CN-121999061-A - Calibration method and device of vehicle-mounted image system, vehicle and storage medium

CN121999061ACN 121999061 ACN121999061 ACN 121999061ACN-121999061-A

Abstract

The application relates to the technical field of vehicle calibration and discloses a calibration method, a device, a vehicle and a storage medium of a vehicle-mounted image system, wherein the method comprises the steps of triggering and collecting images to be calibrated, which are shot by at least two cameras with different directions arranged on the vehicle, when the vehicle speed is reduced to a preset range and a ground marking which accords with preset geometric characteristics is detected if the number of passengers is judged to change based on a vehicle door state change event and a vehicle running state signal; based on the position deviation, translating the images of the to-be-compensated viewing angles by taking the positions of the ground marks of the images of the reference viewing angles as references, and taking geometrical transformation parameters of the images corresponding to translation as current target calibration parameters of the vehicle when the ground marks in the panoramic images obtained by splicing the images of the various viewing angles after translation meet the requirements of continuity.

Inventors

YANG WEIMEI
ZHANG JINCHENG

Assignees

深圳市顺禾电器科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260409

Claims (15)

1. The calibration method of the vehicle-mounted image system is characterized by comprising the following steps of: Based on a vehicle door state change event and a vehicle running state signal, if the number of passengers is judged to change, triggering and collecting images to be calibrated, which are shot by at least two cameras in different directions in a vehicle-mounted image system arranged on a vehicle, when the vehicle speed is reduced to be within a preset range and a ground marking which accords with preset geometric characteristics is detected; Based on each image to be calibrated, identifying the ground marking in the view field of the corresponding shooting view angle, and determining the position deviation of the same physical ground marking under different shooting view angles; Based on the position deviation, carrying out translation operation on a to-be-compensated view angle image by taking the position of the ground marking of the reference view angle image as a reference, and taking an image geometric transformation parameter corresponding to the translation operation as a target calibration parameter of a vehicle in a current load state when the ground marking in a panoramic image obtained by splicing images of all view angles after the translation operation meets a continuity requirement, wherein the reference view angle image is an image acquired by one of cameras installed in at least two different directions, and the to-be-compensated view angle image is a view angle image with the position deviation relative to the reference image.
2. The method of calibrating an on-vehicle imaging system according to claim 1, wherein determining whether the number of occupants is changed based on the door state change event and the vehicle running state signal comprises: and judging the number change of the passengers according to the opening and closing conditions of the vehicle door and the ignition state of the vehicle engine.
3. The method for calibrating an on-vehicle image system according to claim 2, wherein the determining the change in the number of occupants in accordance with the door opening and closing, in combination with the ignition status of the vehicle engine, comprises: When the left front door is detected to be opened and then closed and the engine is in an ignition state and the vehicle speed is greater than 0 km/h, determining that the number of passengers in the driving position is changed; when the right front door is detected to be opened and then closed and the engine is in an ignition state and the vehicle speed is greater than 0 km/h, determining that the number of passengers in the front passenger seat is changed; When any rear door is detected to be opened and then closed and the engine is in an ignition state and the vehicle speed is greater than 0 km/h, the quantity of rear passengers is judged to be changed.
4. The method for calibrating a vehicle-mounted image system according to claim 1, wherein the position deviation is a pixel-level lateral offset of a ground marking center line in the view angle image to be compensated relative to a corresponding ground marking center line in the reference view angle image; based on the position deviation, performing a translation operation on the view angle image to be compensated with reference to the position of the ground marking in the reference view angle image, including: taking the pixel level lateral offset as a translation in the horizontal direction; And performing horizontal translation operation on the visual angle image to be compensated based on the translation amount, wherein the horizontal translation operation is performed on the visual angle image to be compensated.
5. The method for calibrating an on-vehicle imaging system according to claim 1, wherein triggering acquisition of images to be calibrated captured by at least two cameras in different directions in an on-vehicle imaging system installed on a vehicle when a vehicle speed is reduced to a preset range and a ground marking conforming to a preset geometric feature is detected, comprises: when the vehicle speed is reduced to a first preset speed, starting a lane line detection function; When the vehicle speed is further reduced to a second preset speed and a ground marking conforming to a preset geometric feature is detected, triggering and collecting the images to be calibrated, which are shot by at least two cameras with different directions arranged on the vehicle, wherein the first preset speed is greater than the second preset speed.
6. The method for calibrating an on-vehicle imaging system according to claim 1 or 5, wherein the ground markings according to the preset geometric features include lane lines and zebra stripes.
7. The method for calibrating an on-vehicle image system according to claim 6, wherein when the ground mark is the lane line, the identifying the ground mark in the corresponding view angle field based on each of the images to be calibrated includes: performing image recognition processing on the calibration image, and extracting a color block area which is in a straight line shape and has contrast meeting the contrast requirement; fitting the extracted color block area into at least one straight line segment to serve as a candidate lane line; and screening straight line segments meeting the conditions from the candidate lane lines to serve as identified lane lines according to a preset length threshold value and a preset direction threshold value.
8. The method for calibrating an on-vehicle image system according to claim 1, wherein when the ground mark is the lane line, the determining the positional deviation of the same physical ground mark under different photographing angles comprises: Determining first coordinate information of the center position of the fitted lane line segment in the reference view angle image; Determining second coordinate information of the center position of a straight line fitted by the same physical lane line segment in the visual angle image to be compensated; and determining the position deviation of the lane line according to the first coordinate information and the second coordinate information.
9. The method for calibrating an on-vehicle image system according to claim 1, wherein when the ground mark is the lane line, determining that the ground mark in the panorama obtained by image stitching at each viewing angle after the translation operation satisfies a continuity requirement comprises: Geometrically splicing the images of all the visual angles after the translation operation to generate a panoramic view; detecting a region of the lane line crossing the boundary of the adjacent view angle images in the panoramic view; And if the detected lane lines are continuously extended in all crossing areas, judging that the continuity requirement is met.
10. The method for calibrating an on-vehicle image system according to claim 6, wherein when the ground mark is the zebra stripes, the identifying the ground mark in the corresponding view angle field based on each of the images to be calibrated includes: Performing image recognition processing on the calibration image to recognize a plurality of bright white rectangular blocks with similar shapes; and if the directions of the white rectangular blocks are consistent and the positions are sequentially arranged, judging to form a section of zebra stripes.
11. The method for calibrating an on-vehicle image system according to claim 10, wherein when the ground mark is the zebra mark, the determining the positional deviation of the same physical ground mark under different photographing angles comprises: Selecting at least one white rectangular block in the identified zebra stripes from the reference visual angle image, and determining third coordinate information of the current white rectangular block; In the to-be-compensated visual angle image, determining fourth coordinate information of a corresponding white rectangular block on the same physical zebra stripes; And determining the position deviation of the zebra stripes according to the third coordinate information and the fourth coordinate information.
12. The method for calibrating an on-vehicle image system according to claim 6, wherein when the ground mark is the zebra stripes, determining that the ground mark in the panorama obtained by image stitching at each view angle after the translation operation meets a continuity requirement, comprises: Geometrically splicing the images of all the visual angles after the translation operation to generate a panoramic view; In the panoramic view, observing a spliced boundary area between adjacent view angle images; If at least three white rectangular blocks can be observed to be orderly arranged along the same direction on each splicing boundary area, and the trend is presented as a straight line, the continuity requirement is judged to be met.
13. A calibration device for a vehicle-mounted imaging system, comprising: The calibration image acquisition module is used for triggering and acquiring images to be calibrated, which are shot by at least two cameras in different directions in a vehicle-mounted image system arranged on a vehicle, when the vehicle speed is reduced to be within a preset range and a ground marking which accords with preset geometric characteristics is detected if the number of passengers is judged to be changed based on a vehicle door state change event and a vehicle running state signal; the position deviation determining module is used for identifying the ground marks in the view field of the corresponding shooting view angles based on the images to be calibrated and determining the position deviation of the same physical ground mark under different shooting view angles; The target calibration parameter determining module is used for carrying out translation operation on the to-be-compensated view angle image based on the position deviation, taking the position of the ground marking in the reference view angle image as a reference, and taking the geometric transformation parameter of the image corresponding to the translation operation as the target calibration parameter of the vehicle in the current load state when the ground marking in the panoramic image obtained by splicing the images of all view angles after the translation operation meets the continuity requirement, wherein the reference view angle image is an image acquired by one of the cameras installed in at least two different directions, and the to-be-compensated view angle image is a view angle image with the position deviation relative to the reference image.
14. A vehicle, characterized in that it comprises a processor and a memory, said memory storing a computer program, said processor being adapted to execute said computer program to carry out a method of calibrating an in-vehicle imaging system according to any of claims 1-12.
15. A computer-readable storage medium, characterized in that it stores a computer program which, when executed on a processor, implements a method for calibrating an in-vehicle imaging system according to any of claims 1-12.

Description

Calibration method and device of vehicle-mounted image system, vehicle and storage medium Technical Field The present application relates to the field of vehicle calibration technologies, and in particular, to a method and apparatus for calibrating a vehicle-mounted image system, a vehicle, and a storage medium. Background The existing vehicle-mounted image system generally adopts a static calibration method, namely, multiple groups of parameters are respectively calibrated and stored under limited discrete working conditions such as no-load, half-load and full-load, and corresponding parameters are selected according to the estimated load during operation. However, the number of actual passengers is generally changed, the change of passengers can cause dynamic changes of the vehicle body posture (pitching/rolling) and the camera ground clearance height to cause geometric distortion of images, and static calibration cannot respond to the changes in real time, so that calibration parameters are mismatched, and further the problems of 360-degree panoramic stitching dislocation, ADAS obstacle distance calculation deviation and the like can be caused. Disclosure of Invention In view of the above, the embodiments of the present application provide a calibration method and apparatus for a vehicle-mounted image system, a vehicle and a storage medium. In a first aspect, an embodiment of the present application provides a calibration method for a vehicle-mounted image system, including: Based on a vehicle door state change event and a vehicle running state signal, if the number of passengers is judged to change, triggering and collecting images to be calibrated, which are shot by at least two cameras in different directions in a vehicle-mounted image system arranged on a vehicle, when the vehicle speed is reduced to be within a preset range and a ground marking which accords with preset geometric characteristics is detected; Based on each image to be calibrated, identifying the ground marking in the view field of the corresponding shooting view angle, and determining the position deviation of the same physical ground marking under different shooting view angles; Based on the position deviation, carrying out translation operation on a to-be-compensated view angle image by taking the position of the ground marking in the reference view angle image as a reference, and taking an image geometric transformation parameter corresponding to the translation operation as a target calibration parameter of a vehicle in a current load state when the ground marking in a panoramic image obtained by splicing images of all view angles after the translation operation meets a continuity requirement, wherein the reference view angle image is an image acquired by one of cameras installed in at least two different directions, and the to-be-compensated view angle image is a view angle image generating the position deviation relative to the reference image. In an alternative embodiment, determining whether the number of occupants has changed based on the door state change event and the vehicle operating state signal comprises: and judging the number change of the passengers according to the opening and closing conditions of the vehicle door and the ignition state of the vehicle engine. In an alternative embodiment, the determining the change of the number of passengers according to the opening and closing condition of the vehicle door and the ignition state of the vehicle engine includes: When the left front door is detected to be opened and then closed and the engine is in an ignition state and the vehicle speed is greater than 0 km/h, determining that the number of passengers in the driving position is changed; when the right front door is detected to be opened and then closed and the engine is in an ignition state and the vehicle speed is greater than 0 km/h, determining that the number of passengers in the front passenger seat is changed; When any rear door is detected to be opened and then closed and the engine is in an ignition state and the vehicle speed is greater than 0 km/h, the quantity of rear passengers is judged to be changed. In an alternative embodiment, the position deviation is a pixel-level lateral offset of a ground reticle centerline in the perspective image to be compensated relative to a corresponding ground reticle centerline in the reference perspective image; based on the position deviation, performing a translation operation on the view angle image to be compensated with reference to the position of the ground marking in the reference view angle image, including: Taking the pixel level lateral offset as the translation in the horizontal direction; And performing horizontal translation operation on the visual angle image to be compensated based on the translation amount, wherein the horizontal translation operation is performed on the visual angle image to be compensated. In an optional embodiment, when the vehicle