Method and device for automatically adjusting angle of rear-view camera

Abstract

The invention provides a method for automatically adjusting the angle of a rear-view camera, and the method comprises the steps: 1, enabling the visible length of a rear bumper to be L1 in the collection range of the rear-view camera when the vehicle loading capacity is no-load; 2, when the vehicle loading capacity is full load, the ground clearance of the rear-view camera is H2; 3, calculating an adjustable parameter M; 4, linearly associating the length L of the appearance of the rear bumper in the image with the height H of the camera above the ground; step 5, according to the function adjustable parameter M, adjusting the angle of the rear-view camera, so that the length of the rear bumper displayed by the image under different loads is the length during no load, and associating the angle of the rear-view camera with the ground clearance of the rear-view camera; and 6, when the load of the vehicle changes, the current height H of the rearview camera from the ground is judged by the rearview camera according to the length of the rear bumper in the image, and the visual angle of the output image of the rearview camera is adjusted according to the height H of the rearview camera.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle rear-view image calibration, and in particular to a method and device for automatically adjusting the angle of a rear-view camera. Background Art

[0002] For current commercial vehicles, such as light commercial vehicles, heavy commercial vehicles, pickup trucks and other models, there are more and more auxiliary driving configurations such as panoramic parking and reversing rearview cameras. Compared with passenger cars, commercial vehicles have a larger load capacity, which makes the height of commercial vehicles change greatly under conditions such as empty, half-loaded, fully loaded, and overloaded. Under extreme load conditions, the height difference of the vehicle body can reach 100mm. This change in body height also has a significant impact on the effect of the camera arranged on the rear cargo box door panel to collect images. Traditional reversing rearview cameras and their vehicle trajectory lines are pre-calibrated under specific working conditions. If the height of the camera arrangement position changes greatly during subsequent actual use, the reversing image and reversing trajectory line will be deformed and distorted, affecting the actual use effect, or there may be safety hazards. In the existing technical solution, the commercial vehicle reversing rearview camera is arranged on the tailgate handle or cargo box handle according to the design requirements. During the design and development process, the reversing image and trajectory line calibration is realized through real vehicle calibration. During the real vehicle calibration, the vehicle working condition is empty or half-loaded. However, when calibrating the reversing image and trajectory line of the actual vehicle, the vehicle operating condition is empty or half-loaded. When the vehicle is in actual use and operation, the actual load of the vehicle may far exceed the designed load during calibration. That is, the camera height during actual use is very different from the height under the empty and half-load calibration conditions, resulting in deformation and distortion of the image and trajectory line calibrated in the early stage of the camera, which in turn misleads the driver and may pose a safety hazard. Summary of the invention

[0003] In view of this, the present invention provides a method and device for automatically adjusting the angle of a rear-view camera to solve the problem of deformation and distortion of the reversing image effect caused by inaccurate image collection due to large changes in the height of the rear camera of a commercial vehicle under different working conditions such as empty, half-loaded, fully loaded, and extremely overloaded.

[0004] The present invention provides a method for automatically adjusting the angle of a rear-view camera, which is applied to commercial vehicles. The method comprises: step 1, when the vehicle is empty, within the acquisition range of the rear-view camera, the visible length of the rear bumper is L1; step 2, when the vehicle is fully loaded, the height of the rear-view camera from the ground is H2; step 3, according to the function L1=M*H2, calculating the adjustable parameter , where L1 is the visible length of the rear bumper and H2 is the height of the rear-view camera from the ground; step 4, collecting images of the vehicle under other loads, and linearly correlating the length L of the rear bumper in the image with the height H of the camera from the ground; step 5, adjusting the angle of the rear-view camera according to the adjustable parameter M of the function, so that the length of the rear bumper displayed in the images under different loads is the length when unloaded, and correlating the angle of the rear-view camera with the height of the rear-view camera from the ground; step 6, when the vehicle load changes, the rear-view camera determines the current height H of the rear-view camera from the ground according to the length of the rear bumper in the image, and adjusts the viewing angle of the image output by the rear-view camera according to the height H of the rear-view camera.

[0005] Furthermore, the other loads include half load and extreme load.

[0006] Furthermore, the step 4 also includes calibrating the trajectory line. According to the method for automatically adjusting the angle of a rear-view camera according to claim 3, it is characterized in that the step 6 also includes outputting the trajectory line adjusted by the camera.

[0007] The present invention also provides a device for automatically adjusting the angle of a rear-view camera, which is applied to a commercial vehicle. The device comprises: a rear-view camera, which is arranged on the top of the rear of the vehicle and is used to collect images from the rear of the vehicle, and to judge the current height H of the rear-view camera from the ground according to the length of the rear bumper in the image, and to adjust the viewing angle of the output image according to the height H of the rear-view camera, so that the driver can reverse safely according to the image; a parameter adjustment module, which is arranged on the vehicle and connected to the rear-view camera, and is used to calculate the adjustable parameters according to the function L1=M*H2 according to the visible length L1 of the rear bumper within the collection range of the rear-view camera when the vehicle is unloaded, and the height H2 of the rear-view camera from the ground when the vehicle is fully loaded. , where L1 is the visible length of the rear bumper, and H2 is the height of the rear-view camera from the ground; an association adjustment module is provided on the vehicle, and is connected to the rear-view camera and the parameter adjustment module respectively, and is used to linearly associate the length L of the rear bumper appearing in the image with the height H of the camera from the ground according to the collected images of the vehicle under other loads, and adjust the rear-view camera angle according to the function adjustable parameter M, so that the length of the rear bumper displayed in the images under different loads is the length when it is unloaded, and associate the rear-view camera angle with the height of the rear-view camera from the ground, so that the rear-view camera can adjust the height H of the rear-view camera according to the association relationship.

[0008] Furthermore, the other loads include half load and extreme load.

[0009] Furthermore, the rearview camera is also used to calibrate the trajectory line.

[0010] Furthermore, the rearview camera is also used to output the trajectory line adjusted by the camera.

[0011] The present invention provides a method and device for automatically adjusting the angle of a rearview camera. The technical solution can obtain the height H of the rearview camera from the ground at this time according to the visible length L of the rear bumper in the field of view of the rearview camera. The rearview camera adjusts the angle according to the height H of the rearview camera from the ground to ensure that the actual display area of ​​the reversing rear view meets the driving needs of the driver. In this way, the actual display area of ​​the reversing image is dynamically adjusted to avoid the reversing rear view image function due to changes in the vehicle load. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic flow chart of a method for automatically adjusting the angle of a rear-view camera provided by the present invention; Figure 2 It is a schematic diagram of the structure of a device for automatically adjusting the angle of a rear-view camera provided by the present invention; Figure 3 It is a schematic diagram of the position of a rear-view camera angle provided by the present invention. DETAILED DESCRIPTION

[0013] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0014] Method Item Example: The present invention provides a method for automatically adjusting the angle of a rear-view camera. Figure 1 As shown, the method includes the following steps.

[0015] Step 1: When the vehicle is empty, the visible length of the rear bumper within the acquisition range of the rear-view camera is L1; Step 2, when the vehicle is fully loaded, the height of the rearview camera from the ground is H2; Step 3: Calculate the adjustable parameters according to the function L1=M*H2 , where L1 is the visible length of the rear bumper and H2 is the height of the rear-view camera from the ground; Step 4, collecting images of the vehicle under other loads, and linearly correlating the length L of the rear bumper in the image with the height H of the camera from the ground; The other loads include half load and extreme load. Step 4: While collecting images, the trajectory line needs to be calibrated.

[0016] Step 5, adjusting the rear-view camera angle according to the function adjustable parameter M, so that the length of the rear bumper displayed in the images under different loads is the length when it is unloaded, and associating the rear-view camera angle with the rear-view camera height from the ground; The specific logic of adjusting the rearview camera angle is as follows: when the vehicle is empty, the height of the rearview camera from the ground is H1, and the visible length of the rear bumper 2 within the acquisition beam range of the rearview camera is L1; when the vehicle is fully loaded, the height of the rearview camera from the ground is H2, and the visible length of the rear bumper 2 within the acquisition beam range of the rearview camera 1 is L2; ​​a mathematical model of vehicle loading, camera ground height H, and visible length L of the rear bumper is established under the two working conditions (L1=M*H2).

[0017] Step 6: When the vehicle load changes, the rearview camera determines the current rearview camera ground height H according to the length of the rear bumper in the image, and adjusts the viewing angle of the rearview camera output image according to the rearview camera height H.

[0018] As can be seen from the previous text, the rear-view camera also calibrates the trajectory when collecting images. Therefore, after adjusting the angle, in addition to outputting the impact, it can also output the trajectory after the camera is adjusted. When the vehicle load condition changes, the camera determines the current camera height H from the ground based on the rear protection length L in the image, and adjusts the camera output image angle and trajectory based on the camera height H to ensure that when the camera height changes, the image display area does not produce a large error, ensuring that the camera works.

[0019] The present invention provides a method and device for automatically adjusting the angle of a rearview camera. The technical solution can obtain the height H of the rearview camera from the ground at this time according to the visible length L of the rear bumper in the field of view of the rearview camera. The rearview camera adjusts the angle according to the height H of the rearview camera from the ground to ensure that the actual display area of ​​the reversing rear view meets the driving needs of the driver. In this way, the actual display area of ​​the reversing image is dynamically adjusted to avoid the reversing rear view image function due to changes in the vehicle load.

[0020] Device Item Example: The present invention provides a device for automatically adjusting the angle of a rear-view camera, which is applied to a commercial vehicle, such as Figure 2 and 3 As shown, the device includes a rearview camera 1, a parameter adjustment module and an association adjustment module.

[0021] The rear-view camera 1 is arranged at the top of the rear of the vehicle, and is used to collect the image of the rear of the vehicle. The current height H of the rear-view camera from the ground is determined according to the length of the rear bumper 2 in the image, and the viewing angle of the output image is adjusted according to the height H of the rear-view camera 1, so that the driver can reverse safely according to the image. The rear-view camera is also used to calibrate the trajectory line, and after adjusting the angle, output the trajectory line adjusted by the camera. The specific logic of the angle adjustment of the rear-view camera 1 is as follows: when the vehicle load is empty, the height of the rear-view camera 1 from the ground is H1, and the visible length of the rear bumper 2 within the acquisition beam range of the rear-view camera is L1; when the vehicle load is fully loaded, the height of the rear-view camera 1 from the ground is H2, and the visible length of the rear bumper 2 within the acquisition beam range of the rear-view camera 1 is L2. A mathematical model of vehicle load, camera height H from the ground, and visible length L of the rear bumper is established under two working conditions: L1=M×H2.

[0022] The parameter adjustment module is arranged on the vehicle and connected to the rear-view camera. It is used to calculate the adjustable parameters according to the visible length L1 of the rear bumper 2 within the acquisition range of the rear-view camera 1 when the vehicle is unloaded and the height H2 of the rear-view camera 1 from the ground when the vehicle is fully loaded, according to the function L1=M*H2. , where L1 is the visible length of the rear bumper and H2 is the height of the rear-view camera from the ground.

[0023] The association adjustment module is arranged on the vehicle and is connected to the rear view camera 1 and the parameter adjustment module respectively, and is used to linearly associate the length L of the rear bumper 2 in the image with the height H of the rear view camera 1 from the ground according to the collected images of the vehicle under other loads, and adjust the angle of the rear view camera 1 according to the function adjustable parameter M, so that the length of the rear bumper 2 displayed in the images under different loads is the length when it is unloaded, and associate the angle of the rear view camera 1 with the height of the rear view camera 1 from the ground, so that the rear view camera 1 can adjust the height H of the rear view camera 1 according to the association relationship. The other loads include half load and extreme load.

[0024] In summary, the embodiments of the present invention provide a method and device for automatically adjusting the angle of a rear-view camera. Without adding new facilities, a mathematical model of the relationship between the height of the camera from the ground and the visible rear guard length in the camera is established, and the actual display area is cropped based on the built-in processing logic of the camera; thereby, intelligent recognition and automatic adjustment of the reversing rear-view display image angle under different loads are achieved, ensuring that the reversing rear-view camera can function normally under any load condition, and avoiding the phenomenon that the reversing rear-view function fails due to changes in the height from the ground when the vehicle load changes, thereby deforming the image angle and causing the function to fail.

[0025] 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, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for automatically adjusting the angle of a rear-view camera, applied to a commercial vehicle, characterized in that: The method comprises: Step 1: When the vehicle is empty, the visible length of the rear bumper within the acquisition range of the rear-view camera is L1; Step 2, when the vehicle is fully loaded, the height of the rearview camera from the ground is H2; Step 3: Calculate the adjustable parameters according to the function L1=M*H2 , where L1 is the visible length of the rear bumper and H2 is the height of the rear-view camera from the ground; Step 4, collecting images of the vehicle under other loads, and linearly correlating the length L of the rear bumper in the image with the height H of the camera from the ground; Step 5, adjusting the rear-view camera angle according to the function adjustable parameter M, so that the length of the rear bumper displayed in the images under different loads is the length when it is unloaded, and associating the rear-view camera angle with the rear-view camera height from the ground; Step 6: When the vehicle load changes, the rearview camera determines the current rearview camera ground height H according to the length of the rear bumper in the image, and adjusts the viewing angle of the rearview camera output image according to the rearview camera height H.

2. The method for automatically adjusting the angle of a rear-view camera according to claim 1, characterized in that: The other loads include half load and extreme load.

3. The method for automatically adjusting the angle of a rear view camera according to claim 1, characterized in that: The step 4 also includes calibrating the trajectory line.

4. The method for automatically adjusting the angle of a rear-view camera according to claim 3, characterized in that: The step 6 also includes outputting the trajectory line after the camera is adjusted.

5. A device for implementing the method for automatically adjusting the angle of a rear-view camera according to claims 1-4, applied to a commercial vehicle, characterized in that: The device comprises: The rear-view camera is installed on the top of the rear of the vehicle to collect the image of the rear of the vehicle. The height H of the rear-view camera from the ground is determined according to the length of the rear bumper in the image, and the viewing angle of the output image is adjusted according to the height H of the rear-view camera, so that the driver can reverse safely according to the image. The parameter adjustment module is set on the vehicle and connected to the rear-view camera. It is used to calculate the adjustable parameters according to the visible length L1 of the rear bumper within the acquisition range of the rear-view camera when the vehicle is unloaded and the height H2 of the rear-view camera from the ground when the vehicle is fully loaded, according to the function L1=M*H2. , where L1 is the visible length of the rear bumper and H2 is the height of the rear-view camera from the ground; The association adjustment module is arranged on the vehicle and is respectively connected to the rearview camera and the parameter adjustment module. It is used to linearly associate the length L of the rear bumper appearing in the image with the camera ground clearance H based on the collected images of the vehicle under other loads, and adjust the rearview camera angle according to the function adjustable parameter M so that the length of the rear bumper displayed in the images under different loads is the length when it is unloaded, and associate the rearview camera angle with the rearview camera ground clearance so that the rearview camera can adjust the rearview camera height H according to the association relationship.

6. The device for automatically adjusting the angle of a rear-view camera according to claim 5, characterized in that: The other loads include half load and extreme load.

7. The device for automatically adjusting the angle of a rear-view camera according to claim 5, characterized in that: The rearview camera is also used to calibrate the trajectory line.

8. The device for automatically adjusting the angle of a rear-view camera according to claim 7, characterized in that: The rearview camera is also used to output the trajectory line adjusted by the camera.

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