Method for realizing distance and speed measurement by using camera rearview mirror system and rear camera

Abstract

The invention is applicable to the technical field of distance and speed measurement realized by cameras, and provides a method for realizing distance and speed measurement by using a camera rearview mirror system and a rear camera, which is based on images shot by the camera rearview mirror system and the rear camera, and utilizes the angle difference time difference between the two cameras to realize distance and speed measurement. The distance is measured by using a triangulation method, then the speed is displayed by using continuously measured distance value data, and the distance and the speed of a rear object can be accurately calculated through an advanced image processing algorithm by using an existing camera system without additionally installing an expensive radar or laser sensor. The system can update the distance and speed information of the rear object in real time, timely driving assistance is provided for a driver, and the vehicle does not need to be transformed on a large scale.

Description

Technical Field

[0001] The present invention belongs to the technical field of distance and speed measurement by a camera, and particularly relates to a method for realizing distance and speed measurement by using a camera rearview mirror system and a rear camera. Background Art

[0002] With the development of vehicle intelligence, in-vehicle camera systems play an increasingly important role in the fields of driving assistance and safety. Traditional rearview mirror systems mainly rely on optical mirrors, which have problems such as limited field of view and large blind spots, especially performing poorly at night or in bad weather. To solve these problems, electronic rearview mirror systems have gradually become popular, providing a clearer and wider field of view through the combination of cameras and displays.

[0003] However, most existing electronic rearview mirror systems are only used for image display and lack the function of accurately measuring the distance and speed of rear vehicles or objects. Measuring distance and speed is crucial for driving safety. Especially when changing lanes, reversing, or braking emergently, drivers need to accurately understand the dynamic information of rear objects. Currently, distance and speed measurement mainly relies on radar or laser sensors, but these devices are costly and complex to install. In contrast, camera systems are less expensive and have been widely integrated into vehicles. Therefore, how to use existing camera systems to realize distance and speed measurement has become an important technical challenge.

[0004] The existing technologies have the following deficiencies:

[0005] Limitations of traditional rearview mirrors: Traditional optical rearview mirrors have a limited field of view and blind spots and cannot provide accurate distance and speed information of rear objects; Single function of electronic rearview mirrors: Existing electronic rearview mirror systems mainly provide image display functions and lack the ability to measure the distance and speed of rear objects; Limitations of radar and laser sensors: Although radar and laser sensors can accurately measure distance and speed, they are costly and complex to install, making it difficult to be widely applied in ordinary vehicles; The potential of camera systems has not been fully exploited: Existing in-vehicle camera systems are mainly used for image acquisition and display, and their potential for distance and speed measurement has not been fully utilized. Summary of the Invention

[0006] The present invention provides a method for realizing distance and speed measurement by using a camera rearview mirror system and a rear camera, aiming to solve the problems that the traditional optical rearview mirror has limited field of vision, blind spots, and cannot provide accurate distance and speed information of the rear objects; the electronic rearview mirror has a single function: the existing electronic rearview mirror system mainly provides an image display function and lacks the ability to measure the distance and speed of the rear objects; the limitations of radar and laser sensors: although radar and laser sensors can accurately measure distance and speed, they are costly and complex to install, making it difficult to be widely applied in ordinary vehicles; the potential of the camera system has not been fully developed: the existing in-vehicle camera system is mainly used for image acquisition and display, and the potential of using it for distance and speed measurement has not been fully utilized.

[0007] The present invention is realized as follows. A method for realizing distance and speed measurement by using a camera rearview mirror system and a rear camera includes the following steps:

[0008] Set a camera rearview mirror system and two rearview mirrors in the vehicle, and install a rear camera at the rear end of the vehicle;

[0009] Take images through the rear camera, input the camera image information, and screen the vehicle images;

[0010] The camera rearview mirror system receives the images;

[0011] Perform angle calculation and distance calculation on the received images;

[0012] The camera rearview mirror system stores the distance value and GPS position signal data;

[0013] Determine the target vehicle through the rear camera, calculate the speed in combination with the GPS signal data, and display the result through the display interface on the display screen installed inside the vehicle.

[0014] Preferably, for the distance calculation, convert through the GPS signal data and the vehicle speed, and the distance calculation method for the rear vehicle adopts the triangulation method. The specific method is as follows:

[0015] The distance value X of the rear vehicle = fixed distance c × SIN(measurement angle A + fixed angle a)

[0016] × SIN(90 – measurement angle B) / SIN(90 - measurement angle A - fixed angle a - fixed angle d + measurement angle B).

[0017] Preferably, the camera rearview mirror system specifically includes that when the left / right lane change signal switch of the vehicle ECU is turned on, the camera rearview mirror system is activated. The camera rearview mirror system includes an image receiving module, a vehicle image processing module, an angle calculation module, a distance calculation module, a GPS signal data module, a speed calculation module, a display module, a data transmission module, and a real-time update module.

[0018] Preferably, the specific method of angle calculation is as follows: The angle difference between the two rearview mirrors and the rear camera is measured by the triangulation method, and the speed is displayed through the continuously measured distance data.

[0019] Preferably, when the camera rearview mirror system receives images, it specifically includes that when the rear camera and the two rearview mirrors are activated, parameter initialization is performed, including focal length, viewing angle, and resolution adjustment. The camera continuously collects video streams of the rear environment at a certain frame rate, and the collected video images are uploaded to the vehicle image processing module.

[0020] Preferably, the rear camera and the two rearview mirrors include a light automatic adjustment device. The light automatic adjustment device includes an ambient light sensor, a high dynamic range sensor, automatic aperture control, infrared fill light, and a processing unit. The processing unit includes automatic exposure, low light enhancement, and anti-glare processing.

[0021] Preferably, when taking images through the rear camera and inputting camera image information to screen vehicle images, it specifically includes decomposing the captured video into continuous frame images, using filtering algorithms (such as Gaussian filtering, median filtering) to remove noise in the images, correcting the distortion generated by the wide-angle lens, using techniques such as sharpening and edge enhancement to highlight the key features in the images, and image screening to screen vehicle information within a specific range behind the vehicle and screen moving vehicles to exclude stationary objects.

[0022] Preferably, it also includes judging whether there are blind spots for vehicles based on angle calculation and distance calculation, and giving an alarm prompt for a vehicle with a relatively close distance and a blind spot range.

[0023] Preferably, it also includes storing image data, speed calculation, angle calculation, and distance calculation data.

[0024] Preferably, an anti-fog cleaning device is installed on the rear camera. The anti-fog cleaning device includes a detachable transparent protective cover and an electrically movable cleaning sponge block.

[0025] Compared with the prior art, the embodiments of the present application mainly have the following beneficial effects:

[0026] Based on the images captured by the camera rearview mirror system and the rear camera, using the time difference of the angular difference between the two cameras, measuring the distance by triangulation, and then displaying the speed with the continuously measured distance value data. With the existing camera system, without the need to install expensive radars or laser sensors additionally, through advanced image processing algorithms, it can accurately calculate the distance and speed of the rear objects. The system can update the distance and speed information of the rear objects in real time, providing timely driving assistance for the driver without large-scale modification of the vehicle. Brief Description of the Drawings

[0027] Figure 1 It is a schematic structural diagram of the method flow for the camera rearview mirror system and the rear camera of the present invention to achieve distance and speed measurement;

[0028] Figure 2 It is a schematic structural diagram of the triangulation method of the present invention;

[0029] Figure 3 It is a schematic structural diagram of the camera rearview mirror system of the present invention; Detailed Description of the Invention

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs; the terms used in the description of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the description and claims of this application and the above-mentioned brief description of the drawings are intended to cover non-exclusive inclusion. The terms "first", "second", etc. in the description and claims of this application or the above-mentioned drawings are used to distinguish different objects and are not used to describe a specific order.

[0031] Referring to "embodiments" herein means that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase appears in various places in the description does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0032] The embodiments of the present invention provide a method for using a camera rearview mirror system and a rear camera to achieve distance and speed measurement. As shown in the figure, it includes the following steps:

[0033] Set up a camera rearview mirror system and two rearview mirrors in the vehicle, and install a rear camera at the rear end of the vehicle;

[0034] Take images through the rear camera, input the camera image information, and screen the vehicle images;

[0035] The camera rearview mirror system receives images;

[0036] Perform angle calculation and distance calculation on the received images;

[0037] The camera rearview mirror system stores distance values and GPS position signal data;

[0038] Determine the target vehicle through the rear camera, calculate the speed in combination with the GPS signal data, and display the result through the display interface on the display screen installed inside the vehicle.

[0039] It should be noted that due to the limitations of traditional rearview mirrors: the field of view of traditional optical rearview mirrors is limited, there are blind spots, and they cannot provide accurate distance and speed information of rear objects; the functions of electronic rearview mirrors are single: existing electronic rearview mirror systems mainly provide image display functions and lack the ability to measure the distance and speed of rear objects; the limitations of radar and laser sensors: although radar and laser sensors can accurately measure distance and speed, they are costly and complex to install, making it difficult to be widely applied in ordinary vehicles; the potential of the camera system has not been fully developed: existing in-vehicle camera systems are mainly used for image acquisition and display, and their potential for distance and speed measurement has not been fully utilized. Based on the images captured by the camera rearview mirror system and the rear camera, this solution uses the angle difference time difference between the two cameras, measures the distance using triangulation, and then uses the continuously measured distance value data to display the speed. By using the existing camera system, without the need to install additional expensive radar or laser sensors, through advanced image processing algorithms, it can accurately calculate the distance and speed of rear objects. The system can update the distance and speed information of rear objects in real time, providing timely driving assistance to the driver without the need for large-scale vehicle modification.

[0040] In a further preferred embodiment of the present invention, as shown in the figure, for distance calculation, it is converted through GPS signal data and the vehicle speed, and the triangulation method is used for calculating the distance of the rear vehicle. The specific method is as follows:

[0041] The distance value X of the rear vehicle = fixed distance c × SIN(measurement angle A + fixed angle a) × SIN(90 – measurement angle B) / SIN(90 - measurement angle A - fixed angle a - fixed angle d + measurement angle B).

[0042] In this embodiment, it is convenient to calculate the speed of the rear vehicle and the distance from this vehicle through data.

[0043] In a further preferred embodiment of the present invention, as shown in the figure, the camera rearview mirror system specifically includes a vehicle ECU. When the left / right lane change signal switch is turned on, the camera rearview mirror system is activated. The camera rearview mirror system includes an image receiving module, a vehicle image processing module, an angle calculation module, a distance calculation module, a GPS signal data module, a speed calculation module, a display module, a data transmission module, and a real-time update module.

[0044] In this embodiment, it is convenient to process data.

[0045] In a further preferred embodiment of the present invention, as shown in the figure, the specific method of angle calculation is as follows: The angle difference between the two rearview mirrors and the rear camera is measured by triangulation, and at the same time, the speed is displayed through the continuously measured distance data.

[0046] In this embodiment, it is convenient to calculate the speed and the angle.

[0047] In a further preferred embodiment of the present invention, as shown in the figure, when the rear camera and the two rearview mirrors start to receive images, parameter initialization is performed, including focal length, viewing angle, and resolution adjustment. The camera continuously captures the video stream of the rear environment at a certain frame rate, and the captured video images are uploaded to the vehicle image processing module.

[0048] In this embodiment, it is convenient to process the images.

[0049] In a further preferred embodiment of the present invention, as shown in the figure, the rear camera and the two rearview mirrors include a light automatic adjustment device. The light automatic adjustment device includes an ambient light sensor, a high dynamic range sensor, an automatic aperture control, an infrared fill light, and a processing unit. The processing unit includes automatic exposure, low light enhancement, and anti-glare processing.

[0050] In this embodiment, it is convenient to perform light processing on the rear camera and the rearview mirrors to avoid affecting the detection and observation of the rear vehicles.

[0051] In a further preferred embodiment of the present invention, as shown in the figure, when taking images through the rear camera and inputting the camera image information, the specific steps of screening vehicle images include decomposing the captured video into continuous frame images, using filtering algorithms (such as Gaussian filtering, median filtering) to remove the noise in the images, correcting the distortion generated by the wide-angle lens, using techniques such as sharpening and edge enhancement to highlight the key features in the images, and performing image screening to screen the vehicle information within a specific range behind the vehicle and screen the moving vehicles to exclude stationary objects.

[0052] In this embodiment, it is convenient to process the captured images.

[0053] In a further preferred embodiment of the present invention, as shown in the figure, it further includes determining whether there is a blind spot for a vehicle based on angle calculation and distance calculation, and giving an alarm prompt for a vehicle with a relatively short distance and a blind spot range.

[0054] In this embodiment, it is convenient to predict vehicles in the blind spot.

[0055] In a further preferred embodiment of the present invention, as shown in the figure, it further includes storing image data, speed calculation, angle calculation, and distance calculation data.

[0056] In this embodiment, it is convenient to store data and facilitate analysis in case of an accident.

[0057] In a further preferred embodiment of the present invention, as shown in the figure, an anti-fog cleaning device is installed on the rear camera. The anti-fog cleaning device includes a detachable transparent protective cover and also includes an electrically movable cleaning sponge block.

[0058] In this embodiment, it is convenient to protect the rear camera and avoid affecting detection.

[0059] The electrical components mentioned in the text are all electrically connected to the controller and the power supply. The control mode of the present invention is controlled by the controller. The control circuit of the controller can be realized by simple programming of those skilled in the art. The provision of the power supply also belongs to the common knowledge in the art. And the present invention is mainly used to protect mechanical devices, so the control mode and circuit connection of the present invention will not be explained in detail.

[0060] It should be noted that for the foregoing embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps may be in other sequences or performed simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0061] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the above-mentioned unit division can be implemented in other ways in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection between devices or units can be in the form of telecommunications or other forms.

[0062] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0063] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the protection scope of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art can still, without conflict and without making creative efforts, combine, add, delete or make other adjustments to the features in the embodiments of the present invention according to the circumstances, so as to obtain different technical solutions that essentially do not depart from the concept of the present invention, and these technical solutions also belong to the scope of protection of the present invention.

Claims

1. A method for measuring distance and speed using a camera rearview mirror system and a rear camera, characterized in that: The following steps are involved: A camera rearview mirror system and two rearview mirrors are provided in the vehicle, and a rear camera is installed at the rear end of the vehicle; Capture images through a rear camera, input camera image information, and filter vehicle images; The camera rearview mirror system receives images; Perform angle calculation and distance calculation on the received image; The camera rearview mirror system stores distance values ​​and GPS location signal data; The target vehicle is determined by the rear camera, the speed is calculated in combination with GPS signal data, and the result is displayed through a display screen interface, and the display screen is installed inside the vehicle.

2. The method for measuring distance and speed using a camera rearview mirror system and a rear camera as claimed in claim 1, characterized in that: The distance calculation is performed by converting the GPS signal data and the vehicle speed, and the distance calculation method of the rear vehicle adopts the triangulation method, and the specific method is as follows: Rear vehicle distance value X=fixed distance c×SIN(measurement angle A+fixed angle a)×SIN(90−measurement angle B) / SIN(90−measurement angle A−fixed angle a−fixed angle d+measurement angle B).

3. The method for measuring distance and speed using a camera rearview mirror system and a rear camera as claimed in claim 2, characterized in that: The camera rearview mirror system specifically includes starting the camera rearview mirror system when the left / right lane change signal switch of the vehicle ECU is turned on. The camera rearview mirror system includes an image receiving module, a vehicle image processing module, an angle calculation module, a distance calculation module, a GPS signal data module, a speed calculation module, a display module, a data transmission module and a real-time update module.

4. The method for measuring distance and speed using a camera rearview mirror system and a rear camera as claimed in claim 2, characterized in that: The specific method of the angle calculation is: the angle difference between the two rearview mirrors and the rear camera is measured by the triangulation method, and the speed is displayed by the continuously measured distance data.

5. The method for measuring distance and speed using a camera rearview mirror system and a rear camera as claimed in claim 2, characterized in that: The camera rearview mirror system receives images specifically including parameter initialization when the rear camera and two rearview mirrors are started, including focal length, viewing angle, and resolution adjustment. The camera continuously collects the video stream of the rear environment at a certain frame rate, and the collected video images are uploaded to the vehicle image processing module.

6. The method for measuring distance and speed using a camera rearview mirror system and a rear camera as claimed in claim 5, characterized in that: The rear camera and the two rearview mirrors include an automatic light adjustment device, which includes an ambient light sensor, a high dynamic range sensor, an automatic aperture control, an infrared fill light and a processing unit. The processing unit includes automatic exposure, low light enhancement and anti-glare processing.

7. The method for measuring distance and speed using a camera rearview mirror system and a rear camera as claimed in claim 2, characterized in that: The method of capturing images through a rear camera, inputting camera image information, and screening vehicle images specifically includes decomposing the captured video into continuous frame images, using a filtering algorithm (such as Gaussian filtering and median filtering) to remove noise in the image, correcting the distortion caused by a wide-angle lens, using sharpening, edge enhancement and other techniques to highlight key features in the image, and screening the image to screen vehicle information within a specific range behind the vehicle, screen moving vehicles, and exclude stationary objects.

8. The method for measuring distance and speed using a camera rearview mirror system and a rear camera as claimed in claim 2, characterized in that: It also includes determining whether there is a vehicle in a blind spot based on angle calculation and distance calculation, and issuing an alarm if the vehicle is close and has a blind spot.

9. The method for measuring distance and speed using a camera rearview mirror system and a rear camera as claimed in claim 2, characterized in that: It also includes the storage of image data, speed calculation, angle calculation, and distance calculation data.

10. The method for measuring distance and speed using a camera rearview mirror system and a rear camera as claimed in claim 2, characterized in that: The rear camera is provided with an anti-fog cleaning device, which comprises a detachable transparent protective cover and an electrically movable cleaning sponge wiping block.

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