Multi-view camera in-vehicle visual perception system and vehicle

Abstract

This invention provides a vehicle-mounted visual perception system and vehicle with a multi-view camera, including a roof rack, a first camera, a second camera, a third camera, and a fourth camera. A first overlapping area exists between the first horizontal field of view of the first camera and the second horizontal field of view of the second camera. The first overlapping point of the first overlapping area is located within the center of the front of the vehicle. A second overlapping area exists between the first horizontal field of view and the third horizontal field of view of the third camera. The second overlapping point of the second overlapping area is located within the left side of the vehicle. A third overlapping area exists between the second horizontal field of view and the fourth horizontal field of view of the fourth camera. This system effectively expands the shooting angle range, avoids image distortion problems, improves image quality and monitoring accuracy, and allows for overlapping shooting areas between adjacent cameras, avoiding blind spots in visual monitoring, expanding the wide-angle field of view coverage, and improving driving safety.

Description

Technical Field

[0001] This utility model relates to the field of vehicle visual perception technology, and in particular to an in-vehicle visual perception system with a multi-view camera and a vehicle equipped with the in-vehicle visual perception system. Background Technology

[0002] While in a vehicle, the driver's visual perception is limited due to various factors while seated in the driver's seat, thus affecting driving safety. These factors that limit the perception of the vehicle's surroundings include, but are not limited to: obstructions from the A and B pillars, obstructions from the hood, blind spots in the rearview mirrors, blind spots at the front and rear of the vehicle, obstructions from the vehicle in front, and low visibility in dark environments.

[0003] In order to perceive the surrounding environment, extend the field of vision, and enable intelligent driving, existing vehicles have a forward-facing camera in the center of the windshield, a left camera on the left side mirror, and a right camera on the right side mirror, so as to monitor the surrounding environment of the vehicle in real time.

[0004] However, the existing forward-facing cameras in vehicles are mounted on the windshield, which affects the driver's field of vision and thus driving safety. In addition, the windshield has limited space for mounting forward-facing cameras, which in turn affects the shooting angle range of the forward-facing cameras.

[0005] Furthermore, the existing vehicles have the left camera mounted on the left rearview mirror and the right camera mounted on the right rearview mirror. This results in the left and right cameras having an excessively low field of view in the height direction of the vehicle body, causing image distortion and poor image quality, which fails to meet users' high precision requirements.

[0006] In addition, the field of view of the front-view camera, left camera and right camera of the existing vehicle are separated from each other, which results in blind spots between adjacent cameras, thus affecting driving safety. Utility Model Content

[0007] The primary objective of this invention is to provide a vehicle-mounted visual perception system with a multi-view camera, which can effectively expand the shooting angle range to avoid image distortion problems, thereby improving image quality and monitoring accuracy. It also enables overlapping shooting areas between adjacent cameras to avoid blind spots in visual monitoring, thereby expanding the wide-angle field of view coverage and improving driving safety.

[0008] The second objective of this invention is to provide a vehicle equipped with the aforementioned vehicle-mounted visual perception system.

[0009] To achieve the primary objective of this invention, a multi-view camera-based vehicle visual perception system is provided. The system includes a roof rack, which is mounted on the top of the vehicle body. The roof rack includes a left pole and a right pole. The left pole is positioned on the left side of the top of the vehicle body, and the right pole is positioned on the right side of the top of the vehicle body. The multi-view camera-based vehicle visual perception system further includes 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, second camera, third camera, fourth camera, and display module are connected to the control processing module via the data communication module. The first camera is positioned at the front end of the left pole, and the second camera is positioned at the front end of the left pole. The first camera is positioned at the front end of the right pole, the third camera is positioned on the left side of the left pole and close to the front end of the left pole, and the fourth camera is positioned on the right side of the right pole and close to the front end of the right pole. There is a first overlapping area between the first horizontal field of view of the first camera and the second horizontal field of view of the second camera. The first overlapping point of the first overlapping area is located inside the center of the front of the vehicle body. There is a second overlapping area between the first horizontal field of view and the third horizontal field of view of the third camera. The second overlapping point of the second overlapping area is located inside the left side of the vehicle body. There is a third overlapping area between the second horizontal field of view and the fourth horizontal field of view of the fourth camera. The third overlapping point of the third overlapping area is located inside the right side of the vehicle body.

[0010] As can be seen from the above scheme, during vehicle use, the images captured by the first, second, third, and fourth cameras are transmitted in real time to the control and processing module via the data communication module. After processing by the control and processing module, the images are displayed through the display module, allowing the driver to obtain real-time information about the vehicle's surrounding environment. Since the first, second, third, and fourth cameras of this vehicle-mounted visual perception system are respectively mounted on the roof rack, which is located on the top of the vehicle, the camera angle is increased by raising the shooting angle in the height direction of the vehicle body. This effectively expands the shooting angle and avoids image distortion, thereby improving image quality and monitoring accuracy. Furthermore, the vehicle-mounted visual perception system of this utility model has a first overlapping area between the first horizontal field of view of the first camera and the second horizontal field of view of the second camera. The first overlapping starting point of the first overlapping area is located inside the middle of the front of the vehicle body. There is a second overlapping area between the first horizontal field of view and the third horizontal field of view of the third camera. The second overlapping starting point of the second overlapping area is located inside the left side of the vehicle body. There is a third overlapping area between the second horizontal field of view and the fourth horizontal field of view of the fourth camera. The third overlapping starting point of the third overlapping area is located inside the right side of the vehicle body. This allows for overlapping shooting areas between adjacent cameras, avoiding blind spots in visual monitoring, thereby expanding the wide-angle field of view coverage and improving driving safety.

[0011] Therefore, the vehicle-mounted visual perception system of this utility model with multi-view cameras sets four cameras on the roof rack on the top of the vehicle, which can raise the shooting angle range in the height direction of the vehicle body, effectively expand the shooting angle range, avoid image distortion problems, thereby improving image quality and monitoring accuracy. By setting overlapping shooting areas between adjacent two cameras, blind spots in visual monitoring are avoided, thereby expanding the wide-angle field of view coverage and improving driving safety.

[0012] A further option is that 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] A further embodiment is that the first vertical field of view of the first camera is between 60° and 230°, and the first vertical field of view relative to the first upward tilt field of view in 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 vertical field of view relative to the second upward tilt field of view in 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 vertical field of view relative to the third upward tilt field of view in 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 vertical field of view relative to the fourth upward tilt field of view in the horizontal direction is between -30° and 120°.

[0014] A further proposed solution is that the multi-view camera vehicle vision perception system also includes a fifth camera, and the roof rack also includes a rear side panel. The rear side panel is connected between the rear end of the left pole and the rear end of the right pole. The fifth camera is located in the middle of the rear end of the rear side panel and is connected to the control processing module through a data communication module. There is a fourth overlapping area between the fifth horizontal field of view and the third horizontal field of view of the fifth camera. The fourth overlapping point of the fourth overlapping area is located inside the left rear of the vehicle. There is a fifth overlapping area between the fifth horizontal field of view and the fourth horizontal field of view. The fifth overlapping point of the fifth overlapping area is located inside the right rear of the vehicle.

[0015] As can be seen from the above solution, the vehicle-mounted visual perception system of this utility model with multi-view camera sets five cameras on the roof rack of the vehicle body, which can raise the shooting angle range in the height direction of the vehicle body, effectively expand the shooting angle range, avoid image distortion problems, thereby improving image quality and monitoring accuracy. By setting overlapping shooting areas between adjacent two cameras, blind spots in visual monitoring are avoided, thereby achieving a 360° field of view coverage, so as to observe the surrounding environment of the vehicle body without blind spots, further improving driving safety.

[0016] A further proposed solution is that 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 vertical field of view relative to the fifth upward tilt field of view in the horizontal direction is between -30° and 120°.

[0017] A further proposed solution is that the multi-view camera vehicle vision perception system also includes a sixth camera and a seventh camera. The sixth camera is located at the rear end of the left pole, and the seventh camera is located at the rear end of the right pole. The sixth and seventh cameras are connected to the control processing module through a data communication module. The sixth horizontal field of view of the sixth camera has a sixth overlapping area between the sixth and third horizontal field of view, and the sixth overlapping point of the sixth overlapping area is located inside the left rear of the vehicle. The seventh horizontal field of view of the seventh camera has a seventh overlapping area between the seventh and fourth horizontal field of view, and the seventh overlapping point of the seventh overlapping area is located inside the right rear of the vehicle. Furthermore, there is an eighth overlapping area between the sixth and seventh horizontal field of view, and the eighth overlapping point of the eighth overlapping area is located inside the middle of the rear of the vehicle.

[0018] As can be seen from the above solution, the vehicle-mounted visual perception system of this utility model with multi-view camera sets six cameras on the roof rack of the vehicle body, which can raise the shooting angle range in the height direction of the vehicle body, effectively expand the shooting angle range, avoid image distortion problems, thereby improving image quality and monitoring accuracy. By setting overlapping shooting areas between adjacent two cameras, blind spots in visual monitoring are avoided, thereby achieving a 360° field of view coverage, so as to observe the surrounding environment of the vehicle body without blind spots, further improving driving safety.

[0019] A further proposed solution is that 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 vertical field of view relative to the sixth upward tilt field of view in 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 vertical field of view relative to the seventh upward tilt field of view in the horizontal direction is between -30° and 120°.

[0020] A further proposed solution is to use a touchscreen display module, which is installed inside the vehicle body.

[0021] A further proposed solution is that the multi-view camera vehicle vision perception system also includes an on-board battery and a solar power supply device. The on-board battery is electrically connected to the solar power supply device and supplies power to the control processing module and the aforementioned cameras. The solar power supply device is located on the top of the vehicle body.

[0022] To achieve the second objective of this utility model, this utility model provides a vehicle, including a vehicle body and an on-board visual perception system. The on-board visual perception system is the aforementioned multi-view camera on-board visual perception system, and the luggage rack of the multi-view camera on-board visual perception system is installed on the top of the vehicle body. Attached Figure Description

[0023] Figure 1 This is a top view of the first embodiment of the vehicle of this utility model;

[0024] Figure 2 This is a left-side view of the first embodiment of the vehicle of this utility model;

[0025] Figure 3 This is the right side view of the first embodiment of the vehicle of this utility model.

[0026] Figure 4 This is a front view of the first embodiment of the vehicle according to the present invention.

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

[0028] Figure 6 This is a top view of the second embodiment of the vehicle of this utility model.

[0029] Figure 7 This is a left-side view of the second embodiment of the vehicle of this utility model.

[0030] Figure 8 This is the right side view of the second embodiment of the vehicle of this utility model.

[0031] Figure 9 This is a front view of the second embodiment of the vehicle according to the present invention.

[0032] Figure 10 This is a partial structural exploded view of the vehicle-mounted visual perception system with a multi-view camera in the second embodiment of the present invention.

[0033] Figure 11 This is a top view of the third embodiment of the vehicle of this utility model.

[0034] Figure 12 This is a left-side view of the third embodiment of the vehicle of this utility model.

[0035] Figure 13 This is the right side view of the third embodiment of the vehicle of this utility model.

[0036] Figure 14 This is a front view of the third embodiment of the vehicle according to the present invention.

[0037] Figure 15 This is a rear view of the third embodiment of the vehicle according to the present invention.

[0038] Figure 16 This is a partial structural exploded view of the vehicle-mounted visual perception system with a multi-view camera in the third embodiment of the present invention. Detailed Implementation

[0039] First embodiment of the vehicle:

[0040] See Figures 1 to 5 In this embodiment, the vehicle includes a body 10 and an onboard visual perception system, which is an onboard visual perception system with a multi-view camera.

[0041] In this embodiment, the vehicle-mounted visual perception system of the multi-view camera includes a luggage rack, which is used to be installed on the top of the vehicle body 10. The luggage rack includes a left pole 11 and a right pole 12. The left pole 11 is installed on the top left side of the vehicle body 10, and the right pole 12 is installed on the top right side of the vehicle body 10.

[0042] Furthermore, the vehicle-mounted visual perception system of the multi-view camera in this embodiment also includes 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 located at the front end of the left pole 11, the second camera 22 is located at the front end of the right pole 12, the third camera 23 is located on the left side of the left pole 11 and close to the front end of the left pole 11, and the fourth camera 24 is located on the right side of the right pole 12 and close to the front end of the right pole 12.

[0043] Furthermore, in this embodiment, there is a first overlapping region 41 between the first horizontal field of view θ1 of the first camera 21 and the second horizontal field of view θ2 of the second camera 22. The first overlapping starting point 411 of the first overlapping region 41 is located in the middle of the front of the vehicle body 10. There is a second overlapping region 42 between the first horizontal field of view θ1 and the third horizontal field of view θ3 of the third camera 23. The second overlapping starting point 421 of the second overlapping region 42 is located in the left side of the vehicle body 10. There is a third overlapping region 43 between the second horizontal field of view θ2 and the fourth horizontal field of view θ4 of the fourth camera 24. The third overlapping starting point 431 of the third overlapping region 43 is located in the right side of the vehicle body 10.

[0044] In this embodiment, during vehicle use, the images captured by the first camera 21, the second camera 22, the third camera 23, and the fourth camera 24 are transmitted in real time to the control processing module via the data communication module. After processing by the control processing module, the images are displayed through the display module, allowing the driver to obtain real-time information about the vehicle's surrounding environment. Since the first camera 21, the second camera 22, the third camera 23, and the fourth camera 24 of this embodiment's vehicle-mounted visual perception system are respectively mounted on the roof rack, which is located on the top of the vehicle body 10, this placement of the first camera 21, the second camera 22, the third camera 23, and the fourth camera 24 on the top of the vehicle body 10 elevates the shooting angle range in the height direction of the vehicle body 10. This effectively expands the shooting angle range, avoiding image distortion problems and thus improving image quality and monitoring accuracy. Furthermore, in this embodiment, the vehicle-mounted visual perception system has a first overlapping area 41 between the first horizontal field of view θ1 of the first camera 21 and the second horizontal field of view θ2 of the second camera 22. The first overlapping starting point 411 of the first overlapping area 41 is located in the middle of the front of the vehicle body 10. There is a second overlapping area 42 between the first horizontal field of view θ1 and the third horizontal field of view θ3 of the third camera 23. The second overlapping starting point 421 of the second overlapping area 42 is located in the left side of the vehicle body 10. There is a third overlapping area 43 between the second horizontal field of view θ2 and the fourth horizontal field of view θ4 of the fourth camera 24. The third overlapping starting point 431 of the third overlapping area 43 is located in the right side of the vehicle body 10. This allows for overlapping shooting areas between adjacent cameras, avoiding blind spots in visual monitoring, thereby expanding the wide-angle field of view coverage and improving driving safety.

[0045] Therefore, the vehicle-mounted visual perception system with multi-view cameras in this embodiment sets four cameras on the roof rack on the top of the vehicle body 10, which can raise the shooting angle range in the height direction of the vehicle body 10, effectively expanding the shooting angle range to avoid image distortion problems, thereby improving image quality and monitoring accuracy. Furthermore, by setting overlapping shooting areas between adjacent cameras, blind spots in visual monitoring are avoided, thereby expanding the wide-angle field of view coverage and improving driving safety.

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

[0047] Preferably, in this embodiment, the first horizontal field of view θ1 of the first camera 21 is 65°, the second horizontal field of view θ2 of the second camera 22 is 65°, the third horizontal field of view θ3 of the third camera 23 is 230°, and the fourth horizontal field of view θ4 of the fourth camera 24 is 230°. This ensures that when the horizontal field of view of the first camera 21 and the second camera 22 located at the front is 65°, the horizontal field of view of the third camera 23 and the fourth camera 24 located on the left and right sides is 230°. This allows for overlapping shooting areas between adjacent cameras, avoiding blind spots in visual monitoring, thereby expanding the panoramic field of view coverage and improving driving safety.

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

[0049] Preferably, in this embodiment, the first vertical field of view β1 of the first camera 21 is 60°, and the first vertical field of view β1 is 15° relative to the first upward tilt field of view γ1 in the horizontal direction; the second vertical field of view β2 of the second camera 22 is 60°, and the second vertical field of view β2 is 15° relative to the second upward tilt field of view γ2 in the horizontal direction; the third vertical field of view β3 of the third camera 23 is 230°, and the third vertical field of view β3 is 120° relative to the third upward tilt field of view γ3 in the horizontal direction; and the fourth vertical field of view β4 of the fourth camera 24 is 230°, and the fourth vertical field of view β4 is 15° relative to the fourth upward tilt field of view γ1 in the horizontal direction. When the upward tilt angle γ4 is 120°, the vertical field of view of the third camera 23 and the fourth camera 24 located on the left and right sides is 230°. Therefore, the vertical field of view of the third camera 23 and the fourth camera 24 is 120° relative to the horizontal direction when tilted upward, so as to avoid the camera pointing downward and only shooting the ground. When the vertical field of view of the first camera 21 and the second camera 22 located at the front is 60°, the vertical field of view of the first camera 21 and the second camera 22 is 15° relative to the horizontal direction when tilted upward, so as to avoid the camera being raised too high and affecting the coverage of the lower side of the vehicle.

[0050] Specifically, in this embodiment, the first camera 21, the second camera 22, the third camera 23, and the fourth camera 24 all have 5-megapixel CMOS image sensors, with autofocus and image stabilization functions, and are able to achieve wide-angle image acquisition.

[0051] To facilitate the driver's viewing of images from any camera, this embodiment uses a touchscreen display module. The touchscreen display is installed inside the vehicle body 10, allowing the driver to retrieve and display images captured by any camera using relevant commands on the touchscreen. Specifically, the control processing module in this embodiment employs a high-performance microprocessor and advanced image processing algorithms, enabling real-time processing and analysis of the acquired image data. The processing results are then transmitted to the display module via a data communication module. Furthermore, the control processing module also features an automatic calibration function, automatically adjusting the camera's shooting parameters based on the vehicle's driving conditions. Additionally, the data communication module in this embodiment supports wireless communication technology, enabling the transmission of data from the control processing module to the display module via wireless signals.

[0052] To save energy and protect the environment, the vehicle-mounted visual perception system of the multi-view camera in this embodiment also includes a vehicle-mounted battery and a solar power supply device. The vehicle-mounted battery and the solar power supply device are electrically connected and supply power to the control processing module and the aforementioned camera. The solar power supply device is installed on the top of the vehicle body 10, thereby ensuring that the camera operates continuously in real time to achieve real-time data transmission and processing, improve the system's real-time performance and response speed, and provide timely high-quality image feedback. Specifically, the power supply system of the vehicle-mounted visual perception system of the multi-view camera in this embodiment also includes an intelligent power management module, which can automatically adjust the power consumption according to the vehicle status and extend the battery life. Further, the vehicle-mounted battery in this embodiment is a 12V, 20Ah vehicle-mounted battery, and the solar power supply device in this embodiment is a 100W solar power supply device.

[0053] Furthermore, in this embodiment, the left side bar 11 and the right side bar 12 of the luggage rack are both made of lightweight alloy material, which has good impact resistance and corrosion resistance. In addition, the left side bar 11 and the right side bar 12 adopt a streamlined shape design, and a flexible shock-absorbing buffer structure is used at the connection between the luggage rack and the top of the vehicle body 10 to effectively reduce vibration during driving. Moreover, the left side bar 11 and the right side bar 12 are respectively provided with fixed mounting positions for installing camera modules.

[0054] In this embodiment, the installation method for the roof rack varies depending on the vehicle model, as follows:

[0055] 1. For the vehicle body 10 that does not have a roof rack but has a reserved roof rack mounting slot, first install the camera on the corresponding fixed mounting positions of the left pole 11 and the right pole 12, connect the camera to the control processing module through the data communication module, and then fix the left pole 11 and the right pole 12 in the roof rack mounting slot on the top of the vehicle body 10.

[0056] 2. For the vehicle body 10 that does not have a roof rack or a reserved roof rack mounting slot, first install the camera on the corresponding fixed mounting positions of the left pole 11 and the right pole 12, connect the camera to the control processing module through the data communication module, and then fix the left pole 11 and the right pole 12 to the roof edge above the left and right doors through the door frame fixer.

[0057] 3. For the vehicle body 10 which already has a roof rack, first install the camera on the corresponding fixed mounting positions of the left pole 11 and the right pole 12, connect the camera to the control processing module through the data communication module, and finally install the left pole 11 and the right pole 12 on the original vehicle roof rack.

[0058] Three different installation methods are adopted, each suitable for different vehicle models, ensuring the stability of the roof rack installation and effectively solving the problem of roof rack shaking or loosening during driving. Therefore, the multi-view camera vehicle vision perception system of this embodiment can be adapted to vehicles that do not have a roof rack but have a reserved roof rack mounting slot, vehicles that do not have a roof rack and no reserved roof rack mounting slot, and vehicles that already have a roof rack. It has strong versatility and adaptability and can be widely used in various vehicle models.

[0059] Second embodiment of the vehicle:

[0060] As an explanation of the second embodiment of the vehicle of this utility model, the following description only focuses on the differences from the first embodiment of the vehicle.

[0061] See Figures 6 to 10 The vehicle-mounted visual perception system of the multi-view camera in this embodiment also includes a fifth camera 25. The roof rack also includes a rear side panel 13, which is connected between the rear end of the left pole 11 and the rear end of the right pole 12. The fifth camera 25 is located in the middle of the rear end of the rear side panel 13 and is connected to the control processing module through a data communication module. Furthermore, there is a fourth overlapping region 44 between the fifth horizontal field of view θ5 and the third horizontal field of view θ3 of the fifth camera 25. The fourth overlapping starting point 441 of the fourth overlapping region 44 is located inside the left rear of the vehicle body 10. There is a fifth overlapping region 45 between the fifth horizontal field of view θ5 and the fourth horizontal field of view θ4. The fifth overlapping starting point 451 of the fifth overlapping region 45 is located inside the right rear of the vehicle body 10.

[0062] In this embodiment, during vehicle use, the images captured by the first camera 21, second camera 22, third camera 23, fourth camera 24, and fifth camera 25 are transmitted in real time to the control processing module via the data communication module. After processing by the control processing module, the images are displayed through the display module, allowing the driver to obtain real-time information about the vehicle's surrounding environment. Since the first camera 21, second camera 22, third camera 23, fourth camera 24, and fifth camera 25 of the vehicle-mounted visual perception system in this embodiment are respectively mounted on the roof rack, which is located on the top of the vehicle body 10, this placement of the first camera 21, second camera 22, third camera 23, fourth camera 24, and fifth camera 25 at the top of the vehicle body 10 elevates the shooting angle range in the height direction of the vehicle body 10. This effectively expands the shooting angle range, avoiding image distortion problems and thus improving image quality and monitoring accuracy. Furthermore, in this embodiment, the vehicle-mounted visual perception system has a first overlapping region 41 between the first horizontal field of view θ1 of the first camera 21 and the second horizontal field of view θ2 of the second camera 22. The first overlapping starting point 411 of the first overlapping region 41 is located within the center of the front of the vehicle body 10. There is a second overlapping region 42 between the first horizontal field of view θ1 and the third horizontal field of view θ3 of the third camera 23. The second overlapping starting point 421 of the second overlapping region 42 is located within the left side of the vehicle body 10. There is a third overlapping region 43 between the second horizontal field of view θ2 and the fourth horizontal field of view θ4 of the fourth camera 24. The third overlapping starting point 431 of the third overlapping region 43 is located within the center of the front of the vehicle body 10. The fifth horizontal field of view θ5 of the fifth camera 25 and the third horizontal field of view θ3 have a fourth overlapping area 44. The fourth overlapping starting point 441 of the fourth overlapping area 44 is located inside the left rear of the vehicle body 10. The fifth horizontal field of view θ5 and the fourth horizontal field of view θ4 have a fifth overlapping area 45. The fifth overlapping starting point 451 of the fifth overlapping area 45 is located inside the right rear of the vehicle body 10. This allows for overlapping shooting areas between two adjacent cameras to avoid blind spots in visual monitoring, thereby achieving a 360° field of view coverage. This enables a 360° surround view of the environment around the vehicle body 10 without blind spots, further improving driving safety.

[0063] Therefore, the multi-view camera vehicle vision perception system in this embodiment sets five cameras on the roof rack on the top of the vehicle body 10, which can raise the shooting angle range in the height direction of the vehicle body 10, effectively expanding the shooting angle range to avoid image distortion problems, thereby improving image quality and monitoring accuracy. By setting overlapping shooting areas between adjacent two cameras, blind spots in visual monitoring are avoided, thereby achieving a 360° field of view coverage, so as to observe the surrounding environment of the vehicle body 10 without blind spots, further improving driving safety.

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

[0065] Preferably, in this embodiment, the first horizontal field of view θ1 of the first camera 21 is 65°, the second horizontal field of view θ2 of the second camera 22 is 65°, the third horizontal field of view θ3 of the third camera 23 is 230°, and the fourth horizontal field of view θ4 of the fourth camera 24 is 230°. This ensures that when the horizontal field of view of the first camera 21 and the second camera 22 located at the front is 65°, the horizontal field of view of the third camera 23 and the fourth camera 24 located on the left and right sides is 230°. This allows for overlapping shooting areas between adjacent cameras, avoiding blind spots in visual monitoring, thereby expanding the panoramic field of view coverage and improving driving safety.

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

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

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

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

[0070] Third embodiment of the vehicle:

[0071] As an explanation of the third embodiment of the vehicle of this utility model, the following description only focuses on the differences from the first embodiment of the vehicle.

[0072] See Figures 11 to 16The vehicle-mounted visual perception system of the multi-view camera in this embodiment also includes a sixth camera 26 and a seventh camera 27. The sixth camera 26 is located at the rear end of the left pole 11, and the seventh camera 27 is located at the rear end of the right pole 12. The sixth camera 26 and the seventh camera 27 are connected to the control processing module through a data communication module. Furthermore, the sixth horizontal field of view θ6 of the sixth camera 26 has a sixth overlapping region 46 between the sixth horizontal field of view θ6 and the third horizontal field of view θ3. The sixth overlapping starting point 461 of the sixth overlapping region 46 is located inside the left rear of the vehicle body 10. The seventh horizontal field of view θ7 of the seventh camera 27 has a seventh overlapping region 47 between the seventh horizontal field of view θ7 and the fourth horizontal field of view θ4. The seventh overlapping starting point 471 of the seventh overlapping region 47 is located inside the right rear of the vehicle body 10. Furthermore, the sixth horizontal field of view θ6 and the seventh horizontal field of view θ7 have an eighth overlapping region 48. The eighth overlapping starting point 481 of the eighth overlapping region 48 is located inside the middle of the rear of the vehicle body 10.

[0073] In this embodiment, during vehicle use, the images captured by the first camera 21, second camera 22, third camera 23, fourth camera 24, sixth camera 26, and seventh camera 27 are transmitted in real time to the control processing module via the data communication module. After processing by the control processing module, the images are displayed through the display module, allowing the driver to obtain real-time information about the vehicle's surrounding environment. Since the first camera 21, second camera 22, third camera 23, fourth camera 24, sixth camera 26, and seventh camera 27 of the vehicle-mounted visual perception system in this embodiment are respectively mounted on the roof rack, which is located on the top of the vehicle body 10, this placement of the first camera 21, second camera 22, third camera 23, fourth camera 24, sixth camera 26, and seventh camera 27 on the top of the vehicle body 10 elevates the shooting angle range in the height direction of the vehicle body 10. This effectively expands the shooting angle range, avoiding image distortion problems and thus improving image quality and monitoring accuracy. Furthermore, in this embodiment, the first horizontal field of view θ1 of the first camera 21 and the second horizontal field of view θ2 of the second camera 22 have a first overlapping region 41, with the first overlapping starting point 411 of the first overlapping region 41 located within the center of the front of the vehicle body 10. The first horizontal field of view θ1 and the third horizontal field of view θ3 of the third camera 23 have a second overlapping region 42, with the second overlapping starting point 421 of the second overlapping region 42 located within the left side of the vehicle body 10. The second horizontal field of view θ2 and the fourth horizontal field of view θ4 of the fourth camera 24 have a third overlapping region 43, with the third overlapping starting point 431 of the third overlapping region 43 located within the right side of the vehicle body 10. Additionally, the sixth horizontal field of view θ6 of the sixth camera 26 and the third horizontal field of view θ3... There is a sixth overlapping area 46 between the cameras, with the sixth overlapping starting point 461 of the sixth overlapping area 46 located inside the left rear of the vehicle body 10. There is a seventh overlapping area 47 between the seventh horizontal field of view θ7 and the fourth horizontal field of view θ4 of the seventh camera 27, with the seventh overlapping starting point 471 of the seventh overlapping area 47 located inside the right rear of the vehicle body 10. There is also an eighth overlapping area 48 between the sixth horizontal field of view θ6 and the seventh horizontal field of view θ7, with the eighth overlapping starting point 481 of the eighth overlapping area 48 located inside the middle of the rear of the vehicle body 10. This allows for overlapping shooting areas between two adjacent cameras, avoiding blind spots in visual monitoring and achieving a 360° field of view coverage. This enables a 360° surround view of the environment around the vehicle body 10 without blind spots, further improving driving safety.

[0074] Therefore, the multi-view camera vehicle vision perception system in this embodiment sets six cameras on the roof rack on the top of the vehicle body 10, which can raise the shooting angle range in the height direction of the vehicle body 10, effectively expanding the shooting angle range to avoid image distortion problems, thereby improving image quality and monitoring accuracy. By setting overlapping shooting areas between adjacent two cameras, blind spots in visual monitoring are avoided, thereby achieving a 360° field of view coverage, so as to observe the surrounding environment of the vehicle body 10 without blind spots, further improving driving safety.

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

[0076] Preferably, in this embodiment, the first horizontal field of view θ1 of the first camera 21 is 120°, the second horizontal field of view θ2 of the second camera 22 is 120°, the third horizontal field of view θ3 of the third camera 23 is 120°, and the fourth horizontal field of view θ4 of the fourth camera 24 is 120°. This ensures that when the horizontal field of view of the first camera 21 and the second camera 22 located at the front is 120°, the horizontal field of view of the third camera 23 and the fourth camera 24 located on the left and right sides is also 120°. This allows for overlapping shooting areas between adjacent cameras, avoiding blind spots in visual monitoring, thereby maximizing the panoramic field of view coverage and improving driving safety.

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

[0078] Preferably, in this embodiment, the first vertical field of view β1 of the first camera 21 is 80°, and the first vertical field of view β1 is 30° relative to the first upward tilt field of view γ1 in the horizontal direction; the second vertical field of view β2 of the second camera 22 is 80°, and the second vertical field of view β2 is 30° relative to the second upward tilt field of view γ2 in the horizontal direction; the third vertical field of view β3 of the third camera 23 is 80°, and the third vertical field of view β3 is 30° relative to the third upward tilt field of view γ3 in the horizontal direction; and the fourth vertical field of view β4 of the fourth camera 24 is 80°, and the fourth vertical field of view β4 is 30° relative to the third upward tilt field of view γ1 in the horizontal direction. The fourth upward tilt field of view γ4 is 30°, so that when the vertical field of view of the third camera 23 and the fourth camera 24 located on the left and right sides is 80°, the vertical field of view of the third camera 23 and the fourth camera 24 is 30° relative to the upward tilt field of view in the horizontal direction. When the vertical field of view of the first camera 21 and the second camera 22 located at the front is 80°, the vertical field of view of the first camera 21 and the second camera 22 is 30° relative to the upward tilt field of view in the horizontal direction, so as to avoid the camera being raised too high or lowered too low, which would affect the shooting coverage of the side of the vehicle.

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

[0080] To further expand the vertical shooting angle range, in this embodiment, the sixth vertical field of view β6 of the sixth camera 26 is between 60° and 230°, and the sixth vertical field of view β6 relative to the sixth upward tilt field of view γ6 in the horizontal direction is between -30° and 120°. Similarly, the seventh vertical field of view β7 of the seventh camera 27 is between 60° and 230°, and the seventh vertical field of view β7 relative to the seventh upward tilt field of view γ7 in the horizontal direction is between -30° and 120°. Preferably, in this embodiment, the sixth vertical field of view β6 of the sixth camera 26 is 80°, and the sixth vertical field of view β6 relative to the sixth upward tilt field of view γ6 in the horizontal direction is 30°. The seventh vertical field of view β7 of the seventh camera 27 is also 80°, and the seventh vertical field of view β7 relative to the seventh upward tilt field of view γ7 in the horizontal direction is 30°, thereby maximizing the shooting angle range of the sixth camera 26 and the seventh camera 27.

[0081] Specifically, all cameras selected in this embodiment are of the same model, thus maximizing cost savings while maintaining a complete field of view. All cameras have a horizontal field of view of 120°, achieving panoramic coverage and improving driving safety. The vertical field of view, tilted upwards relative to the horizontal direction, is 30°. This uniform tilt facilitates image stitching while preventing the cameras from being tilted too high or too low, which could affect the coverage of the vehicle's sides.

[0082] The above embodiments are merely preferred examples of this utility model and are not intended to limit the scope of implementation of this utility model. Therefore, all equivalent changes or modifications made to the structure, features and principles of this utility model patent application should be included within the scope of this utility model patent application.

Claims

1. A multi-view camera-based vehicle vision perception system, including a roof rack for mounting on the top of a vehicle body, the roof rack including a left bar and a right bar, the left bar being located on the top left side of the vehicle body, and the right bar being located on the top right side of the vehicle body, characterized in that: The multi-view camera vehicle vision perception system also includes 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 to the control processing module through the data communication module. The first camera is located at the front end of the left pole, the second camera is located at the front end of the right pole, the third camera is located on the left side of the left pole and close to the front end of the left pole, and the fourth camera is located on the right side of the right pole and close to the front end of the right pole. There is a first overlapping area between the first horizontal field of view of the first camera and the second horizontal field of view of the second camera, and the first overlapping starting 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 of the first camera and the third horizontal field of view of the third camera, and the second overlapping starting 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 of the second camera and the fourth horizontal field of view of the fourth camera, and the third overlapping starting point of the third overlapping area is located in the right side of the vehicle body.

2. The vehicle-mounted visual perception system with a multi-view camera according to claim 1, characterized in that: 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°.

3. The vehicle-mounted visual perception system with a multi-view camera according to claim 1, characterized in that: The first vertical field of view of the first camera is between 60° and 230°, and the first vertical field of view relative to the first upward tilt field of view in 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 vertical field of view is between -30° and 120° relative to the second upward tilt field of view in the horizontal direction; And / or, the third vertical field of view of the third camera is between 60° and 230°, and the third upward tilt field of view of the third vertical 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 tilt field of view of the fourth vertical field of view relative to the horizontal direction is between -30° and 120°.

4. The vehicle-mounted visual perception system with a multi-view camera according to claim 1, characterized in that: The multi-view camera vehicle vision perception system also includes a fifth camera, and the luggage rack also includes a rear side panel. The rear side panel is connected between the rear end of the left side bar and the rear end of the right side bar. The fifth camera is located in the middle of the rear end of the rear side panel and is connected to 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 starting point of the fourth overlapping area is located inside the left rear of the vehicle body. The fifth horizontal field of view has a fifth overlapping area with the third horizontal field of view. The fifth overlapping starting point of the fifth overlapping area is located inside the right rear of the vehicle body.

5. The vehicle-mounted visual perception system with a multi-view camera according to claim 4, characterized in that: 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 tilt field of view of the fifth vertical field of view relative to the horizontal direction is between -30° and 120°.

6. The vehicle-mounted visual perception system with a multi-view camera according to claim 1, characterized in that: The multi-view camera vehicle vision perception system also includes a sixth camera and a seventh camera. The sixth camera is located at the rear end of the left pole, and the seventh camera is located at the rear end of the right pole. The sixth camera and the seventh camera are connected to the control processing module through the data communication module. The sixth horizontal field of view of the sixth camera has a sixth overlapping area with the third horizontal field of view, and the sixth overlapping starting point of the sixth overlapping area is located inside the left rear of the vehicle body. The seventh horizontal field of view of the seventh camera has a seventh overlapping area with the fourth horizontal field of view, and the seventh overlapping starting point of the seventh overlapping area is located inside the right rear of the vehicle body. Furthermore, the sixth horizontal field of view and the seventh horizontal field of view have an eighth overlapping area, and the eighth overlapping starting point of the eighth overlapping area is located inside the middle of the rear of the vehicle body.

7. The vehicle-mounted visual perception system with a multi-view camera according to claim 6, characterized in that: 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 vertical field of view relative to the sixth upward tilt field of view in 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°.

8. The vehicle-mounted visual perception system with a multi-view camera according to claim 1, characterized in that: The display module is a touch screen, which is installed inside the vehicle body.

9. The vehicle-mounted visual perception system with a multi-view camera according to any one of claims 1 to 8, characterized in that: The multi-view camera vehicle vision perception system also includes a vehicle battery and a solar power supply device. The vehicle battery is electrically connected to the solar power supply device and supplies power to the control processing module and the aforementioned camera. The solar power supply device is located on the top of the vehicle body.

10. A vehicle, including a vehicle body and an onboard visual perception system, characterized in that: The vehicle-mounted visual perception system is a vehicle-mounted visual perception system with a multi-view camera as described in any one of claims 1 to 9, and the luggage rack of the vehicle-mounted visual perception system with the multi-view camera is installed on the top of the vehicle body.

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