Self-check method and apparatus for change in extrinsic parameter of surround-view fisheye camera

By selecting two fisheye cameras with common viewing areas in smart cars, detecting and comparing their projected linear features on the top view, the problem that changes in the external parameters of the fisheye camera affect the automatic parking function is solved, and efficient external parameters self-detection and top view quality assurance is achieved.

WO2025055236A1 Publication Date: 2025-03-20HOZON NEW ENERGY AUTOMOBILE CO LTD
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Patent Information

Application Number
PCT/CN2024/072686
Authority / Receiving Office
WO · WO
Patent Type
Applications
Current Assignee / Owner
Priority Date
2023-09-11
Filing Date
2024-01-17
Publication Date
2025-03-20

AI Technical Summary

Technical Problem

In smart cars, the changes in the external parameters of the surround-view fisheye camera will affect the graphical effect of the top view, and thus affect the reliability of the automatic parking function.

Method used

By selecting two cameras with a common viewing area among the multiple fisheye cameras of the vehicle, using them to detect straight road surface features in the common viewing area, and projecting these straight lines onto the top view according to their respective external parameters, and comparing them to detect changes in the external parameters.

Benefits of technology

It realizes simple and efficient self-detection of the external parameters of the fisheye camera, ensuring high-quality construction of the top view, thereby avoiding adverse effects on the automatic parking function.

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Abstract

The present application relates to the technical field of smart cars, and discloses a self-check method and apparatus for a change in an extrinsic parameter of a surround-view fisheye camera, providing a simple and efficient self-check solution for an extrinsic parameter of a fisheye camera. A main technical solution of the present application comprises: selecting a first camera and a second camera from among a plurality of fisheye cameras of a vehicle, the first camera and the second camera having a first common vision region, and a road surface straight line feature existing in the first common vision region; on the basis of extrinsic parameters of the first camera and the second camera, the first camera and the second camera each checking a road surface straight line feature so as to project same onto a top view, to obtain a first straight line and a second straight line, the top view being a bird's eye effect graph obtained by means of reverse perspective transformation on the basis of data photographed by the plurality of fisheye cameras; and performing comparison by using the first straight line and the second straight line to check whether the extrinsic parameters of the first camera and the second camera change.
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