A method and apparatus for automatically adjusting the angle of a rearview camera

Abstract

The application provides a method for automatically adjusting the angle of a rearview camera, which comprises the following steps: step 1, when the loading capacity of a vehicle is empty, the visible length of a rear bumper in the collection range of the rearview camera is L1; step 2, when the loading capacity of the vehicle is full, the ground clearance of the rearview camera is H2; step 3, the adjustable parameter M is calculated; step 4, the length L of the rear bumper appearing in the image is linearly associated with the ground clearance H of the camera; step 5, according to the function adjustable parameter M, the angle of the rearview camera is adjusted, so that the length of the rear bumper displayed in the image under different loads is the length when the load is empty, and the angle of the rearview camera is associated with the ground clearance of the rearview camera; and step 6, when the load of the vehicle changes, the current ground clearance H of the rearview camera is determined according to the length of the rear bumper in the image, and the viewing 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, in particular to a method and device for automatically adjusting the angle of a rear-view camera. BACKGROUND

[0002] For current commercial vehicles, such as light commercial vehicles, heavy commercial vehicles, pickup trucks and other vehicle models, the application of auxiliary driving configurations such as panoramic parking, rear-view cameras for reversing, etc. is increasing. Compared with passenger cars, due to the large load of commercial vehicles, the height of the commercial vehicle body changes greatly under the conditions of empty load, half load, full load, overload, etc. The difference in the height of the vehicle body under extreme load conditions can reach 100 mm. The effect of such changes in the height of the vehicle body on the image captured by the camera arranged on the rear cargo box door panel is also very obvious. The traditional rear-view camera for reversing and the vehicle trajectory line are calibrated in advance under a specific condition. If the height of the camera arrangement position changes greatly during subsequent actual use, the reversing image and the reversing trajectory line will be distorted, affecting the actual use effect, or there may be safety hazards. In the existing technical solution, the rear-view camera for reversing of the commercial vehicle is arranged on the tailgate handle or the cargo box handle according to the design requirements. During the design and development process, the reversing image and the trajectory line are calibrated through real vehicle calibration. The vehicle condition is empty or half load during real vehicle calibration. However, when the reversing image and the trajectory line are calibrated by real vehicle, the vehicle condition is empty or half load. When the vehicle is actually used and operated, the actual load of the vehicle may be much higher than the design load during calibration, that is, the height of the camera during actual use is very different from the height during empty load and half load calibration, which causes the image and trajectory line calibrated by the camera in the early stage to be distorted, thereby misleading the driver and possibly causing safety hazards. SUMMARY

[0003] Therefore, the present application provides a method and device for automatically adjusting the angle of a rear-view camera to solve the problem of deformation of the reversing image caused by the large change in the height of the rear camera under different conditions of empty load, half load, full load, and extreme overload of the vehicle in the prior art.

[0004] The present application provides a method for automatically adjusting the angle of a rear-view camera, applied to a commercial vehicle, the method comprising: step 1, when the load of the vehicle is empty, the visible length of the rear bumper in the range of the rear-view camera is L1; step 2, when the load of the vehicle is full, the ground clearance of the rear-view camera is H2; step 3, according to the function L1=M*H2, the adjustable parameter M is calculated. wherein, L1 is the visible length of the rear bumper, and H2 is the height of the rearview camera from the ground; step 4, collecting images of the vehicle under other loads, linearly correlating the length L of the rear bumper appearing in the images with the height H of the camera from the ground; step 5, adjusting the angle of the rearview 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 under the empty load, and correlating the angle of the rearview camera with the height of the rearview camera from the ground; step 6, when the load of the vehicle changes, the rearview camera judges the current height H of the rearview camera from the ground according to the length of the rear bumper in the image, and adjusts the viewing angle of the output image of the rearview camera according to the height H of the rearview camera.

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

[0006] Further, the step 4 further comprises calibrating the trajectory line.

[0007] The application further provides an apparatus for automatically adjusting the angle of a rearview camera, applied to a commercial vehicle, comprising: a rearview camera arranged at the top of the tail of the vehicle, used for collecting images of the rear of the vehicle, judging the current height H of the rearview camera from the ground according to the length of the rear bumper in the image, and adjusting the viewing angle of the output image according to the height H of the rearview camera, so that the driver can safely reverse the vehicle according to the image; a parameter adjustment module arranged on the vehicle and connected with the rearview camera, used for calculating the adjustable parameter M of the function L1=M*H2 according to the visible length L1 of the rear bumper in the collection range of the rearview camera when the vehicle is empty, and the height H2 of the rearview camera from the ground when the vehicle is fully loaded. wherein, L1 is the visible length of the rear bumper, and H2 is the height of the rearview camera from the ground; a correlation adjustment module arranged on the vehicle and connected with the rearview camera and the parameter adjustment module, used for linearly correlating the length L of the rear bumper appearing in the collected images of the vehicle under other loads with the height H of the camera from the ground, adjusting the angle of the rearview 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 under the empty load, and correlating the angle of the rearview camera with the height of the rearview camera from the ground, so that the rearview camera adjusts the height H of the rearview camera according to the correlation.

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

[0009] Further, the rearview camera is further used for calibrating the trajectory line.

[0010] Further, the rearview camera is further used for outputting the trajectory line adjusted by the rearview camera.

[0011] The application provides a method and device for automatically adjusting the angle of a rear-view camera, which can obtain the ground clearance H of the rear-view camera according to the visible length L of the rear bumper in the field of view of the rear-view camera, and the rear-view camera adjusts the angle according to the ground clearance H, so as to ensure that the actual display area of the reversing image meets the driving requirements of the driver, and the actual display area of the reversing image is dynamically adjusted in this way, thereby avoiding the change of the image reversing image function caused by the change of the load of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a method flow diagram for automatically adjusting the angle of a rear-view camera provided by the application.

[0013] Figure 2 It is a device structure diagram for automatically adjusting the angle of a rear-view camera provided by the application.

[0014] Figure 3 It is a position diagram of the angle of a rear-view camera provided by the application. DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the application will be described clearly and completely in combination with the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0016] Method embodiment:

[0017] The application provides a method for automatically adjusting the angle of a rear-view camera, as shown in the figure, the method comprises the following steps. Figure 1

[0018] Step 1: when the load of the vehicle is empty, the visible length of the rear bumper in the collection range of the rear-view camera is L1;

[0019] Step 2: when the load of the vehicle is full, the ground clearance of the rear-view camera is H2;

[0020] Step 3: according to the function L1=M*H2, the adjustable parameter M is calculated , wherein L1 is the visible length of the rear bumper, and H2 is the ground clearance of the rear-view camera.

[0021] Step 4: collect the image of the vehicle under other loads, and linearly correlate the length L of the rear bumper appearing in the image with the ground clearance H of the camera.

[0022] ​The other loads include half load and limit load. Step 4: The trajectory line is calibrated while the image is collected.

[0023] Step 5: According to the function adjustable parameter M, the rearview camera angle is adjusted so that the rear bumper length displayed in the image under different loads is the length when the load is empty, and the rearview camera angle is associated with the rearview camera height from the ground.

[0024] The specific logic of the rearview camera angle adjustment is as follows: when the vehicle load is empty, the rearview camera height from the ground is H1, at this time, the visible length of the rear bumper 2 in the beam range collected by the rearview camera 1 is L1; when the vehicle load is full, the rearview camera height from the ground is H2, at this time, the visible length of the rear bumper 2 in the beam range collected by the rearview camera 1 is L2; according to the mathematical model of the vehicle load, the camera height from the ground H and the visible length of the rear bumper L (L1=M*H2) established under two working conditions.

[0025] Step 6: When the vehicle load changes, the rearview camera judges the current rearview camera height from the ground H according to the rear bumper length in the image, and adjusts the viewing angle of the rearview camera output image according to the rearview camera height H.

[0026] As known from the foregoing, the rearview camera calibrates the trajectory line when collecting the image, so that after adjusting the angle, the rearview camera can output the adjusted trajectory line in addition to the output. When the vehicle load condition changes, the camera judges the current camera height from the ground H according to the rear bumper length L in the image, and adjusts the viewing angle and trajectory line of the camera output image according to the camera height H, so as to ensure that when the camera height changes, the image display area does not have a large error, and the camera works.

[0027] The present application provides a kind of method and device for automatically adjusting the angle of rearview camera, which can obtain the height H of rearview camera from the ground according to the visible length L of rear bumper in the field of view of rearview camera, and adjust the angle of rearview camera according to the height H of rearview camera from the ground, to ensure that the actual display area of reversing rearview meets the driving needs of driver, and dynamically adjust the actual display area of reversing image by this way, to avoid the change of image reversing rearview image function due to vehicle load.

[0028] Device item embodiment:

[0029] The present application provides a kind of device for automatically adjusting the angle of rearview camera, which is applied to commercial vehicle, as shown in Figure 2 and 3 The device includes rearview camera 1, parameter adjustment module and association adjustment module.

[0030] The rear-view camera 1 is arranged on the top of the rear of the vehicle and is used to collect the image of the rear of the vehicle, the length of the rear bumper 2 in the image is used to determine the height H of the rear-view camera from the ground, and the angle of the rear-view camera 1 is adjusted according to the height H of the rear-view camera to output the angle of the image, so that the driver can safely reverse the vehicle according to the image. The rear-view camera is also used to calibrate the trajectory line and output the adjusted trajectory line of the rear-view camera after the angle is adjusted. The specific logic of the angle adjustment of the rear-view camera 1 is as follows: when the vehicle is empty, the height of the rear-view camera 1 from the ground is H1, and at this time, the visible length of the rear bumper 2 in the beam range collected by the rear-view camera is L1; when the vehicle is fully loaded, the height of the rear-view camera 1 from the ground is H2, and at this time, the visible length of the rear bumper 2 in the beam range collected by the rear-view camera 1 is L2. The mathematical model of the vehicle load, the height H of the camera from the ground and the visible length L of the rear bumper under two working conditions is established: L1=M*H2.

[0031] The parameter adjustment module is arranged on the vehicle and connected with the rear-view camera, and is used to calculate the adjustable parameter M according to the function L1=M*H2, according to the visible length L1 of the rear bumper 2 in the collection range of the rear-view camera 1 when the vehicle is empty and the height H2 of the rear-view camera 1 from the ground when the vehicle is fully loaded. Wherein, L1 is the visible length of the rear bumper, and H2 is the height of the rear-view camera from the ground.

[0032] The correlation adjustment module is arranged on the vehicle and connected with the rear-view camera 1 and the parameter adjustment module, and is used to linearly correlate 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 image collected under other loads, 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 image under different loads is the length when the vehicle is empty, and correlate 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 adjusts the height H of the rear-view camera 1 according to the correlation. The other loads include half load and extreme load.

[0033] In summary, the embodiment of the application provides a method and device for automatically adjusting the angle of the rear-view camera, without increasing new facilities, by establishing the mathematical model of the relationship between the height of the camera from the ground and the visible length of the rear bumper in the camera, and cutting the actual display area in the built-in processing logic of the camera, so that the angle of the reverse-view display image is intelligently recognized and automatically adjusted under different load conditions, and the reverse-view camera can normally play its function under any load condition, and the phenomenon that the reverse-view function is disabled due to the change of the height from the ground and the deformation of the image angle when the load of the vehicle changes is avoided.

[0034] The above merely provides the preferred embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A method for automatically adjusting the angle of a rearview 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 rearview camera is L1; Step 2: When the vehicle is fully loaded, the rearview camera is at a height H2 from the ground; Step 3: Calculate the adjustable parameters based on the function L1=M*H2 , where L1 is the visible length of the rear bumper and H2 is the height of the rearview camera from the ground; Step 4: Collect images of the vehicle under different loads and linearly correlate the length L of the rear bumper in the image with the camera height H above the ground; Step 5: Adjust the rearview camera angle based on the function's adjustable parameter M so that the rear bumper length displayed in images under different loads is the same as when the vehicle is unladen, and associate the rearview camera angle with the rearview camera's ground clearance. Step 6: When the vehicle load changes, the rearview camera determines the current rearview camera ground height H based on the rear bumper length in the image, and adjusts the viewing angle of the rearview camera output image based on the rearview camera height H.

2. The method for automatically adjusting the angle of a rearview camera according to claim 1, wherein: The other loads include half load and extreme load.

3. The method for automatically adjusting the angle of a rearview camera according to claim 1, wherein: The step 4 also includes calibrating the trajectory line.

4. The method for automatically adjusting the angle of a rearview camera according to claim 3, wherein: 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 rearview camera according to any one of claims 1 to 4, applied to a commercial vehicle, characterized in that: The device comprises: The rearview camera is installed on the top of the rear of the vehicle to collect images from the rear of the vehicle. The height H of the rearview camera from the ground is determined based on the length of the rear bumper in the image. The viewing angle of the output image is adjusted based on the height H of the rearview camera so that the driver can reverse safely based on the image. The parameter adjustment module is set on the vehicle and connected to the rearview camera. It is used to calculate the adjustable parameters according to the function L1=M*H2 based on the visible length L1 of the rear bumper within the acquisition range of the rearview camera when the vehicle is unloaded and the height H2 of the rearview 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 rearview camera from the ground; The association adjustment module is set on the vehicle and is connected to the rearview camera and the parameter adjustment module respectively. 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. The rearview camera angle is associated 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 according to claim 5, characterized in that The other loads include half load and extreme load.

7. The device according to claim 5, characterized in that The rearview camera is also used to calibrate the trajectory line.

8. The device 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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