Vehicle reversing system and control method

Abstract

The invention is suitable for the technical field of backing monitoring, and particularly relates to a backing system of a vehicle and a control method, the backing system of the vehicle comprises a multi-path camera module, the multi-path camera module is installed at different positions of the vehicle and is used for collecting environment information around the vehicle; the central processing unit is connected with the multi-path camera module and is used for generating a reversing image; the back-up line generation module is used for displaying a back-up line on the back-up image in an overlapping manner; the display module is used for displaying and adjusting the position and the shape of the reversing line; and the reversing detection module is used for detecting the reversing state. By installing the multiple sets of cameras, the situation around the vehicle can be monitored in real time, the driving safety is improved, a user is allowed to adjust the shape and the position of the reversing line, a driver can master the situation behind the vehicle and distance information more accurately, and the reversing safety is greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of reversing monitoring, and in particular relates to a vehicle reversing system and a control method. Background Art

[0002] Reversing image is a very practical safety auxiliary device in modern cars. It uses a wide-angle camera installed at the rear of the vehicle to display the situation behind the car in real time on the in-car display screen in the form of an image when the driver is reversing. This not only helps the driver to have a clearer understanding of obstacles, pedestrians and other vehicles behind the car, but also greatly reduces blind spots, improving the safety and convenience when parking and reversing. Especially in narrow spaces or when the line of sight is obstructed, the reversing image system can significantly reduce the risk of scratches and collisions, providing additional confidence and support for the driver.

[0003] Most of the existing central control systems of large vehicles do not include reversing images or only include simple reversing images, which cannot intuitively judge the distance to the rear when reversing. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle reversing system, aiming to solve the problem that most of the existing central control systems of large vehicles do not include a reversing image or only include a simple reversing image, and cannot intuitively judge the distance to the rear when reversing.

[0005] The present invention is implemented in a vehicle reversing system, the vehicle reversing system comprising: A multi-channel camera module, which is installed at different positions of the vehicle and is used to collect environmental information around the vehicle; A central processing unit, the central processing unit is connected to the multi-channel camera module and is used to generate a reversing image; A reversing line generation module, the reversing line generation module is used to overlay and display the reversing line on the reversing image; A display module, the display module is used to display and adjust the position and shape of the reversing line; A reversing detection module is used to detect a reversing state.

[0006] Preferably, the multi-channel camera module includes a plurality of high-definition cameras, which are installed around the vehicle to collect environmental information around the vehicle.

[0007] Preferably, the display module includes a touch screen, physical buttons and an infrared remote control unit.

[0008] Another object of the present invention is to provide a vehicle reversing control method, which is applied to the vehicle reversing system as described above, and the method comprises: Install a reversing system on the vehicle and collect video images from all directions of the vehicle in real time through a multi-channel camera module; During normal driving, the display area of ​​the display module is divided into multiple areas, which respectively display the real-time images collected by each camera; The reversing line generation module overlays the reversing line on the real-time image and provides the reversing line adjustment option; When the vehicle is reversing, the display module only displays the reversing image behind the vehicle and superimposes the reversing line.

[0009] Preferably, the multi-channel camera module includes a night vision camera, which is used to capture real-time images under insufficient light conditions.

[0010] Preferably, when reversing, the reversing line is superimposed on the reversing image, and two selection marks are set in the upper left and upper right corners of the reversing image screen. The user changes the shape and position of the top of the reversing line by touching and dragging the upper left or upper right graphic.

[0011] Preferably, the reversing line is divided into three sections, and the three sections of the reversing line are displayed in different colors respectively.

[0012] Preferably, the reversing line is represented by a straight line equation in the image coordinate system, ,in is the slope, is the intercept, and the coordinates of the two symmetrical points on the top of the reversing line are defined as and , the coordinates of the two symmetrical points on the bottom are defined as and ; When adjusting the length of the reversing line, set the original reversing line length to , the expected adjusted length is ; Calculate the length scale factor: ; For points on a line , the adjusted point coordinates become: Preferably, when adjusting the shape of the reversing line, the top point is adjusted: For the top left point , assuming that the adjustment amounts in the horizontal and vertical directions are and , the adjusted coordinates are , Top right The adjusted coordinates are ; Adjust the bottom point: The two bottom points should be kept close to the bottom edge, that is ; For the bottom left point , assuming that the adjustment amount in the horizontal direction is , the adjusted coordinates are ; Bottom right The adjusted coordinates are .

[0013] Preferably, when adjusting the position of the lane line, and Direction translation and , for points on the line , the adjusted coordinates are: When the lane line needs to be adjusted, the adjusted coordinates of the top and bottom points are calculated according to the adjustment parameters input by the user, the length of the lane line is adjusted, all points are translated, and the reversing line is redrawn according to the adjusted point coordinates.

[0014] The vehicle reversing system provided by the present invention can monitor the situation around the vehicle in real time by installing multiple groups of cameras, thereby improving driving safety and allowing the user to adjust the shape and position of the reversing line. The driver can grasp the situation and distance information behind the vehicle more accurately, and the reversing safety is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flow chart of reversing line adjustment provided by an embodiment of the present invention; Figure 2 An architectural diagram of a vehicle reversing system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script.

[0018] like Figure 2 As shown, it is an architecture diagram of a vehicle reversing system provided by an embodiment of the present invention, and the vehicle reversing system includes: A multi-channel camera module, which is installed at different positions of the vehicle and is used to collect environmental information around the vehicle; A central processing unit, the central processing unit is connected to the multi-channel camera module and is used to generate a reversing image; A reversing line generation module, the reversing line generation module is used to overlay and display the reversing line on the reversing image; A display module, the display module is used to display and adjust the position and shape of the reversing line; A reversing detection module is used to detect a reversing state.

[0019] In this embodiment, the system includes a multi-channel camera module: including multiple high-definition cameras, installed at different positions of the vehicle, and used to collect environmental information around the vehicle in real time; a central processing unit: receiving data collected by the multi-channel camera module, performing image processing and stitching, and generating a comprehensive reversing image; a reversing line generation module: the user sets the shape and position of the reversing line according to the size of the vehicle, the reversing path and the installation angle of the camera, and superimposes the reversing line on the reversing image when reversing; a display module: including an in-vehicle display screen, used to display a comprehensive reversing image and reversing line; a user interaction module: including a touch screen, physical buttons and infrared remote control, for the user to adjust the position and shape of the reversing line; a reversing detection module: used to detect the reversing status.

[0020] The present invention also provides a vehicle reversing control method, which is applied to the vehicle reversing system as described above, and the method comprises: Install a reversing system on the vehicle and collect video images from all directions of the vehicle in real time through a multi-channel camera module; During normal driving, the display area of ​​the display module is divided into multiple areas, which respectively display the real-time images collected by each camera; The reversing line generation module overlays the reversing line on the real-time image and provides the reversing line adjustment option; When the vehicle is reversing, the display module only displays the reversing image behind the vehicle and superimposes the reversing line.

[0021] In this embodiment, if Figure 1 As shown in the figure, after the vehicle's reversing system is installed, the system starts running when the vehicle is ignited. It collects video images from all directions of the vehicle in real time through multiple high-definition cameras. With the night vision camera, high-quality real-time images can be obtained even in poor light conditions. During normal driving, the screen is divided into multiple areas, each displaying the real-time images collected by each camera; Enter the menu, you can see the real-time image of the rear camera, the reversing line will be superimposed on the rear image, and there will be two selection marks in the upper left and upper right corners. At this time, you can touch and drag the upper left and upper right graphics to move them in a completely symmetrical manner to change the top shape and position of the reversing line. You can also touch and click the bottom button or press the button to select the bottom button to adjust; Touch and click the lower left or right corner of the reversing line to switch the selection mark to the lower left or right corner. Similarly, you can move the width of the bottom of the reversing line by touching or pressing the button. The reversing line can be set to not display, only display when reversing, and always display in multiple states When the vehicle needs to reverse, put it in reverse gear, the device automatically exits all menu displays, the rear camera is displayed in full screen, and the reverse line is superimposed; The reverse line is divided into three colors and three sections, the farther one is green, the middle one is yellow, and the closer one is red. After reversing is completed, the interface returns to the screen displayed by multiple cameras, and the reversing line is hidden.

[0022] In the present invention, the user is allowed to adjust the lane line, including size adjustment, shape adjustment and position adjustment; the following are the corresponding algorithms for different adjustment methods: Construct the basic model of the reversing line: Assume that the reversing line is represented by a straight line equation in the image coordinate system: ,in is the slope, is the intercept. And let the coordinates of the two symmetrical points on the top of the reversing line be (left point) and (right point), the coordinates of the two symmetrical points at the bottom are (left point) and right click).

[0023] Sizing algorithm: Assume the original reversing line length is , the expected adjusted length is .

[0024] Calculate the length scale factor: ; For points on a line , the adjusted point coordinates become: .

[0025] Shape adjustment algorithm: Top point adjustment: For the top left point , assuming that the adjustment amounts in the horizontal and vertical directions are and , the adjusted coordinates are Since the two top points are adjusted symmetrically, the top right point The adjusted coordinates are .

[0026] Bottom point adjustment: The two bottom points should be kept close to the bottom edge, i.e. The bottom edge of the image corresponds to coordinate values). For the bottom left point , assuming that the adjustment amount in the horizontal direction is , the adjusted coordinates are , bottom right The adjusted coordinates are .

[0027] Position adjustment algorithm: Assume that and Direction translation and , for points on the line , the adjusted coordinates are: .

[0028] Integration algorithm: First, determine the adjustment parameters (such as length adjustment ratio, top point adjustment amount, translation amount, etc.) input by the user , , , , and ; Calculate the adjusted coordinates of the top and bottom points according to the above shape adjustment algorithm, then adjust the length of these points according to the size adjustment algorithm (if there is a need for length change), and finally translate all points according to the position adjustment algorithm; redraw the reversing line according to the adjusted point coordinates.

[0029] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0030] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle reversing system, characterized in that: The vehicle reversing system comprises: A multi-channel camera module, which is installed at different positions of the vehicle and is used to collect environmental information around the vehicle; A central processing unit, the central processing unit is connected to the multi-channel camera module and is used to generate a reversing image; A reversing line generation module, the reversing line generation module is used to overlay and display the reversing line on the reversing image; A display module, the display module is used to display and adjust the position and shape of the reversing line; A reversing detection module is used to detect a reversing state.

2. The vehicle reversing system according to claim 1, characterized in that: The multi-channel camera module includes a plurality of high-definition cameras, which are installed around the vehicle and are used to collect environmental information around the vehicle.

3. The vehicle reversing system according to claim 1, characterized in that: The display module includes a touch screen, physical buttons and an infrared remote control unit.

4. A vehicle reversing control method, characterized in that: Applied to the vehicle reversing system as claimed in any one of claims 1 to 3, the method comprises: Install a reversing system on the vehicle and collect video images from all directions of the vehicle in real time through a multi-channel camera module; During normal driving, the display area of ​​the display module is divided into multiple areas, which respectively display the real-time images collected by each camera; The reversing line generation module overlays the reversing line on the real-time image and provides the reversing line adjustment option; When the vehicle is reversing, the display module only displays the reversing image behind the vehicle and superimposes the reversing line.

5. The vehicle reversing control method according to claim 4, characterized in that: The multi-channel camera module includes a night vision camera, which is used to collect real-time images under insufficient light conditions.

6. The vehicle reversing control method according to claim 5, characterized in that: When reversing, the reversing line is superimposed on the reversing image. Two selection marks are set in the upper left and upper right corners of the reversing image screen. The user can change the shape and position of the top of the reversing line by touching and dragging the upper left or upper right graphic.

7. The vehicle reversing control method according to claim 4, characterized in that: The reversing line is divided into three sections, and the three sections of the reversing line are respectively displayed in different colors.

8. The vehicle reversing control method according to claim 4, characterized in that: The reversing line is represented by a straight line equation in the image coordinate system. ,in is the slope, is the intercept, and the coordinates of the two symmetrical points on the top of the reversing line are defined as and , the coordinates of the two symmetrical points on the bottom are defined as and ; When adjusting the length of the reversing line, set the original reversing line length to , the expected adjusted length is ; Calculate the length scale factor: ; For points on a line , the adjusted point coordinates become: .

9. The vehicle reversing control method according to claim 8, characterized in that: When adjusting the shape of the reverse line, adjust the top point: For the top left point , assuming that the adjustment amounts in the horizontal and vertical directions are and The adjusted coordinates are Top right The adjusted coordinates are ; Adjust the bottom point: The two bottom points should be kept close to the bottom edge, that is ; For the bottom left point , assuming that the adjustment amount in the horizontal direction is , the adjusted coordinates are ; Bottom right point The adjusted coordinates are .

10. The vehicle reversing control method according to claim 8, characterized in that: When adjusting the position of the lane line, and Direction translation and , for points on the line , the adjusted coordinates are: ； When the lane line needs to be adjusted, the adjusted coordinates of the top and bottom points are calculated according to the adjustment parameters input by the user, the length of the lane line is adjusted, all points are translated, and the reversing line is redrawn according to the adjusted point coordinates.

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