Electronic rearview mirror multiplexing-based sentry mode control system on heavy truck

Abstract

The invention relates to a sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck, which comprises a CMS monitor, a CMS camera, a cabin controller, a central control display screen and a T-BOX.The cabin controller is connected with the CMS monitor and used for receiving left and right II / IV view images, left and right V view images and front VI view images output by the CMS monitor; an improved consistency algorithm based on T inspection is adopted to monitor the environment around the vehicle to obtain monitored data information of the environment around the vehicle, so that a sentry mode is started, and based on the left V and right V view images and the front VI view image, an improved APAP algorithm is adopted to splice the view images of the commercial vehicle to obtain a spliced view image of the commercial vehicle. And the spliced 270-degree visual field surround view image of the commercial vehicle is obtained. According to the invention, the container area of the heavy truck can be well monitored, and the problem that the night imaging of a traditional vehicle-mounted camera is not ideal is solved, and a sentry mode focuses on monitoring the night scene on the heavy truck.

Description

Technical Field

[0001] The present invention relates to the technical field of heavy truck vision monitoring, and in particular to a sentinel mode control system based on multiplexing of electronic rearview mirrors on a heavy truck. Background Art

[0002] The electronic rearview mirror system is an important component of the assisted driving system. It is mainly used to replace the traditional glass mirror and reduce the blind spot of the vehicle. The system can be regarded as a "camera-display screen" model, which uses the camera to collect the surrounding field of view of the vehicle body and provides the driver with the surrounding field of view information of the vehicle through the display screen, thereby realizing the function of the traditional physical mirror. The advantages of the electronic rearview mirror system include: a wider range of driving field of view images, fewer blind spots, and the driver can grasp more road information; lower wind resistance can reduce the fuel consumption of the whole vehicle by 1%-2%.

[0003] Sentry mode, also known as the remote monitoring function, allows car owners to use their mobile phones to browse the video images captured by the cameras around the car body in real time after the car is parked. If the vehicle is hit or moved, the external camera will immediately record the surrounding environment and send a reminder to the car owner through the mobile phone application or SMS. The in-vehicle system can also play back the relevant video. In addition, the car owner can also use the mobile phone to perform remote operations, such as triggering the vehicle to honk, flash the lights, and make remote calls. Summary of the invention

[0004] In view of the above problems, the present invention provides a sentinel mode control system based on the reuse of electronic rearview mirrors on heavy trucks, which can not only monitor the cargo box area of ​​heavy trucks well, but also solve the problem of unsatisfactory night imaging of traditional vehicle-mounted cameras. The sentinel mode on heavy trucks focuses on monitoring night scenes.

[0005] In order to achieve the above-mentioned object and other related objects, the technical solution provided by the present invention is as follows: a sentry mode control system based on multiplexing of electronic rearview mirrors on a heavy truck, comprising a CMS monitor, a CMS camera, a cockpit controller, a central control display screen and a T-BOX, wherein the CMS camera is connected to the CMS monitor to transmit a captured image to the CMS monitor;

[0006] The CMS monitor is installed on the left and right A-pillars of the vehicle and is used to process and display the rear view of the vehicle instead of the physical rearview mirror;

[0007] The cockpit controller is connected to the CMS monitor, and is used to receive the left and right II / IV field of view images, the left and right V field of view images, and the front VI field of view images output by the CMS monitor, and use the improved consistency algorithm based on the T test to monitor the environment around the vehicle, and obtain the monitoring data information of the environment around the vehicle, so as to start the sentinel mode, and based on the left V field of view images, the right V field of view images, and the front VI field of view images, use the improved APAP algorithm to splice the field of view images of the commercial vehicle, and obtain the spliced ​​270° field of view surround image of the commercial vehicle;

[0008] The central control display screen is connected to the cockpit controller, and is used to display the sentry mode playback video output by the cockpit controller and simultaneously display the 270° surround video image output by the cockpit controller; the T-BOX is used to transmit vehicle alarm information to the mobile phone app, and can also transmit the sentry mode recorded video to the mobile phone app for playback.

[0009] Furthermore, the use of an improved consistency algorithm based on T-test to monitor the environment around the vehicle includes:

[0010] M1. Based on the left and right II / IV field of view images, left and right V field of view images and front VI field of view images, a pixel matrix of the vehicle surrounding environment image is constructed to obtain data information of the pixel matrix of the vehicle surrounding environment image;

[0011] M2. Based on the data information of the pixel matrix of the vehicle surrounding environment image, establish the T test function Q of the pixel points of the vehicle surrounding environment image,

[0012]

[0013] Among them, x t+1 is the data information of the pixel matrix of the vehicle surrounding environment image at the t+1th moment, x t is the data information of the pixel matrix of the vehicle surrounding environment image at the tth moment, α1, α2 and α3 are the penalty factors of the pixel points of the vehicle surrounding environment image, and the pixel points of the vehicle surrounding environment image are subjected to difference detection to obtain the data information of the difference detection of the pixel points of the vehicle surrounding environment image;

[0014] M3. Based on the data information of the difference detection of the pixels of the image around the vehicle, a consistency monitoring function W of the pixels of the image around the vehicle is established,

[0015]

[0016] Among them, y i is the data information of the difference detection of the i-th pixel point in the image around the vehicle, y i+1is the data information of the difference detection of the i+1th pixel point of the image around the vehicle, n is the sample capacity, β1, β2 and β3 are the consistency monitoring factors of the pixel points of the image around the vehicle, and the environment around the vehicle is monitored to obtain the monitoring data information of the environment around the vehicle.

[0017] Furthermore, in step M2, the penalty factors α1, α2 and α3 of the pixel points of the vehicle surrounding environment image are,

[0018]

[0019]

[0020] Among them, x t+1 is the data information of the pixel matrix of the vehicle surrounding environment image at the t+1th moment, x t It is the data information of the pixel matrix of the vehicle surrounding environment image at the tth moment.

[0021] Further, in step M3, the consistency monitoring factors β1, β2 and β3 of the pixel points of the vehicle surrounding image are,

[0022]

[0023] Among them, y i is the data information of the difference detection of the i-th pixel point in the image around the vehicle, y i+1 is the data information of the difference detection of the i+1th pixel point in the image around the vehicle, and n is the sample size.

[0024] Furthermore, the step of using the improved APAP algorithm to stitch the field of view images of the commercial vehicle includes:

[0025] L1. Based on the left V, right V field of view images and the front VI field of view image, a pixel matrix of the left V field of view image, a pixel matrix of the right V field of view image and a pixel matrix of the front VI field of view image are constructed;

[0026] L2. Based on the pixel matrix of the left V field of view image, the pixel matrix of the right V field of view image and the pixel matrix of the front VI field of view image, a pixel fusion function R of the field of view image of the vehicle is constructed.

[0027]

[0028] Wherein, z1 is the pixel matrix of the left V field of view image, z2 is the pixel matrix of the right V field of view image, z3 is the pixel matrix of the front VI field of view image, δ1, δ2 and δ3 are the fusion factors of the pixel points of the vehicle field of view image, and the pixel points of the vehicle field of view image are fused to obtain the data information of the pixel points of the fused vehicle field of view image;

[0029] L3. Based on the data information of the pixels of the fused vehicle's field of view image, a pixel reorganization splicing function S of the vehicle's field of view image is established,

[0030]

[0031] Among them, r is the data information of the pixel points of the fused vehicle's field of view image, γ1, γ2 and γ3 are the pixel point reorganization and splicing weight coefficients of the vehicle's field of view image, and the field of view images of the commercial vehicle are spliced ​​to obtain the spliced ​​270° field of view surround image of the commercial vehicle.

[0032] Furthermore, in step L2, the constraints of the fusion factors δ1, δ2 and δ3 of the pixel points of the field of view image of the vehicle are:

[0033]

[0034] Furthermore, in step L3, the pixel reassembly and splicing weight coefficients γ1, γ2 and γ3 of the field of view image of the vehicle are:

[0035]

[0036] Among them, r is the data information of the pixel points of the fused vehicle's field of view image.

[0037] Furthermore, the CMS camera includes a II / IV field of view camera, a V field of view camera and a VI field of view camera. The II / IV field of view camera is used for the II / IV field of view area on the driver's side and the passenger's side of the commercial vehicle, the V field of view camera is used for the V field of view area on the driver's side and the passenger's side of the commercial vehicle, and the VI field of view camera is used for the VI field of view area on the passenger's side of the commercial vehicle.

[0038] Furthermore, the CMS monitor includes at least 4 field of view monitors, namely, Class II / IV field of view monitors on the driver's side and the passenger's side, Class V / VI blind spot field monitors on the passenger's side, and Class V blind spot field monitors on the driver's side; the Class II / IV field of view monitors on the driver's side and the passenger's side use a 15-inch display screen with a built-in image processing unit to process the images output by Class II / IV cameras and display them, and output the processed images to the cockpit controller; the Class V / VI blind spot field monitor on the passenger's side uses a 10.1-inch display screen with a built-in image processing unit to process the images output by Class V / VI cameras on the passenger's side and display them, and output the processed images to the cockpit controller; the Class V blind spot field monitor on the driver's side uses a 7-inch display screen with a built-in image processing unit to process the images output by Class V cameras on the passenger's side and display them, and output the processed images to the cockpit controller.

[0039] Furthermore, after the vehicle turns on the sentry mode, when the vehicle encounters a collision or movement, the CMS camera will record the surrounding environment and send a reminder to the owner through the mobile application or text message via T-BOX. The owner can play back the relevant video through the mobile APP.

[0040] The present invention has the following positive effects:

[0041] 1. The present invention monitors the environment around the vehicle by adopting an improved consistency algorithm based on the T test, and combines the improved APAP algorithm to splice the field of view images of commercial vehicles. It can not only accurately monitor the field of view around the vehicle, but also solve the undesirable situation of the night sentinel mode of the traditional vehicle-mounted camera, while reducing the number of cameras and reducing the system cost.

[0042] 2. The present invention proposes for the first time to use CMS cameras to develop sentry mode functions on heavy trucks, and the II / IV field of view camera can monitor the cargo box area of ​​heavy trucks well due to regulatory requirements. At the same time, the CMS camera characteristics make up for the unclear imaging of traditional cameras at night, or even the situation that they cannot be used. The sentry mode heavy truck focuses on monitoring night scenes. Heavy trucks have a sentry mode function as well as a 270-degree surround view function, which reduces system costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the method flow of the present invention;

[0044] Figure 2 It is a schematic diagram of the process flow of the improved consistency algorithm based on T test of the present invention;

[0045] Figure 3It is a schematic diagram of the flow of the improved APAP algorithm of the present invention. DETAILED DESCRIPTION

[0046] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0047] Example 1: Figure 1 As shown, a sentry mode control system based on multiplexing of electronic rearview mirrors on a heavy truck includes a CMS monitor, a CMS camera, a cockpit controller, a central control display screen and a T-BOX, wherein the CMS camera is connected to the CMS monitor to transmit the captured image to the CMS monitor;

[0048] The CMS monitor is installed on the left and right A-pillars of the vehicle and is used to process and display the rear view of the vehicle instead of the physical rearview mirror;

[0049] The cockpit controller is connected to the CMS monitor, and is used to receive the left and right II / IV field of view images, the left and right V field of view images, and the front VI field of view images output by the CMS monitor, and use the improved consistency algorithm based on the T test to monitor the environment around the vehicle, and obtain the monitoring data information of the environment around the vehicle, so as to start the sentinel mode, and based on the left V field of view images, the right V field of view images, and the front VI field of view images, use the improved APAP algorithm to splice the field of view images of the commercial vehicle, and obtain the spliced ​​270° field of view surround image of the commercial vehicle;

[0050] The central control display screen is connected to the cockpit controller, and is used to display the sentry mode playback video output by the cockpit controller and simultaneously display the 270° surround video image output by the cockpit controller; the T-BOX is used to transmit vehicle alarm information to the mobile phone app, and can also transmit the sentry mode recorded video to the mobile phone app for playback.

[0051] In this embodiment, if Figure 2 As shown, the use of the improved consistency algorithm based on the T test to monitor the environment around the vehicle includes:

[0052] M1. Based on the left and right II / IV field of view images, left and right V field of view images and front VI field of view images, a pixel matrix of the vehicle surrounding environment image is constructed to obtain data information of the pixel matrix of the vehicle surrounding environment image;

[0053] M2. Based on the data information of the pixel matrix of the vehicle surrounding environment image, establish the T test function Q of the pixel points of the vehicle surrounding environment image,

[0054]

[0055] Among them, x t+1 is the data information of the pixel matrix of the vehicle surrounding environment image at the t+1th moment, x t is the data information of the pixel matrix of the vehicle surrounding environment image at the tth moment, α1, α2 and α3 are the penalty factors of the pixel points of the vehicle surrounding environment image, and the pixel points of the vehicle surrounding environment image are subjected to difference detection to obtain the data information of the difference detection of the pixel points of the vehicle surrounding environment image;

[0056] M3. Based on the data information of the difference detection of the pixels of the image around the vehicle, a consistency monitoring function W of the pixels of the image around the vehicle is established,

[0057]

[0058] Among them, y i is the data information of the difference detection of the i-th pixel point in the image around the vehicle, y i+1 is the data information of the difference detection of the i+1th pixel point of the image around the vehicle, n is the sample capacity, β1, β2 and β3 are the consistency monitoring factors of the pixel points of the image around the vehicle, and the environment around the vehicle is monitored to obtain the monitoring data information of the environment around the vehicle.

[0059] In this embodiment, in step M2, the penalty factors α1, α2 and α3 of the pixel points of the vehicle surrounding environment image are:

[0060]

[0061] Among them, x t+1 is the data information of the pixel matrix of the vehicle surrounding environment image at the t+1th moment, x t It is the data information of the pixel matrix of the vehicle surrounding environment image at the tth moment.

[0062] In this embodiment, in step M3, the consistency monitoring factors β1, β2 and β3 of the pixel points of the vehicle surrounding image are,

[0063]

[0064] Among them, y i is the data information of the difference detection of the i-th pixel point in the image around the vehicle, y i+1is the data information of the difference detection of the i+1th pixel point in the image around the vehicle, and n is the sample capacity.

[0065] Embodiment 2: Based on the sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck in Embodiment 1, the present invention is further illustrated and described below.

[0066] like Figure 1 As shown, a sentry mode control system based on multiplexing of electronic rearview mirrors on a heavy truck includes a CMS monitor, a CMS camera, a cockpit controller, a central control display screen and a T-BOX, wherein the CMS camera is connected to the CMS monitor to transmit the captured image to the CMS monitor;

[0067] The CMS monitor is installed on the left and right A-pillars of the vehicle and is used to process and display the rear view of the vehicle instead of the physical rearview mirror;

[0068] The cockpit controller is connected to the CMS monitor, and is used to receive the left and right II / IV field of view images, the left and right V field of view images, and the front VI field of view images output by the CMS monitor, and use the improved consistency algorithm based on the T test to monitor the environment around the vehicle, and obtain the monitoring data information of the environment around the vehicle, so as to start the sentinel mode, and based on the left V field of view images, the right V field of view images, and the front VI field of view images, use the improved APAP algorithm to splice the field of view images of the commercial vehicle, and obtain the spliced ​​270° field of view surround image of the commercial vehicle;

[0069] The central control display screen is connected to the cockpit controller, and is used to display the sentry mode playback video output by the cockpit controller and simultaneously display the 270° surround video image output by the cockpit controller; the T-BOX is used to transmit vehicle alarm information to the mobile phone app, and can also transmit the sentry mode recorded video to the mobile phone app for playback.

[0070] In this embodiment, if Figure 3 As shown, the method of stitching the field of view images of the commercial vehicle using the improved APAP algorithm includes:

[0071] L1. Based on the left V, right V field of view images and the front VI field of view image, a pixel matrix of the left V field of view image, a pixel matrix of the right V field of view image and a pixel matrix of the front VI field of view image are constructed;

[0072] L2. Based on the pixel matrix of the left V field of view image, the pixel matrix of the right V field of view image and the pixel matrix of the front VI field of view image, a pixel fusion function R of the field of view image of the vehicle is constructed.

[0073]

[0074] Wherein, z1 is the pixel matrix of the left V field of view image, z2 is the pixel matrix of the right V field of view image, z3 is the pixel matrix of the front VI field of view image, δ1, δ2 and δ3 are the fusion factors of the pixel points of the vehicle field of view image, and the pixel points of the vehicle field of view image are fused to obtain the data information of the pixel points of the fused vehicle field of view image;

[0075] L3. Based on the data information of the pixels of the fused vehicle's field of view image, a pixel reorganization splicing function S of the vehicle's field of view image is established,

[0076]

[0077] Among them, r is the data information of the pixel points of the fused vehicle's field of view image, γ1, γ2 and γ3 are the pixel point reorganization and splicing weight coefficients of the vehicle's field of view image, and the field of view images of the commercial vehicle are spliced ​​to obtain the spliced ​​270° field of view surround image of the commercial vehicle.

[0078] In this embodiment, in step L2, the constraints of the fusion factors δ1, δ2 and δ3 of the pixel points of the field of view image of the vehicle are:

[0079]

[0080] In this embodiment, in step L3, the pixel reassembly and splicing weight coefficients γ1, γ2 and γ3 of the field of view image of the vehicle are:

[0081]

[0082] Among them, r is the data information of the pixel points of the fused vehicle's field of view image.

[0083] In this embodiment, the CMS camera includes a II / IV field of view camera, a V field of view camera and a VI field of view camera. The II / IV field of view camera is used for the II / IV field of view area on the driver's side and the passenger's side of the commercial vehicle, the V field of view camera is used for the V field of view area on the driver's side and the passenger's side of the commercial vehicle, and the VI field of view camera is used for the VI field of view area on the passenger's side of the commercial vehicle.

[0084] In this embodiment, the CMS monitor includes at least 4 field of view monitors, namely, Class II / IV field of view monitors on the driver's side and the passenger's side, Class V / VI blind spot field monitors on the passenger's side, and Class V blind spot field monitors on the driver's side; the Class II / IV field of view monitors on the driver's side and the passenger's side use 15-inch display screens with a built-in image processing unit to process the images output by Class II / IV cameras and display them, and output the processed images to the cockpit controller; the Class V / VI blind spot field monitor on the passenger's side uses a 10.1-inch display screen with a built-in image processing unit to process the images output by Class V / VI cameras on the passenger's side and display them, and output the processed images to the cockpit controller; the Class V blind spot field monitor on the driver's side uses a 7-inch display screen with a built-in image processing unit to process the images output by Class V cameras on the passenger's side and display them, and output the processed images to the cockpit controller.

[0085] In this embodiment, after the vehicle turns on the sentry mode, when the vehicle encounters a collision or movement, the CMS camera will record the surrounding environment and send a reminder to the owner through the mobile phone application or text message through the T-BOX. The owner can play back the relevant video through the mobile phone APP.

[0086] In summary, the present invention can not only monitor the cargo box area of ​​heavy trucks well, but also solve the problem of unsatisfactory night imaging of traditional vehicle-mounted cameras. The sentinel mode on heavy trucks focuses on monitoring night scenes.

[0087] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck, comprising a CMS monitor, a CMS camera, a cockpit controller, a central control display screen and a T-BOX, characterized in that: The CMS camera is connected to the CMS monitor and transmits the captured image to the CMS monitor; The CMS monitor is installed on the left and right A-pillars of the vehicle and is used to process and display the rear view of the vehicle instead of the physical rearview mirror; The cockpit controller is connected to the CMS monitor, and is used to receive the left and right II / IV field of view images, the left and right V field of view images, and the front VI field of view images output by the CMS monitor, and use the improved consistency algorithm based on the T test to monitor the environment around the vehicle, and obtain the monitoring data information of the environment around the vehicle, so as to start the sentinel mode, and based on the left V field of view images, the right V field of view images, and the front VI field of view images, use the improved APAP algorithm to splice the field of view images of the commercial vehicle, and obtain the spliced ​​270° field of view surround image of the commercial vehicle; The central control display screen is connected to the cockpit controller, and is used to display the sentry mode playback video output by the cockpit controller and simultaneously display the 270° surround video image output by the cockpit controller; the T-BOX is used to transmit vehicle alarm information to the mobile phone app, and can also transmit the sentry mode recorded video to the mobile phone app for playback.

2. The sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck according to claim 1 is characterized in that: The method of monitoring the environment around the vehicle using an improved consistency algorithm based on T test includes: M1. Based on the left and right II / IV field of view images, left and right V field of view images and front VI field of view images, a pixel matrix of the vehicle surrounding environment image is constructed to obtain data information of the pixel matrix of the vehicle surrounding environment image; M2. Based on the data information of the pixel matrix of the vehicle surrounding environment image, establish the T test function Q of the pixel points of the vehicle surrounding environment image, Among them, x t+1 is the data information of the pixel matrix of the vehicle surrounding environment image at the t+1th moment, x t is the data information of the pixel matrix of the vehicle surrounding environment image at the tth moment, α1, α2 and α3 are the penalty factors of the pixel points of the vehicle surrounding environment image, and the pixel points of the vehicle surrounding environment image are subjected to difference detection to obtain the data information of the difference detection of the pixel points of the vehicle surrounding environment image; M3. Based on the data information of the difference detection of the pixels of the image around the vehicle, a consistency monitoring function W of the pixels of the image around the vehicle is established, Among them, y i is the data information of the difference detection of the i-th pixel point in the image around the vehicle, y i+1 is the data information of the difference detection of the i+1th pixel point of the image around the vehicle, n is the sample capacity, β1, β2 and β3 are the consistency monitoring factors of the pixel points of the image around the vehicle, and the environment around the vehicle is monitored to obtain the monitoring data information of the environment around the vehicle.

3. The sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck according to claim 2 is characterized in that: In step M2, the penalty factors α1, α2 and α3 of the pixel points of the vehicle surrounding environment image are, Among them, x t+1 is the data information of the pixel matrix of the vehicle surrounding environment image at the t+1th moment, x t It is the data information of the pixel matrix of the vehicle surrounding environment image at the tth moment.

4. The sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck according to claim 2 is characterized in that: In step M3, the consistency monitoring factors β1, β2 and β3 of the pixel points of the vehicle surrounding image are, Among them, y i is the data information of the difference detection of the i-th pixel point in the image around the vehicle, y i+1 is the data information of the difference detection of the i+1th pixel point in the image around the vehicle, and n is the sample size.

5. The sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck according to claim 1 is characterized in that: The method of using the improved APAP algorithm to stitch the field of view images of the commercial vehicle includes: L1. Based on the left V, right V field of view images and the front VI field of view image, a pixel matrix of the left V field of view image, a pixel matrix of the right V field of view image and a pixel matrix of the front VI field of view image are constructed; L2. Based on the pixel matrix of the left V field of view image, the pixel matrix of the right V field of view image and the pixel matrix of the front VI field of view image, a pixel fusion function R of the field of view image of the vehicle is constructed. Wherein, z1 is the pixel matrix of the left V field of view image, z2 is the pixel matrix of the right V field of view image, z3 is the pixel matrix of the front VI field of view image, δ1, δ2 and δ3 are the fusion factors of the pixel points of the vehicle field of view image, and the pixel points of the vehicle field of view image are fused to obtain the data information of the pixel points of the fused vehicle field of view image; L3. Based on the data information of the pixels of the fused vehicle's field of view image, a pixel reorganization splicing function S of the vehicle's field of view image is established, Among them, r is the data information of the pixel points of the fused vehicle's field of view image, γ1, γ2 and γ3 are the pixel point reorganization and splicing weight coefficients of the vehicle's field of view image, and the field of view images of the commercial vehicle are spliced ​​to obtain the spliced ​​270° field of view surround image of the commercial vehicle.

6. The sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck according to claim 5 is characterized in that: In step L2, the constraints of the fusion factors δ1, δ2 and δ3 of the pixel points of the field of view image of the vehicle are:

7. The sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck according to claim 5, characterized in that: In step L3, the pixel reassembly and splicing weight coefficients γ1, γ2 and γ3 of the field of view image of the vehicle are: Among them, r is the data information of the pixel points of the fused vehicle's field of view image.

8. The sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck according to claim 1 is characterized in that: The CMS camera includes a II / IV field of view camera, a V field of view camera and a VI field of view camera. The II / IV field of view camera is used in the II / IV field of view area on the driver's side and the passenger's side of a commercial vehicle, the V field of view camera is used in the V field of view area on the driver's side and the passenger's side of a commercial vehicle, and the VI field of view camera is used in the VI field of view area on the passenger's side of a commercial vehicle.

9. The sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck according to claim 1, characterized in that: The CMS monitor includes at least 4 field of view monitors, namely, Class II / IV field of view monitors on the driver's side and the passenger's side, Class V / VI blind spot field monitors on the passenger's side, and Class V blind spot field monitors on the driver's side; the Class II / IV field of view monitors on the driver's side and the passenger's side use 15-inch display screens with a built-in image processing unit to process the images output by Class II / IV cameras and display them, and output the processed images to the cockpit controller; the Class V / VI blind spot field monitor on the passenger's side uses a 10.1-inch display screen with a built-in image processing unit to process the images output by Class V / VI cameras on the passenger's side and display them, and output the processed images to the cockpit controller; the Class V blind spot field monitor on the driver's side uses a 7-inch display screen with a built-in image processing unit to process the images output by Class V cameras on the passenger's side and display them, and output the processed images to the cockpit controller.

10. The sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck according to claim 1, characterized in that: After the vehicle turns on Sentry Mode, when the vehicle encounters a collision or movement, the CMS camera will record the surrounding environment and send reminders to the owner through the T-BOX mobile application or text message. The owner can play back the relevant video through the mobile APP.

Images