Vehicle-mounted visual perception system of multi-view camera and vehicle

Abstract

The invention provides a vehicle-mounted visual perception system of a multi-view camera and a vehicle, the vehicle-mounted visual perception system comprises a luggage rack, a first camera, a second camera, a third camera and a fourth camera, a first overlapping area is arranged between a first horizontal field angle of the first camera and a second horizontal field angle of the second camera; a first overlapping starting point of the first overlapping area is located in the middle of the vehicle head of the vehicle body, a second overlapping area is arranged between the first horizontal field angle and a third horizontal field angle of the third camera, and a second overlapping starting point of the second overlapping area is located in the left side of the vehicle body. And a third overlapping area is formed between the second horizontal field angle and a fourth horizontal field angle of the fourth camera, so that the shooting visual angle range can be effectively expanded, the problem of image distortion is avoided, the image quality and the monitoring accuracy are improved, an overlapping shooting area is formed between two adjacent cameras, a visual monitoring blind area is avoided, and the monitoring efficiency is improved. The wide-angle view coverage range is expanded, and the driving safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle visual perception, and in particular to a vehicle-mounted visual perception system of multi-view cameras and a vehicle with the same. BACKGROUND

[0002] On a vehicle, the driver sitting in the cab is affected by various factors, which causes limitations in visual perception, thereby affecting driving safety. Among them, the factors that limit the perception of the environment around the vehicle include but are not limited to: AB column obstruction, engine cover obstruction, rearview mirror blind area, front and rear blind area, front vehicle visual obstruction, low visibility in dark environment, etc.

[0003] In order to perceive the environment around the vehicle, extend the field of view, and realize intelligent driving, the existing vehicle is provided with a front-view camera in the middle of the front windshield, and a left camera is installed on the left side mirror and a right camera is installed on the right side mirror, so as to monitor the environment around the vehicle in real time.

[0004] However, the front-view camera of the existing vehicle is installed on the front windshield, which affects the driver's field of view and thus affects driving safety, and the installation space for installing the front-view camera on the front windshield is limited, which further affects the shooting angle range of the front-view camera.

[0005] Moreover, the left camera of the existing vehicle is installed on the left side mirror and the right camera is installed on the right side mirror, which results in that the shooting angle range of the left camera and the right camera in the height direction of the vehicle body is too low, thereby causing image distortion problem, which further leads to poor image quality, making it difficult to meet the high-precision requirements of users.

[0006] In addition, the shooting field angles of the front-view camera, the left camera and the right camera of the existing vehicle are in a separated state, which results in that there is a visual monitoring blind area between the adjacent two cameras, thereby affecting driving safety. SUMMARY

[0007] The first object of the present application is to provide a vehicle-mounted visual perception system of multi-view cameras, which can effectively expand the shooting angle range to avoid image distortion problem, thereby improving image quality and monitoring accuracy, and can make adjacent two cameras have an overlapping shooting area to avoid visual monitoring blind area, thereby expanding the wide-angle field of view coverage and improving driving safety.

[0008] The second object of the present application is to provide a vehicle with the above-mentioned vehicle-mounted visual perception system.

[0009] In order to achieve the first object of the present application, the present application provides a vehicle-mounted visual perception system of a multi-view camera, comprising a luggage rack arranged on the top of a vehicle body, wherein the luggage rack comprises a left rod arranged on the left side of the top of the vehicle body and a right rod arranged on the right side of the top of the vehicle body; the vehicle-mounted visual perception system of the multi-view camera further comprises a first camera, a second camera, a third camera, a fourth camera, a data communication module, a control processing module and a display module; the first camera, the second camera, the third camera, the fourth camera and the display module are connected with the control processing module through the data communication module; the first camera is arranged at the front end of the left rod, the second camera is arranged at the front end of the right rod, the third camera is arranged on the left side of the left rod and close to the front end of the left rod, and the fourth camera is arranged on the right side of the right rod and close to the front end of the right rod; there is a first overlapping area between a first horizontal field of view of the first camera and a second horizontal field of view of the second camera, and the first overlapping start point of the first overlapping area is located in the middle of the front of the vehicle body; there is a second overlapping area between the first horizontal field of view and a third horizontal field of view of the third camera, and the second overlapping start point of the second overlapping area is located in the left side of the vehicle body; there is a third overlapping area between the second horizontal field of view and a fourth horizontal field of view of the fourth camera, and the third overlapping start point of the third overlapping area is located in the right side of the vehicle body.

[0010] As can be seen from the above scheme, during use of the vehicle, the images captured by the first camera, the second camera, the third camera and the fourth camera are transmitted in real time to the control processing module through the data communication module, and the control processing module displays the images through the display module after relevant processing operations, so that the driver can obtain the surrounding environment of the vehicle in real time. Since the first camera, the second camera, the third camera and the fourth camera of the vehicle-mounted visual perception system of the present application are arranged on the luggage rack, and the luggage rack is arranged on the top of the vehicle body, the first camera, the second camera, the third camera and the fourth camera are arranged on the top of the vehicle body, so as to raise the shooting angle range in the height direction of the vehicle body, effectively expand the shooting angle range, avoid image distortion problems, and thus improve the image quality and monitoring accuracy. Moreover, the first horizontal field of view of the first camera and the second horizontal field of view of the second camera of the vehicle-mounted visual perception system of the present application have a first overlapping area, the first overlapping start point of the first overlapping area is located in the middle of the front of the vehicle body, the first horizontal field of view and the third horizontal field of view of the third camera have a second overlapping area, the second overlapping start point of the second overlapping area is located in the left side of the vehicle body, the second horizontal field of view and the fourth horizontal field of view of the fourth camera have a third overlapping area, and the third overlapping start point of the third overlapping area is located in the right side of the vehicle body, so that there is an overlapping shooting area between two adjacent cameras, the visual monitoring blind area is avoided, the wide-angle field of view coverage range is expanded, and the driving safety is improved.

[0011] Therefore, the vehicle-mounted visual perception system of the multi-view camera can set four cameras on the luggage rack on the top of the vehicle body, can raise the shooting angle range in the height direction of the vehicle body, effectively expand the shooting angle range, avoid image distortion problems, improve image quality and monitoring accuracy, and set adjacent two cameras with overlapping shooting areas to avoid visual monitoring blind areas, thereby expanding the wide-angle field of view coverage range and improving driving safety.

[0012] Further, the first horizontal field of view is between 60° and 230°; and / or, the second horizontal field of view is between 60° and 230°; and / or, the third horizontal field of view is between 60° and 230°; and / or, the fourth horizontal field of view is between 60° and 230°.

[0013] Further, the first vertical field of view of the first camera is between 60° and 230°, and the first upward inclination field of view relative to the horizontal direction is between -30° and 120°; and / or, the second vertical field of view of the second camera is between 60° and 230°, and the second upward inclination field of view relative to the horizontal direction is between -30° and 120°; and / or, the third vertical field of view of the third camera is between 60° and 230°, and the third upward inclination field of view relative to the horizontal direction is between -30° and 120°; and / or, the fourth vertical field of view of the fourth camera is between 60° and 230°, and the fourth upward inclination field of view relative to the horizontal direction is between -30° and 120°.

[0014] Further, the vehicle-mounted visual perception system of the multi-view camera further comprises a fifth camera, the luggage rack further comprises a rear side plate connected between the rear end of the left side rod and the rear end of the right side rod, the fifth camera is arranged at the middle of the rear end of the rear side plate and connected with the control processing module through the data communication module, the fifth horizontal field of view of the fifth camera has a fourth overlapping area with the third horizontal field of view, the fourth overlapping start point of the fourth overlapping area is located in the left side of the vehicle tail of the vehicle body, the fifth horizontal field of view has a fifth overlapping area with the fourth horizontal field of view, and the fifth overlapping start point of the fifth overlapping area is located in the right side of the vehicle tail of the vehicle body.

[0015] From the above scheme can be seen, the vehicle-mounted visual perception system of the multi-view camera of the present application sets five cameras on the luggage rack on the top of the vehicle body, can raise the shooting angle range in the height direction of the vehicle body, effectively expands the shooting angle range, to avoid the image distortion problem, thereby improving the image quality and monitoring accuracy, and by setting the adjacent two cameras have overlapping shooting area, to avoid the visual monitoring blind area, and then realize 360° field of view coverage range, so as to 360° look around the environment around the vehicle body without blind area, further improve the driving safety.

[0016] Further, the fifth horizontal field of view is between 60° and 230°; and / or, the fifth vertical field of view of the fifth camera is between 60° and 230°, and the fifth upward inclination field of view of the fifth vertical field of view relative to the horizontal direction is between -30° and 120°.

[0017] Further, the vehicle-mounted visual perception system of the multi-view camera further comprises a sixth camera and a seventh camera, the sixth camera is arranged at the rear end of the left rod, the seventh camera is arranged at the rear end of the right rod, and the sixth camera and the seventh camera are connected with the control processing module through the data communication module, the sixth camera has a sixth overlapping area between the sixth horizontal field of view and the third horizontal field of view, the sixth overlapping start point of the sixth overlapping area is located in the left side of the vehicle tail of the vehicle body, the seventh camera has a seventh overlapping area between the seventh horizontal field of view and the fourth horizontal field of view, the seventh overlapping start point of the seventh overlapping area is located in the right side of the vehicle tail of the vehicle body, and the sixth horizontal field of view and the seventh horizontal field of view have an eighth overlapping area, and the eighth overlapping start point of the eighth overlapping area is located in the middle of the vehicle tail of the vehicle body.

[0018] From the above scheme can be seen, the vehicle-mounted visual perception system of the multi-view camera of the present application sets five cameras on the luggage rack on the top of the vehicle body, can raise the shooting angle range in the height direction of the vehicle body, effectively expands the shooting angle range, to avoid the image distortion problem, thereby improving the image quality and monitoring accuracy, and by setting the adjacent two cameras have overlapping shooting area, to avoid the visual monitoring blind area, and then realize 360° field of view coverage range, so as to 360° look around the environment around the vehicle body without blind area, further improve the driving safety.

[0019] Further, the sixth horizontal field of view is between 60° and 230°; and / or, the seventh horizontal field of view is between 60° and 230°; and / or, the sixth vertical field of view of the sixth camera is between 60° and 230°, and the sixth upward tilt field of view of the sixth vertical field of view relative to the horizontal direction is between -30° and 120°; and / or, the seventh vertical field of view of the seventh camera is between 60° and 230°, and the seventh upward tilt field of view of the seventh vertical field of view relative to the horizontal direction is between -30° and 120°.

[0020] Further, the display module is a touch display screen, and the touch display screen is arranged inside the vehicle body.

[0021] Further, the vehicle-mounted visual perception system of the multi-view camera further comprises a vehicle-mounted battery and a solar power supply device, the vehicle-mounted battery is electrically connected with the solar power supply device and supplies power to the control processing module and the cameras, and the solar power supply device is arranged on the top of the vehicle body.

[0022] In order to achieve the second object of the present application, the present application provides a vehicle comprising a vehicle body and a vehicle-mounted visual perception system, the vehicle-mounted visual perception system being the vehicle-mounted visual perception system of the multi-view camera as described above, and the luggage rack of the vehicle-mounted visual perception system of the multi-view camera being arranged on the top of the vehicle body. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a top view of the first embodiment of the vehicle of the present application;

[0024] Figure 2 is a left side view of the first embodiment of the vehicle of the present application;

[0025] Figure 3 is a right side view of the first embodiment of the vehicle of the present application.

[0026] Figure 4 is a front view of the first embodiment of the vehicle of the present application.

[0027] Figure 5 is a partial structure exploded view of the vehicle-mounted visual perception system of the multi-view camera in the first embodiment of the vehicle of the present application.

[0028] Figure 6 is a top view of the second embodiment of the vehicle of the present application.

[0029] Figure 7 is a left side view of the second embodiment of the vehicle of the present application.

[0030] Figure 8 is a right side view of the second embodiment of the vehicle of the present application.

[0031] Figure 9Front view of the second embodiment of the vehicle of the present application.

[0032] Figure 10 Partial structural exploded view of the on-board visual perception system of the multi-view camera in the second embodiment of the vehicle of the present application.

[0033] Figure 11 Top view of the third embodiment of the vehicle of the present application.

[0034] Figure 12 Left side view of the third embodiment of the vehicle of the present application.

[0035] Figure 13 Right side view of the third embodiment of the vehicle of the present application.

[0036] Figure 14 Front view of the third embodiment of the vehicle of the present application.

[0037] Figure 15 Rear view of the third embodiment of the vehicle of the present application.

[0038] Figure 16 Partial structural exploded view of the on-board visual perception system of the multi-view camera in the third embodiment of the vehicle of the present application. DETAILED DESCRIPTION

[0039] First embodiment of the vehicle:

[0040] Reference Figures 1 to 5 , the vehicle of the present embodiment comprises a vehicle body 10 and an on-board visual perception system, which is an on-board visual perception system of a multi-view camera.

[0041] In the on-board visual perception system of the multi-view camera of the present embodiment, a luggage rack is arranged on the top of the vehicle body 10, and the luggage rack comprises a left side rod 11 arranged on the left side of the top of the vehicle body 10 and a right side rod 12 arranged on the right side of the top of the vehicle body 10.

[0042] In addition, the on-board visual perception system of the multi-view camera of the present embodiment further comprises a first camera 21, a second camera 22, a third camera 23, a fourth camera 24, a data communication module, a control processing module and a display module. The first camera 21, the second camera 22, the third camera 23, the fourth camera 24 and the display module are connected to the control processing module through the data communication module. The first camera 21 is arranged at the front end of the left side rod 11, the second camera 22 is arranged at the front end of the right side rod 12, the third camera 23 is arranged on the left side of the left side rod 11 and close to the front end of the left side rod 11, and the fourth camera 24 is arranged on the right side of the right side rod 12 and close to the front end of the right side rod 12.

[0043] Moreover, the first camera 21 has a first horizontal field of view angle θ1 and the second camera 22 has a second horizontal field of view angle θ2, and the first camera 21 and the second camera 22 have a first overlapping area 41, and the first overlapping start point 411 of the first overlapping area 41 is located in the middle of the front of the vehicle body 10, and the first camera 21 and the third camera 23 have a second overlapping area 42, and the second overlapping start point 421 of the second overlapping area 42 is located in the left side of the vehicle body 10, and the second camera 22 and the fourth camera 24 have a third overlapping area 43, and the third overlapping start point 431 of the third overlapping area 43 is located in the right side of the vehicle body 10.

[0044] In use, the images captured by the first camera 21, the second camera 22, the third camera 23, and the fourth camera 24 are transmitted to the control processing module in real time through the data communication module, and the control processing module displays the images through the display module after processing, so that the driver can obtain the surrounding environment of the vehicle in real time. Since the first camera 21, the second camera 22, the third camera 23, and the fourth camera 24 of the vehicle visual perception system of the embodiment are arranged on the luggage rack arranged on the top of the vehicle body 10, the first camera 21, the second camera 22, the third camera 23, and the fourth camera 24 are arranged on the top of the vehicle body 10, so as to raise the shooting angle range in the height direction of the vehicle body 10, effectively expand the shooting angle range, avoid image distortion, and improve image quality and monitoring accuracy. Moreover, the first camera 21 has a first horizontal field of view angle θ1 and the second camera 22 has a second horizontal field of view angle θ2, and the first camera 21 and the second camera 22 have a first overlapping area 41, and the first overlapping start point 411 of the first overlapping area 41 is located in the middle of the front of the vehicle body 10, and the first camera 21 and the third camera 23 have a second overlapping area 42, and the second overlapping start point 421 of the second overlapping area 42 is located in the left side of the vehicle body 10, and the second camera 22 and the fourth camera 24 have a third overlapping area 43, and the third overlapping start point 431 of the third overlapping area 43 is located in the right side of the vehicle body 10, so as to have an overlapping shooting area between the adjacent two cameras, avoid visual monitoring blind area, expand the wide-angle field of view coverage, and improve driving safety.

[0045] Therefore, the vehicle-mounted visual perception system of the multi-view camera in the embodiment can raise the shooting angle range in the height direction of the vehicle body 10, effectively expand the shooting angle range, avoid image distortion, improve image quality and monitoring accuracy, and expand the wide-angle field of view coverage range and improve driving safety by setting the adjacent two cameras to have an overlapping shooting area.

[0046] To further expand the horizontal shooting angle range, the first horizontal field of view angle θ1 of the first camera 21 is 60-230°, the second horizontal field of view angle θ2 of the second camera 22 is 60-230°, the third horizontal field of view angle θ3 of the third camera 23 is 60-230°, and the fourth horizontal field of view angle θ4 of the fourth camera 24 is 60-230°.

[0047] Preferably, the first horizontal field of view angle θ1 of the first camera 21 is 65°, the second horizontal field of view angle θ2 of the second camera 22 is 65°, the third horizontal field of view angle θ3 of the third camera 23 is 230°, and the fourth horizontal field of view angle θ4 of the fourth camera 24 is 230°, so that when the horizontal field of view angle of the first camera 21 and the second camera 22 at the front end is 65°, the horizontal field of view angle of the third camera 23 and the fourth camera 24 at the left and right sides is 230°, the adjacent two cameras have an overlapping shooting area, the visual monitoring blind area is avoided, the panoramic field of view coverage range is expanded, and the driving safety is improved.

[0048] To further expand the vertical shooting angle range, the first vertical field of view angle β1 of the first camera 21 is 60-230°, and the first upward field of view angle γ1 relative to the horizontal direction is -30-120°, the second vertical field of view angle β2 of the second camera 22 is 60-230°, and the second upward field of view angle γ2 relative to the horizontal direction is -30-120°, the third vertical field of view angle β3 of the third camera 23 is 60-230°, and the third upward field of view angle γ3 relative to the horizontal direction is -30-120°, the fourth vertical field of view angle β4 of the fourth camera 24 is 60-230°, and the fourth upward field of view angle γ4 relative to the horizontal direction is -30-120°.

[0049] Preferably, the first vertical field of view angle β1 of the first camera 21 is 60°, and the first upward tilting field of view angle γ1 of the first vertical field of view angle β1 relative to the horizontal direction is 15°, the second vertical field of view angle β2 of the second camera 22 is 60°, and the second upward tilting field of view angle γ2 of the second vertical field of view angle β2 relative to the horizontal direction is 15°, the third vertical field of view angle β3 of the third camera 23 is 230°, and the third upward tilting field of view angle γ3 of the third vertical field of view angle β3 relative to the horizontal direction is 120°, the fourth vertical field of view angle β4 of the fourth camera 24 is 230°, and the fourth upward tilting field of view angle γ4 of the fourth vertical field of view angle β4 relative to the horizontal direction is 120°, so that when the vertical field of view angle of the third camera 23 and the fourth camera 24 located on the left and right sides is 230°, the upward tilting field of view angle of the vertical field of view angle of the third camera 23 and the fourth camera 24 relative to the horizontal direction is 120°, so as to avoid the camera downwardly shooting only the ground; when the vertical field of view angle of the first camera 21 and the second camera 22 located at the front end is 60°, the upward tilting field of view angle of the vertical field of view angle of the first camera 21 and the second camera 22 relative to the horizontal direction is 15°, so as to avoid the camera upwardly lifting too high to affect the coverage range of the lower side of the vehicle.

[0050] Specifically, the first camera 21, the second camera 22, the third camera 23 and the fourth camera 24 of the embodiment all have 5 million pixel CMOS light sensing elements, have automatic focusing and anti-shake functions, and can realize wide-angle azimuth image acquisition.

[0051] In order to facilitate the driver to view the image of any camera, the display module of the embodiment is a touch display screen, which is arranged inside the vehicle body 10, so that the driver can touch the relevant instructions in the touch display screen to call the image shot by any camera, and play on the touch display screen. Specifically, the control processing module of the embodiment adopts a high-performance microprocessor and an advanced image processing algorithm, can perform real-time processing and analysis on the collected image data, and transmits the processing result to the display module through the data communication module. Moreover, the control processing module of the embodiment also has an automatic calibration function, which can automatically adjust the shooting parameters of the camera according to the driving state of the vehicle. Further, the data communication module of the embodiment also supports wireless communication technology, which can transmit the data of the control processing module to the display module in the form of wireless signal.

[0052] In order to save energy and protect the environment, the vehicle-mounted visual perception system of the multi-view camera of the embodiment further comprises a vehicle-mounted battery and a solar power supply device, the vehicle-mounted battery is electrically connected with the solar power supply device and supplies power for the control processing module and the camera, the solar power supply device is arranged on the top of the vehicle body 10, so as to ensure that the camera works in real time and continuously, so as to realize real-time transmission and processing of data, improve the real-time performance and response speed of the system, and provide high-quality image feedback in time. Specifically, the power supply system of the vehicle-mounted visual perception system of the multi-view camera of the embodiment further comprises an intelligent power management module, which can automatically adjust the power consumption according to the state of the vehicle, thereby prolonging the service life of the battery. Further, the vehicle-mounted battery of the embodiment is a 12V, 20Ah vehicle-mounted battery, and the solar power supply device of the embodiment is a 100W solar power supply device.

[0053] Further, the left rod 11 and the right rod 12 of the luggage rack of the embodiment are both made of light alloy material, have good impact resistance and corrosion resistance, and have a streamlined appearance design, and a flexible shock-absorbing and buffering structure is arranged at the connection between the luggage rack and the top of the vehicle body 10, so as to effectively reduce the vibration during driving. In addition, the left rod 11 and the right rod 12 are respectively provided with fixed mounting positions for mounting the camera module.

[0054] During the installation of the luggage rack of the embodiment, corresponding installation methods are adopted according to different vehicle models as follows:

[0055] 1. For the vehicle body 10 without a luggage rack but with a reserved luggage rack mounting slot, first, the camera is mounted on the corresponding fixed mounting positions of the left rod 11 and the right rod 12, the camera is connected with the control processing module through the data communication module, and then the left rod 11 and the right rod 12 are fixed in the luggage rack mounting slot on the top of the vehicle body 10.

[0056] 2. For the vehicle body 10 without a luggage rack and without a reserved luggage rack mounting slot, first, the camera is mounted on the corresponding fixed mounting positions of the left rod 11 and the right rod 12, the camera is connected with the control processing module through the data communication module, and then the left rod 11 and the right rod 12 are fixed on the top edge of the vehicle roof above the left and right doors through the door frame fixer.

[0057] 3. For the vehicle body 10 with a luggage rack on the roof, first, the camera is mounted on the corresponding fixed mounting positions of the left rod 11 and the right rod 12, the camera is connected with the control processing module through the data communication module, and finally the left rod 11 and the right rod 12 are installed on the original vehicle luggage rack.

[0058] Three different mounting modes are adopted, which are suitable for different vehicle models, so as to ensure the mounting stability of the luggage rack and effectively solve the problem of luggage rack shaking or loosening during driving. Therefore, the vehicle-mounted visual perception system of the multi-view camera of the embodiment can adapt to the vehicle models without a luggage rack but with a reserved luggage rack mounting slot, the vehicle models without a luggage rack and without a reserved luggage rack mounting slot, and the vehicle models with a luggage rack on the roof, and has strong versatility and adaptability, and can be widely applied to various vehicle models.

[0059] Vehicle second embodiment:

[0060] As an illustration of the vehicle second embodiment of the application, only the differences from the vehicle first embodiment are described below.

[0061] Referring to Figures 6 to 10 The vehicle-mounted visual perception system of the multi-view camera of the embodiment further includes a fifth camera 25, and the luggage rack further includes a rear side plate 13 connected between the rear end of the left side rod 11 and the rear end of the right side rod 12. The fifth camera 25 is arranged at the middle of the rear end of the rear side plate 13 and connected with the control processing module through the data communication module. In addition, the fifth camera 25 has a fourth overlapping area 44 between the fifth horizontal field of view angle θ5 and the third horizontal field of view angle θ3. The fourth overlapping start point 441 of the fourth overlapping area 44 is located inside the left side of the tail of the vehicle body 10. The fifth camera 25 has a fifth overlapping area 45 between the fifth horizontal field of view angle θ5 and the fourth horizontal field of view angle θ4. The fifth overlapping start point 451 of the fifth overlapping area 45 is located inside the right side of the tail of the vehicle body 10.

[0062] In use, the images captured by the first camera 21, the second camera 22, the third camera 23, the fourth camera 24 and the fifth camera 25 are transmitted to the control processing module in real time through the data communication module, and the control processing module displays the images after relevant processing operations through the display module, so that the driver can obtain the surrounding environment of the vehicle in real time. Since the first camera 21, the second camera 22, the third camera 23, the fourth camera 24 and the fifth camera 25 of the vehicle visual perception system of the embodiment are arranged on the luggage rack arranged on the top of the vehicle body 10, the first camera 21, the second camera 22, the third camera 23, the fourth camera 24 and the fifth camera 25 are arranged on the top of the vehicle body 10, so as to raise the shooting angle range in the height direction of the vehicle body 10, effectively expand the shooting angle range, avoid image distortion problems, and improve image quality and monitoring accuracy. Moreover, the first camera 21 of the vehicle visual perception system of the embodiment has a first overlapping area 41 between the first horizontal field of view angle θ1 and the second horizontal field of view angle θ2 of the second camera 22, the first overlapping start point 411 of the first overlapping area 41 is located in the middle of the front of the vehicle body 10, the first horizontal field of view angle θ1 has a second overlapping area 42 with the third horizontal field of view angle θ3 of the third camera 23, the second overlapping start point 421 of the second overlapping area 42 is located in the left side of the vehicle body 10, the second horizontal field of view angle θ2 has a third overlapping area 43 with the fourth horizontal field of view angle θ4 of the fourth camera 24, the third overlapping start point 431 of the third overlapping area 43 is located in the right side of the vehicle body 10, the fifth horizontal field of view angle θ5 of the fifth camera 25 has a fourth overlapping area 44 with the third horizontal field of view angle θ3, the fourth overlapping start point 441 of the fourth overlapping area 44 is located in the left side of the tail of the vehicle body 10, the fifth horizontal field of view angle θ5 has a fifth overlapping area 45 with the fourth horizontal field of view angle θ4, and the fifth overlapping start point 451 of the fifth overlapping area 45 is located in the right side of the tail of the vehicle body 10. The adjacent two cameras have an overlapping shooting area, so as to avoid visual monitoring blind area, and further realize 360° field of view coverage, so as to observe the surrounding environment of the vehicle body 10 without blind area, and further improve driving safety.

[0063] Therefore, the vehicle visual perception system of the multi-view camera of the embodiment arranges five cameras on the luggage rack on the top of the vehicle body 10, can raise the shooting angle range in the height direction of the vehicle body 10, effectively expand the shooting angle range, avoid image distortion problems, improve image quality and monitoring accuracy, and arrange adjacent two cameras with an overlapping shooting area, so as to avoid visual monitoring blind area, further realize 360° field of view coverage, observe the surrounding environment of the vehicle body 10 without blind area, and further improve driving safety.

[0064] In order to further expand the horizontal direction of the shooting angle range, the first horizontal field of view angle θ1 of the first camera 21 is between 60° and 230°, the second horizontal field of view angle θ2 of the second camera 22 is between 60° and 230°, the third horizontal field of view angle θ3 of the third camera 23 is between 60° and 230°, and the fourth horizontal field of view angle θ4 of the fourth camera 24 is between 60° and 230°.

[0065] Preferably, the first horizontal field of view angle θ1 of the first camera 21 is 65°, the second horizontal field of view angle θ2 of the second camera 22 is 65°, the third horizontal field of view angle θ3 of the third camera 23 is 230°, and the fourth horizontal field of view angle θ4 of the fourth camera 24 is 230°, so that when the horizontal field of view angle of the first camera 21 and the second camera 22 located at the front end is 65°, the horizontal field of view angle of the third camera 23 and the fourth camera 24 located at the left and right sides is 230°, which can realize overlapping shooting areas between adjacent two cameras, avoid visual monitoring blind area, expand panoramic field of view coverage, and further improve driving safety.

[0066] In order to further expand the vertical direction of the shooting angle range, the first vertical field of view angle β1 of the first camera 21 is between 60° and 230°, and the first upward field of view angle γ1 relative to the horizontal direction is between -30° and 120°, the second vertical field of view angle β2 of the second camera 22 is between 60° and 230°, and the second upward field of view angle γ2 relative to the horizontal direction is between -30° and 120°, the third vertical field of view angle β3 of the third camera 23 is between 60° and 230°, and the third upward field of view angle γ3 relative to the horizontal direction is between -30° and 120°, the fourth vertical field of view angle β4 of the fourth camera 24 is between 60° and 230°, and the fourth upward field of view angle γ4 relative to the horizontal direction is between -30° and 120°.

[0067] Preferably, the first vertical field of view angle β1 of the first camera 21 is 60°, and the first upward tilting field of view angle γ1 of the first vertical field of view angle β1 relative to the horizontal direction is 15°, the second vertical field of view angle β2 of the second camera 22 is 60°, and the second upward tilting field of view angle γ2 of the second vertical field of view angle β2 relative to the horizontal direction is 15°, the third vertical field of view angle β3 of the third camera 23 is 230°, and the third upward tilting field of view angle γ3 of the third vertical field of view angle β3 relative to the horizontal direction is 120°, the fourth vertical field of view angle β4 of the fourth camera 24 is 230°, and the fourth upward tilting field of view angle γ4 of the fourth vertical field of view angle β4 relative to the horizontal direction is 120°, so that when the vertical field of view angle of the third camera 23 and the fourth camera 24 located on the left and right sides is 230°, the upward tilting field of view angle of the vertical field of view angle of the third camera 23 and the fourth camera 24 relative to the horizontal direction is 120°, so as to avoid the downward tilting of the camera only shooting the ground; when the vertical field of view angle of the first camera 21 and the second camera 22 located at the front end is 60°, the upward tilting field of view angle of the vertical field of view angle of the first camera 21 and the second camera 22 relative to the horizontal direction is 15°, so as to avoid the upward tilting of the camera being too high to affect the coverage range of the lower side of the vehicle.

[0068] In order to further expand the horizontal direction shooting angle range, the fifth horizontal field of view angle θ5 of the fifth camera 25 is between 60° and 230°. Preferably, the fifth horizontal field of view angle θ5 of the fifth camera 25 is 230°, so as to realize 360° field of view coverage range in the horizontal direction.

[0069] In order to further expand the vertical direction shooting angle range, the fifth vertical field of view angle β5 of the fifth camera 25 is between 60° and 230°, and the fifth upward tilting field of view angle γ5 of the fifth vertical field of view angle β5 relative to the horizontal direction is between -30° and 120°. Preferably, the fifth vertical field of view angle β5 of the fifth camera 25 is 230°, and the fifth upward tilting field of view angle γ5 of the fifth vertical field of view angle β5 relative to the horizontal direction is 120°, so as to maximize the shooting angle range of the fifth camera 25.

[0070] Vehicle third embodiment:

[0071] As an illustration of the third embodiment of the vehicle of the present application, only the differences from the first embodiment of the vehicle will be described below.

[0072] Reference is made to Figures 11 to 16The vehicle-mounted visual perception system of the multi-view camera of the embodiment further comprises a sixth camera 26 and a seventh camera 27. The sixth camera 26 is arranged at the rear end of the left side rod 11, and the seventh camera 27 is arranged at the rear end of the right side rod 12. The sixth camera 26 and the seventh camera 27 are connected with the control processing module through the data communication module. The sixth camera 26 has a sixth overlapping area 46 between the sixth horizontal field of view θ6 and the third horizontal field of view θ3. The sixth overlapping start point 461 of the sixth overlapping area 46 is located in the left side of the rear end of the vehicle body 10. The seventh camera 27 has a seventh overlapping area 47 between the seventh horizontal field of view θ7 and the fourth horizontal field of view θ4. The seventh overlapping start point 471 of the seventh overlapping area 47 is located in the right side of the rear end of the vehicle body 10. The sixth horizontal field of view θ6 and the seventh horizontal field of view θ7 have an eighth overlapping area 48. The eighth overlapping start point 481 of the eighth overlapping area 48 is located in the middle of the rear end of the vehicle body 10.

[0073] In use, the images captured by the first camera 21, the second camera 22, the third camera 23, the fourth camera 24, the sixth camera 26 and the seventh camera 27 are transmitted to the control processing module in real time through the data communication module, and the control processing module displays the images through the display module after relevant processing operations, so that the driver can obtain the surrounding environment of the vehicle in real time. Since the first camera 21, the second camera 22, the third camera 23, the fourth camera 24, the sixth camera 26 and the seventh camera 27 of the vehicle visual perception system of the embodiment are arranged on the luggage rack arranged on the top of the vehicle body 10, the first camera 21, the second camera 22, the third camera 23, the fourth camera 24, the sixth camera 26 and the seventh camera 27 are arranged on the top of the vehicle body 10, so as to raise the shooting angle range in the height direction of the vehicle body 10, effectively expand the shooting angle range, avoid image distortion, and improve image quality and monitoring accuracy. Moreover, the first camera 21 of the vehicle visual perception system of the embodiment has a first overlapping area 41 between the first horizontal field of view angle θ1 and the second horizontal field of view angle θ2 of the second camera 22, the first overlapping start point 411 of the first overlapping area 41 is located in the middle of the front of the vehicle body 10, the first horizontal field of view angle θ1 has a second overlapping area 42 with the third horizontal field of view angle θ3 of the third camera 23, the second overlapping start point 421 of the second overlapping area 42 is located in the left side of the vehicle body 10, the second horizontal field of view angle θ2 has a third overlapping area 43 with the fourth horizontal field of view angle θ4 of the fourth camera 24, the third overlapping start point 431 of the third overlapping area 43 is located in the right side of the vehicle body 10, the sixth horizontal field of view angle θ6 of the sixth camera 26 has a sixth overlapping area 46 with the third horizontal field of view angle θ3, the sixth overlapping start point 461 of the sixth overlapping area 46 is located in the left side of the tail of the vehicle body 10, the seventh horizontal field of view angle θ7 of the seventh camera 27 has a seventh overlapping area 47 with the fourth horizontal field of view angle θ4, the seventh overlapping start point 471 of the seventh overlapping area 47 is located in the right side of the tail of the vehicle body 10, and the sixth horizontal field of view angle θ6 has an eighth overlapping area 48 with the seventh horizontal field of view angle θ7, the eighth overlapping start point 481 of the eighth overlapping area 48 is located in the middle of the tail of the vehicle body 10, so that the adjacent two cameras have an overlapping shooting area, so as to avoid visual monitoring blind area, and realize 360° field of view coverage, so as to realize 360° around observation of the surrounding environment of the vehicle body 10 without blind area, and further improve driving safety.

[0074] Therefore, the vehicle-mounted visual perception system of the multi-view camera in the embodiment can raise the shooting angle range in the height direction of the vehicle body 10, effectively expand the shooting angle range, avoid image distortion, improve image quality and monitoring accuracy, and avoid visual monitoring blind spots by setting overlapping shooting areas between adjacent two cameras, so as to realize 360° field of view coverage, observe the environment around the vehicle body 10 without blind spots, and further improve driving safety.

[0075] To further expand the horizontal shooting angle range, the first horizontal field of view angle θ1 of the first camera 21 is 60° to 230°, the second horizontal field of view angle θ2 of the second camera 22 is 60° to 230°, the third horizontal field of view angle θ3 of the third camera 23 is 60° to 230°, and the fourth horizontal field of view angle θ4 of the fourth camera 24 is 60° to 230°.

[0076] Preferably, the first horizontal field of view angle θ1 of the first camera 21 is 120°, the second horizontal field of view angle θ2 of the second camera 22 is 120°, the third horizontal field of view angle θ3 of the third camera 23 is 120°, and the fourth horizontal field of view angle θ4 of the fourth camera 24 is 120°, so that when the horizontal field of view angle of the first camera 21 and the second camera 22 located at the front end is 120°, the horizontal field of view angle of the third camera 23 and the fourth camera 24 located at the left and right sides is also 120°, which can realize overlapping shooting areas between adjacent two cameras, avoid visual monitoring blind spots, maximize panoramic field of view coverage, and further improve driving safety.

[0077] To further expand the vertical shooting angle range, the first vertical field of view angle β1 of the first camera 21 is 60° to 230°, and the first upward field of view angle γ1 relative to the horizontal direction is -30° to 120°, the second vertical field of view angle β2 of the second camera 22 is 60° to 230°, and the second upward field of view angle γ2 relative to the horizontal direction is -30° to 120°, the third vertical field of view angle β3 of the third camera 23 is 60° to 230°, and the third upward field of view angle γ3 relative to the horizontal direction is -30° to 120°, the fourth vertical field of view angle β4 of the fourth camera 24 is 60° to 230°, and the fourth upward field of view angle γ4 relative to the horizontal direction is -30° to 120°.

[0078] Preferably, the first vertical field of view angle β1 of the first camera 21 is 80°, and the first upward tilting field of view angle γ1 of the first vertical field of view angle β1 relative to the horizontal direction is 30°, the second vertical field of view angle β2 of the second camera 22 is 80°, and the second upward tilting field of view angle γ2 of the second vertical field of view angle β2 relative to the horizontal direction is 30°, the third vertical field of view angle β3 of the third camera 23 is 80°, and the third upward tilting field of view angle γ3 of the third vertical field of view angle β3 relative to the horizontal direction is 30°, the fourth vertical field of view angle β4 of the fourth camera 24 is 80°, and the fourth upward tilting field of view angle γ4 of the fourth vertical field of view angle β4 relative to the horizontal direction is 30°, so that when the vertical field of view angle of the third camera 23 and the fourth camera 24 located on the left and right sides is 80°, the upward tilting field of view angle of the vertical field of view angle of the third camera 23 and the fourth camera 24 relative to the horizontal direction is 30°, and when the vertical field of view angle of the first camera 21 and the second camera 22 located at the front end is 80°, the upward tilting field of view angle of the vertical field of view angle of the first camera 21 and the second camera 22 relative to the horizontal direction is 30°, so as to avoid that the upward tilting of the camera is too high or the downward tilting is too low, thereby affecting the shooting coverage range of the side of the vehicle.

[0079] In order to further expand the horizontal direction shooting angle range, the sixth horizontal field of view angle θ6 of the sixth camera 26 is between 60° and 230°, and the seventh horizontal field of view angle θ7 of the seventh camera 27 is between 60° and 230°. Preferably, the sixth horizontal field of view angle θ6 of the sixth camera 26 is 120°, and the seventh horizontal field of view angle θ7 of the seventh camera 27 is 120°, so as to realize 360° field of view coverage range in the horizontal direction.

[0080] In order to further expand the vertical direction shooting angle range, the sixth vertical field of view angle β6 of the sixth camera 26 is between 60° and 230°, and the sixth upward tilting field of view angle γ6 of the sixth vertical field of view angle β6 relative to the horizontal direction is between -30° and 120°, the seventh vertical field of view angle β7 of the seventh camera 27 is between 60° and 230°, and the seventh upward tilting field of view angle γ7 of the seventh vertical field of view angle β7 relative to the horizontal direction is between -30° and 120°. Preferably, the sixth vertical field of view angle β6 of the sixth camera 26 is 80°, and the sixth upward tilting field of view angle γ6 of the sixth vertical field of view angle β6 relative to the horizontal direction is 30°, and the seventh vertical field of view angle β7 of the seventh camera 27 is 80°, and the seventh upward tilting field of view angle γ7 of the seventh vertical field of view angle β7 relative to the horizontal direction is 30°, so as to maximize the shooting angle range of the sixth camera 26 and the seventh camera 27.

[0081] Specifically, the camera selected by the embodiment is of the same model, so that the cost is saved to the maximum and the complete visual range is considered. The horizontal field of view angle of all the cameras is 120°, so that the panoramic visual field coverage range is realized, and the driving safety is improved. The upward inclination field of view angle of the vertical field of view angle is 30°, which is inclined upward relative to the horizontal direction. The uniform upward inclination field of view angle can facilitate image splicing, and at the same time, the influence of the shooting coverage range of the side of the vehicle is avoided due to the too high upward lifting or too low downward lowering of the camera.

[0082] The above embodiment is only a preferred example of the present application, and is not intended to limit the scope of the present application. Therefore, equivalent changes or modifications made in accordance with the structure, features and principles of the present application patent application scope should be included in the present application patent application scope.

Claims

1.A vehicle-mounted visual perception system of multi-view camera, comprising a luggage rack, the luggage rack is arranged on the top of the vehicle body, and the luggage rack comprises a left rod and a right rod, the left rod is arranged on the left side of the top of the vehicle body, and the right rod is arranged on the right side of the top of the vehicle body, characterized in that: the vehicle-mounted visual perception system of multi-view camera further comprises a first camera, a second camera, a third camera, a fourth camera, a data communication module, a control processing module and a display module, the first camera, the second camera, the third camera, the fourth camera and the display module are connected with the control processing module through the data communication module, and the first camera is arranged at the front end of the left rod, the second camera is arranged at the front end of the right rod, the third camera is arranged on the left side of the left rod and close to the front end of the left rod, and the fourth camera is arranged on the right side of the right rod and close to the front end of the right rod; the first horizontal field of view angle of the first camera and the second horizontal field of view angle of the second camera have a first overlapping area, the first overlapping start point of the first overlapping area is located in the middle of the front of the vehicle body, the first horizontal field of view angle and the third horizontal field of view angle of the third camera have a second overlapping area, the second overlapping start point of the second overlapping area is located in the left side of the vehicle body, and the second horizontal field of view angle and the fourth horizontal field of view angle of the fourth camera have a third overlapping area, the third overlapping start point of the third overlapping area is located in the right side of the vehicle body. 2.The vehicle-mounted visual perception system of multi-view camera according to claim 1, characterized in that: the first horizontal field of view angle is between 60° and 230°; and / or, the second horizontal field of view angle is between 60° and 230°; and / or, the third horizontal field of view angle is between 60° and 230°; and / or, the fourth horizontal field of view angle is between 60° and 230°. 3.The vehicle-mounted visual perception system of multi-view camera according to claim 1, characterized in that: the first vertical field of view angle of the first camera is between 60° and 230°, and the first upward tilt field of view angle of the first vertical field of view angle relative to the horizontal direction is between -30° and 120°; and / or, the second vertical field of view angle of the second camera is between 60° and 230°, and the second upward tilt field of view angle of the second vertical field of view angle relative to the horizontal direction is between -30° and 120°; and / or, the third vertical field of view angle of the third camera is between 60° and 230°, and the third upward tilt field of view angle of the third vertical field of view angle relative to the horizontal direction is between -30° and 120°; and / or, the fourth vertical field of view angle of the fourth camera is between 60° and 230°, and the fourth upward tilt field of view angle of the fourth vertical field of view angle relative to the horizontal direction is between -30° and 120°. 4.The vehicle-mounted visual perception system of multi-view camera according to claim 1, characterized in that: ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The fifth camera is arranged at the middle of the rear end of the rear side plate and connected with the control processing module through the data communication module. The fifth horizontal field of view angle of the fifth camera and the third horizontal field of view angle have a fourth overlapping area, the fourth overlapping start point of the fourth overlapping area is located in the left side of the rear end of the vehicle body, the fifth horizontal field of view angle and the fourth horizontal field of view angle have a fifth overlapping area, the fifth overlapping start point of the fifth overlapping area is located in the right side of the rear end of the vehicle body. 5.The vehicle-mounted visual perception system of the multi-view camera according to claim 4, wherein: the fifth horizontal field of view angle is between 60° and 230°; and / or, the fifth vertical field of view angle of the fifth camera is between 60° and 230°, and the fifth upward tilt field of view angle relative to the horizontal direction is between -30° and 120°. 6.The vehicle-mounted visual perception system of the multi-view camera according to claim 1, wherein: the vehicle-mounted visual perception system of the multi-view camera further comprises a sixth camera and a seventh camera, the sixth camera is arranged at the rear end of the left side rod, the seventh camera is arranged at the rear end of the right side rod, and the sixth camera and the seventh camera are connected with the control processing module through the data communication module; the sixth horizontal field of view angle of the sixth camera and the third horizontal field of view angle have a sixth overlapping area, the sixth overlapping start point of the sixth overlapping area is located in the left side of the rear end of the vehicle body, the seventh horizontal field of view angle of the seventh camera and the fourth horizontal field of view angle have a seventh overlapping area, the seventh overlapping start point of the seventh overlapping area is located in the right side of the rear end of the vehicle body, and the sixth horizontal field of view angle and the seventh horizontal field of view angle have an eighth overlapping area, the eighth overlapping start point of the eighth overlapping area is located in the middle of the rear end of the vehicle body. 7.The vehicle-mounted visual perception system of the multi-view camera according to claim 6, wherein: the sixth horizontal field of view angle is between 60° and 230°; and / or, the seventh horizontal field of view angle is between 60° and 230°; and / or, the sixth vertical field of view angle of the sixth camera is between 60° and 230°, and the sixth upward tilt field of view angle relative to the horizontal direction is between -30° and 120°; and / or, the seventh vertical field of view angle of the seventh camera is between 60° and 230°, and the seventh upward tilt field of view angle relative to the horizontal direction is between -30° and 120°. 8.The vehicle-mounted visual perception system of the multi-view camera according to claim 1, wherein: the display module is a touch display screen, and the touch display screen is arranged in the interior of the vehicle body. 9.The multi-view camera-based visual perception system of any one of claims 1 to 8, wherein: The multi-view camera-based visual perception system further comprises a vehicle battery and a solar power supply device, the vehicle battery is electrically connected with the solar power supply device and supplies power for the control processing module and the camera, and the solar power supply device is arranged on the top of the vehicle body. 10.A vehicle comprising a vehicle body and a vehicle-based visual perception system, wherein: The vehicle-based visual perception system is the multi-view camera-based visual perception system of any one of claims 1 to 9, and the luggage rack of the multi-view camera-based visual perception system is arranged on the top of the vehicle body.

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