rear of the vehicle are calibrated. The two positioning points are located at the rear end of the vehicle and are symmetrical relative to the center axis of the vehicle. The line connecting the two points is perpendicular to the center axis of the vehicle.

4. The method for calibrating the distance line of an automotive electronic rearview mirror according to claim 1, characterized in that: In the step S2, specifically, four marking points identifiable by the camera are marked on the left and right sides of the vehicle, two on the left side of the vehicle and two on the right side.

5. A method for calibrating the distance line of an automotive electronic rearview mirror according to claim 4, characterized in that: The left camera collects images of two marked points on the left side of the vehicle, and the right camera collects images of two marked points on the right side of the vehicle. The images are transmitted to the vehicle controller, and the vehicle controller transmits the images directly to the display screens on the left and right sides of the vehicle and displays them without processing on the display screens on the left and right sides of the vehicle.

6. A method for calibrating the distance line of an automotive electronic rearview mirror according to claim 5, characterized in that: The step S3 is specifically as follows: two positioning points and a coordinate axis are displayed on the display screens on the left and right sides of the vehicle, and a total of four positioning points on the left and right sides of the vehicle are calibrated with different coordinate values ​​in the coordinate axis.

7. A method for calibrating the distance line of an automotive electronic rearview mirror according to claim 6, characterized in that: The step S4 is specifically as follows: the coordinate values ​​of the four positioning points are input into the vehicle controller, and the vehicle controller calculates the distance of the object behind the vehicle from the vehicle based on the coordinate value information of the existing calibration points, combined with the height value, observation range and distortion correction value of the camera.

8. A method for calibrating the distance line of an automotive electronic rearview mirror according to claim 7, characterized in that: The step S5 is specifically as follows: setting three distance points, where the three distance points are the distances between the rear object and the vehicle, inputting the set distance values ​​into the vehicle controller, and the vehicle controller calculates the three distance points and displays the distance lines on the display screen according to the coordinate axis positions of the display screen.

9. A method for calibrating the distance line of an automotive electronic rearview mirror according to claim 8, characterized in that: When the lower part of the object behind the vehicle coincides with the distance line, the distance represented by the distance line is the distance from the object behind the vehicle to the vehicle.

10. A calibration system based on the calibration method of the automotive electronic rearview mirror distance line as claimed in claim 1, characterized in that: include: The data calibration module is used to: calibrate the positions of two positioning points at the front and rear of the vehicle; mark four marking points that can be recognized by the camera on the left and right sides of the vehicle; The data acquisition module is used to: collect all image information of the four marking points marked on the left and right sides of the vehicle respectively in step S2, and obtain the coordinate value information of the marking points; The data processing module is used to: calculate the distance of the object behind the vehicle from the vehicle according to the coordinate value information of the marking point; The data output module is used to: set three distance points, calculate the distance points and output the distance line.

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