A sentinel mode control system based on electronic rearview mirror reuse on heavy trucks

Abstract

The application relates to a kind of heavy truck based on the reuse of electronic rearview mirror sentinel mode control system, including CMS monitor, CMS camera, cockpit controller, central control display screen and T-BOX, the cockpit controller is connected with the CMS monitor, for receiving left and right II / IV field of view image, left and right V field of view image and front VI field of view image output by the CMS monitor, the environment around the vehicle is monitored using the improved consistency algorithm based on T test, the data information of the monitoring of the environment around the vehicle is obtained, so as to start sentinel mode, and based on left V, right V field of view image and front VI field of view image, the field of view image of commercial vehicle is spliced using the improved APAP algorithm, and the 270-degree field of view image of the spliced commercial vehicle is obtained.The application not only can monitor heavy truck container area well, but also solves the problem of night imaging of traditional vehicle-mounted camera, and the sentinel mode mainly monitors night scene on heavy truck.

Description

TECHNICAL FIELD

[0001] The present application relates to the heavy truck field of view monitoring technical field, especially to a heavy truck based on electronic rearview mirror multiplexing sentry mode control system. BACKGROUND

[0002] The electronic rearview mirror system is an important part of the auxiliary driving system, which is mainly used to replace the traditional glass mirror and reduce the blind area of the vehicle. The system can be regarded as a kind of "camera-display screen" model, which uses a camera to collect the image of the vehicle around the field of view, and provides the driver with the information of the vehicle around the field of view through the display screen, so as to realize the function of the traditional physical mirror. The advantages of the electronic rearview mirror system include: a larger range of driving field of view image, less blind area of view, and the driver can master more road information; lower wind resistance, which can reduce the fuel consumption of the whole vehicle by 1%-2%.

[0003] The sentry mode, also known as the remote monitoring function, allows the vehicle owner to browse the video captured by the camera around the vehicle in real time after parking the vehicle by using the mobile phone. If the vehicle is hit or moved, the external camera will record the surrounding environment immediately, and send a reminder to the owner through the mobile phone application or SMS. The vehicle system can also play back the relevant video. In addition, the owner can also use the mobile phone to perform remote operations, such as triggering the vehicle horn, flashing the vehicle lights, and making remote calls. SUMMARY

[0004] In view of the above problems, the present application provides a heavy truck based on electronic rearview mirror multiplexing sentry mode control system, which can not only monitor the heavy truck cargo box area well, but also solve the problem of poor night imaging of the traditional vehicle camera. The sentry mode focuses on monitoring the night scene on the heavy truck.

[0005] In order to achieve the above purpose and other related purposes, the technical scheme provided by the present application is as follows: a heavy truck based on electronic rearview mirror multiplexing sentry mode control system, comprising a CMS monitor, a CMS camera, a cockpit controller, a central control display screen and a T-BOX, the CMS camera is connected with the CMS monitor, and the captured image is transmitted to the CMS monitor;

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

[0007] The cabin controller is connected with the CMS monitor, and is used for receiving left and right II / IV field of view images, left and right V field of view images and front VI field of view images output by the CMS monitor, monitoring the environment around the vehicle by using an improved consistency algorithm based on T test, obtaining data information of the monitoring of the environment around the vehicle, thereby starting the sentinel mode, and splicing the field of view images of the commercial vehicle by using an improved APAP algorithm based on the left V, right V field of view images and front VI field of view images, and obtaining the spliced 270° field of view surround view images of the commercial vehicle.

[0008] The central control display screen is connected with the cabin controller, and is used for displaying the sentinel mode playback video output by the cabin controller and displaying the 270° surround view video images output by the cabin controller; and the T-BOX is used for transmitting vehicle alarm information to the mobile phone app, and transmitting the sentinel mode recording video to the mobile phone app for review.

[0009] Further, the improved consistency algorithm based on T test for monitoring the environment around the vehicle comprises:

[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 point matrix of the environment image around the vehicle is constructed, and data information of the pixel point matrix of the environment image around the vehicle is obtained.

[0011] M2. Based on the data information of the pixel point matrix of the environment image around the vehicle, a T test function Q of the pixel point of the environment image around the vehicle is established,

[0012]

[0013] Wherein, x t+1 is the data information of the pixel point matrix of the environment image around the vehicle at the t+1 moment, x t is the data information of the pixel point matrix of the environment image around the vehicle at the t moment, and α1, α2 and α3 are penalty factors of the pixel point of the environment image around the vehicle, which are used for detecting the difference of the pixel point of the environment image around the vehicle, and obtaining data information of the difference detection of the pixel point of the environment image around the vehicle.

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

[0015]

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

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

[0018]

[0019]

[0020] Wherein, x t+1 is the data information of the pixel point matrix of the vehicle surrounding image at the t+1th moment, x t is the data information of the pixel point matrix of the vehicle surrounding 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] Wherein, y i is the data information of the difference detection of the ith pixel point of the vehicle surrounding image, y i+1 is the data information of the difference detection of the i+1th pixel point of the vehicle surrounding image, n is the sample capacity.

[0024] Further, the improved APAP algorithm is used to splice the field of view image of the commercial vehicle, which includes:

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

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

[0027]

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

[0029] L3. based on the data information of the pixel points of the fused vehicle's field of view image, establishing a pixel point reorganization splicing function S of the vehicle's field of view image,

[0030]

[0031] wherein 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 splicing weight coefficients of the vehicle's field of view image, and the field of view image of the commercial vehicle is spliced to obtain the spliced 270° field of view image of the commercial vehicle.

[0032] Further, in step L2, the constraint conditions of the fusion factors δ1, δ2 and δ3 of the pixel points of the vehicle's field of view image are,

[0033]

[0034] Further, in step L3, the pixel point reorganization splicing weight coefficients γ1, γ2 and γ3 of the vehicle's field of view image are,

[0035]

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

[0037] Further, the CMS camera includes II / IV field of view camera, V field of view camera and VI field of view camera, the II / IV field of view camera is used for the II / IV field of view area of the driver side and the passenger side of the commercial vehicle, the V field of view camera is used for the V field of view area of the driver side and the passenger side of the commercial vehicle, and the VI field of view camera is used for the VI field of view area of the passenger side of the commercial vehicle.

[0038] Further, the CMS monitor comprises at least four field of view monitors, namely the driver side and passenger side II / IV class field of view monitors, the passenger side V / VI class blind spot field of view monitor, and the driver side V class blind spot field of view monitor; the driver side and passenger side II / IV class field of view monitors adopt a 15-inch display screen, the display screen is provided with an image processing unit, the image processing unit processes the image output by the II / IV class camera and displays the image, and meanwhile, the processed image is output to the cabin controller; the passenger side V / VI class blind spot field of view monitor adopts a 10.1-inch display screen, the display screen is provided with an image processing unit, the image processing unit processes the image output by the V / VI class camera on the passenger side and displays the image, and meanwhile, the processed image is output to the cabin controller; the driver side V class blind spot field of view monitor adopts a 7-inch display screen, the display screen is provided with an image processing unit, the image processing unit processes the image output by the V class camera on the passenger side and displays the image, and meanwhile, the processed image is output to the cabin controller.

[0039] Further, when the vehicle is in the sentry mode and the vehicle is hit or moves, the CMS camera can record the surrounding environment, and at the same time, the T-BOX sends a reminder to the owner through a mobile phone application or a short message, and the owner can play back the relevant video through the mobile phone APP.

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

[0041] 1. The present application monitors the environment around the vehicle by using the improved consistency algorithm based on T test, and combines the improved APAP algorithm to splice the field of view image of the commercial vehicle, which can accurately and comprehensively monitor the field of view around the vehicle, and at the same time, solves the problem of the unsatisfactory night sentry mode of the traditional vehicle-mounted camera, reduces the number of cameras, and reduces the system cost.

[0042] 2. The present application first proposes to use the CMS camera for the development of the sentry mode function on the heavy truck, and the II / IV field of view camera can well monitor the heavy truck cargo box area due to the requirement of the regulation characteristics, at the same time, the CMS camera characteristics make up for the unclear night imaging of the traditional camera, and even the situation that the camera cannot be used, and the sentry mode of the heavy truck mainly monitors the night scene, so the heavy truck with the sentry mode function also has the 270-degree around view function, which reduces the system cost. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 It is a method flowchart of the present application;

[0044] Figure 2 It is a flowchart of the improved consistency algorithm based on T test of the present application;

[0045] Figure 3A flowchart of an improved APAP algorithm of the present application. DETAILED DESCRIPTION

[0046] Exemplary embodiments of the present disclosure are described herein below with reference to the accompanying drawings, in which various details of embodiments of the present disclosure are set forth to facilitate an understanding, and should be considered as merely exemplary. Thus, it will be appreciated that various modifications and changes can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Also, for the purpose of clarity and the brevity, the description below omits the description of well-known functions and structures.

[0047] Embodiment 1: As shown in the figure, a sentinel mode control system based on electronic rearview mirror reuse on a heavy truck includes a CMS monitor, a CMS camera, a cockpit controller, a central control display screen and a T-BOX, the CMS camera is connected with the CMS monitor, and transmits captured images to the CMS monitor. Figure 1

[0048] The CMS monitor is installed on the left and right A-pillar sides of the vehicle, and is used to process the display of the rear field of view of the vehicle instead of the physical rearview mirror.

[0049] The cockpit controller is connected with the CMS monitor, and is used to receive 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 output by the CMS monitor, monitor the environment around the vehicle by using an improved consistency algorithm based on T-test, obtain data information of the monitoring of the environment around the vehicle, thereby starting the sentinel mode, and splice the field of view images of the commercial vehicle by using an improved APAP algorithm based on the left V, right V field of view images and front VI field of view images, to obtain the spliced 270° field of view around view images of the commercial vehicle.

[0050] The central control display screen is connected with the cockpit controller, and is used to display the sentinel mode playback video output by the cockpit controller and display the 270° around view video images 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 sentinel mode recording video to the mobile phone app for review.

[0051] In the embodiment, as shown in the figure, the monitoring of the environment around the vehicle by using the improved consistency algorithm based on T-test includes: Figure 2

[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 point matrix of the environment image around the vehicle is constructed, to obtain data information of the pixel point matrix of the environment image around the vehicle.

[0053] ​​M2. Based on the data information of the pixel point matrix of the vehicle surrounding environment image, a T test function Q of the pixel point of the vehicle surrounding environment image is established,

[0054]

[0055] wherein, x t+1 is the data information of the pixel point matrix of the vehicle surrounding environment image at the t+1 moment, x t is the data information of the pixel point matrix of the vehicle surrounding environment image at the t moment, and a1, a2 and a3 are the penalty factors of the pixel point of the vehicle surrounding environment image, which are used for the difference detection of the pixel point of the vehicle surrounding environment image to obtain the data information of the difference detection of the pixel point of the vehicle surrounding image.

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

[0057]

[0058] wherein, y i is the data information of the difference detection of the i-th pixel point of the vehicle surrounding image, y i+1 is the data information of the difference detection of the i+1-th pixel point of the vehicle surrounding image, n is the sample capacity, and b1, b2 and b3 are the consistency monitoring factors of the pixel point of the vehicle surrounding image, which are used for monitoring the vehicle surrounding environment to obtain the data information of the monitoring of the vehicle surrounding environment.

[0059] In the embodiment, in step M2, the penalty factors a1, a2 and a3 of the pixel point of the vehicle surrounding environment image are,

[0060]

[0061] wherein, x t+1 is the data information of the pixel point matrix of the vehicle surrounding environment image at the t+1 moment, x t is the data information of the pixel point matrix of the vehicle surrounding environment image at the t moment.

[0062] In the embodiment, in step M3, the consistency monitoring factors b1, b2 and b3 of the pixel point of the vehicle surrounding image are,

[0063]

[0064] wherein, y i is the data information of the difference detection of the i-th pixel point of the vehicle surrounding image, y i+1Data information for the difference detection of the i+1th pixel point of the vehicle surrounding image, n is the sample capacity.

[0065] Embodiment 2: Based on the sentinel mode control system based on the reuse of electronic rearview mirror on a heavy truck in embodiment 1, the present application is further explained and described as follows.

[0066] As shown in Figure 1 , a sentinel mode control system based on the reuse of electronic rearview mirror on a heavy truck, comprising a CMS monitor, a CMS camera, a cockpit controller, a central control display screen and a T-BOX, the CMS camera is connected with the CMS monitor, and transmits the captured image to the CMS monitor;

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

[0068] The cockpit controller is connected with the CMS monitor, and is used to receive 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 output by the CMS monitor, monitor the environment around the vehicle by using an improved consistency algorithm based on T-test, obtain data information of the monitoring of the environment around the vehicle, thereby starting the sentinel mode, and splice the field of view images of the commercial vehicle by using an improved APAP algorithm based on the left V, right V field of view images and front VI field of view images, to obtain the spliced 270° field of view image of the commercial vehicle;

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

[0070] In this embodiment, as shown in Figure 3 , the splicing of the field of view images of the commercial vehicle by using the improved APAP algorithm comprises:

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

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

[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 field of view image of the vehicle, the pixel points of the field of view image of the vehicle are fused to obtain the data information of the fused pixel points of the field of view image of the vehicle;

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

[0076]

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

[0078] In this embodiment, in step L2, the constraint conditions 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 point reorganization splicing weight coefficients γ1, γ2 and γ3 of the field of view image of the vehicle are,

[0081]

[0082] Wherein, r is the data information of the fused pixel points of the field of view image of the vehicle.

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

[0084] In this embodiment, the CMS monitor includes at least four field of view monitors, namely, Class II / IV field of view monitors on the driver's side and passenger's side, Class V / VI blind spot field of view monitor on the passenger's side, and Class V blind spot field of view monitor on the driver's side; the Class II / IV field of view monitors on the driver's side and passenger's side use 15-inch display screens with built-in image processing units 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 of view monitor on the passenger's side uses a 10.1-inch display screen with built-in image processing units 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 built-in image processing units 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 T-BOX to the mobile phone application or text message. 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 area of ​​heavy trucks well, but also solve the problem of unsatisfactory night imaging of traditional vehicle-mounted cameras. The sentry mode on heavy trucks focuses on monitoring night scenes.

[0087] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A sentry mode control system based on electronic rearview mirror reuse for heavy trucks, comprising a CMS monitor, a CMS camera, a cockpit controller, a central control display, and a T-BOX, characterized by: 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 image output by the CMS monitor, monitor the environment around the vehicle using an improved consistency algorithm based on the T test, obtain monitoring data information of the vehicle's surrounding environment, thereby activating the sentry mode, and splice the commercial vehicle's field of view images based on the left V field of view, the right V field of view images, and the front VI field of view images using an improved APAP algorithm to obtain a spliced ​​270° surround view 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 the 270° surround view video image output by the cockpit controller; T-BOX, used to transmit vehicle alarm information to the mobile app, and can also transmit sentry mode recorded video to the mobile app for playback; The method of monitoring the environment around the vehicle using the 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, construct a pixel matrix of the vehicle surroundings image to obtain data information of the pixel matrix of the vehicle surroundings 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 pixel matrix data information 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 t-th moment, α1, α2 and α3 are the penalty factors of the pixel points of the vehicle surrounding environment image, and the difference detection is performed on the pixel points of the vehicle surrounding environment image to obtain the data information of the difference detection of the pixel points of the vehicle surrounding environment image; M3 based on the difference of the image around the vehicle pixel detection data information, establish the vehicle image around the pixel consistency monitoring function W, ， Among them, y i is the data information of the difference detection of the i-th pixel 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, n is the sample size, β1, β2 and β3 are the consistency monitoring factors of the pixel points in the image around the vehicle, and the environment around the vehicle is monitored to obtain the monitoring data information of the vehicle surrounding environment; The method of stitching the commercial vehicle's field of view images using the improved APAP algorithm includes: L1. Based on the left V, right V field of view image and the front VI field of view image, construct 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; 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, construct a pixel fusion function R of the vehicle's field of view image, ， 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 field of view image, a pixel reassembly splicing function S of the vehicle 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. The field of view images of the commercial vehicle are spliced ​​to obtain the spliced ​​270° field of view surround view image of the commercial vehicle.

2. The sentry mode control system based on electronic rearview mirror multiplexing on heavy trucks according to claim 1 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 pixel matrix data information 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.

3. The sentry mode control system based on electronic rearview mirror multiplexing on heavy trucks according to claim 1 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 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.

4. The sentry mode control system based on electronic rearview mirror multiplexing on heavy trucks according to claim 1 is characterized in that: In step L2, the constraints of the fusion factors δ1, δ2 and δ3 of the pixel points of the vehicle's field of view image are: 。 5. The sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck according to claim 1 is characterized in that: In step L3, the pixel reassembly and splicing weight coefficients γ1, γ2 and γ3 of the vehicle's field of view image are: ， ， ， Among them, r is the data information of the pixel point of the fused vehicle field of view image.

6. The sentry mode control system based on electronic rearview mirror multiplexing on a heavy truck according to claim 1, 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 passenger 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 passenger side of a commercial vehicle. The VI field of view camera is used in the VI field of view area on the passenger side of a commercial vehicle.

7. 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 four field of view monitors, namely, Class II / IV field of view monitors on the driver's side and passenger's side, Class V / VI blind spot field of view monitor on the passenger's side, and Class V blind spot field of view monitor on the driver's side; the Class II / IV field of view monitors on the driver's side and passenger's side use 15-inch display screens with built-in image processing units 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 of view monitor on the passenger's side uses a 10.1-inch display screen with built-in image processing units 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 built-in image processing units 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.

8. 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 a reminder to the owner through the T-BOX mobile application or text message. The owner can then play back the relevant video through the mobile APP.

Images