CN-122023112-A - 360-Degree looking-around method for main hanging body of heavy commercial vehicle

Abstract

The invention relates to the technical field of vehicle-mounted looking around, in particular to a 360-degree looking around method for a main hanging body of a heavy commercial vehicle, which comprises the following steps of obtaining original video data by cameras arranged around a main vehicle and a van trailer; the method comprises the steps of calibrating a camera, obtaining internal parameters and external parameters, obtaining a mapping relation between space coordinates and imaging coordinates, performing de-distortion and perspective transformation on an image, obtaining a non-distortion top view, obtaining included angles of a main vehicle and a trailer through calibration pellets, installing the calibration pellets on the left side and the right side of a front overhang of a van trailer for dynamically adjusting an image splicing algorithm, splicing the images, obtaining a 360-degree panoramic image, and forming a 360-degree panoramic image consistent with the actual state through the included angles of the main vehicle and the trailer, so that driving safety can be improved, and the incidence rate of accidents is reduced.

Inventors

• FAN ZHENZHEN
• YANG WENTING
• CHEN ZHE
• JI XING
• FENG KAI
• ZHANG WENBO
• Cao Xuechen

Assignees

• 陕西重型汽车有限公司

Dates

Publication Date

20260512

Application Date

20241112

Claims (6)

1. 1. The 360-degree looking-around method for the main hanging body of the heavy commercial vehicle is characterized by comprising the following steps of: S1, acquiring original video data, and acquiring the original video data through cameras arranged around a main vehicle and a van trailer; S2, calibrating a camera, acquiring internal parameters and external parameters, and obtaining a mapping relation between space coordinates and imaging coordinates; s3, image de-distortion and perspective transformation to obtain a top view without distortion; S4, acquiring an included angle between a main vehicle and a trailer through calibration pellets, and installing the calibration pellets on the left side and the right side of a front suspension of a van-type trailer for dynamically adjusting an image splicing algorithm; And S5, image stitching to obtain a 360-degree panoramic looking-around image.
2. 2. The method for hanging a heavy commercial vehicle in 360 ° around according to claim 1, wherein in S1, the image YUV format of the original video data is converted into RGB format by a camera.
3. 3. The 360-degree looking-around method for a heavy commercial vehicle owner according to claim 1, wherein the equipment required for calibration in the step S2 is a two-dimensional plane checkerboard calibration plate, images of different angles and distances of the two-dimensional plane checkerboard calibration plate are shot through a camera, angular point coordinate data are extracted, an objective function is constructed, the error of the objective function is minimized through iteration to solve external parameters, and internal parameters are determined according to the projection function.
4. 4. The method for 360 ° looking around the main hanging body of a heavy commercial vehicle according to claim 1, wherein in S3, the image is corrected by a de-distortion algorithm, and the corrected image is converted into a top view perpendicular to the ground.
5. 5. The 360-degree looking-around method for the main hanging body of the heavy commercial vehicle according to claim 1, wherein in the step S4, images of two calibration pellets are shot through a camera, a region containing the calibration pellets is obtained through cutting, binarization processing is carried out on the cut region, the outlines of the left calibration pellet and the right calibration pellet are obtained through a circular approximation algorithm, and then the radiuses of the two calibration pellets are measured and respectively marked as R1 and R2; when r1=r2, judging that the vehicle does not rotate, and measuring the distance between the two calibrated pellets at the moment, and recording as D, wherein the rotation included angle theta=0; When R1 is larger than R2, judging that the vehicle turns left, prescribing that the rotation included angle is positive at the moment, measuring the distance between two calibration pellets, marking as L, and according to the trigonometric function relation, determining that the rotation included angle theta= arccos L/D at the moment; When R1< R2, the vehicle is judged to turn right, the rotation included angle is regulated to be negative at the moment, the distance between the two calibration pellets is measured and is marked as L, and according to the trigonometric function relation, the rotation included angle theta= arccos L/D at the moment.
6. 6. The method for 360-degree panoramic viewing of the main hanging body of the heavy commercial vehicle according to claim 1, wherein in the step S5, a 360-degree panoramic viewing image is finally obtained through a dynamic adjustment and splicing algorithm of the included angle between the main vehicle and the trailer.

Description

360-Degree looking-around method for main hanging body of heavy commercial vehicle Technical Field The invention relates to the technical field of vehicle-mounted looking around, in particular to a 360-degree looking around method for a main hanging body of a heavy commercial vehicle. Background The heavy commercial vehicle has long body and large blind area range, is extremely easy to cause various traffic accidents and affects the driving safety. When turning, the main car and the van trailer form an included angle, the included angle changes at any moment, and the problem of vision blind areas is caused. The main hanging integrated 360-degree looking-around technology of the invention utilizes the images collected by the cameras arranged on the periphery of the main car and the van trailer body to splice a 360-degree dead-angle-free panoramic image, and the technology can provide a larger external visual field range for drivers and can reduce the occurrence rate of traffic accidents. Disclosure of Invention Aiming at the problems in the prior art, the invention aims to provide a 360-degree looking-around method for a main hanging body of a heavy commercial vehicle. The technical scheme adopted by the invention for solving the technical problems is that the 360-degree looking-around method for the main hanging body of the heavy commercial vehicle comprises the following steps: S1, acquiring original video data, and acquiring the original video data through cameras arranged around a main vehicle and a van trailer; S2, calibrating a camera, acquiring internal parameters and external parameters, and obtaining a mapping relation between space coordinates and imaging coordinates; s3, image de-distortion and perspective transformation to obtain a top view without distortion; S4, acquiring an included angle between a main vehicle and a trailer through calibration pellets, and installing the calibration pellets on the left side and the right side of a front suspension of a van-type trailer for dynamically adjusting an image splicing algorithm; And S5, image stitching to obtain a 360-degree panoramic looking-around image. Preferably, in S1, the image YUV format of the original video data is converted into the RGB format by a camera. Preferably, the equipment required for calibration in the step S2 is a two-dimensional plane checkerboard calibration plate, images of different angles and distances of the two-dimensional plane checkerboard calibration plate are shot through a camera, angular point coordinate data are extracted, an objective function is constructed, the error of the objective function is minimized through iteration to solve external parameters, and internal parameters are determined according to the projection function. Preferably, in S3, the image is corrected by a de-distortion algorithm, and the corrected image is converted into a top view perpendicular to the ground. Preferably, in the step S4, the camera is used to shoot the images of the two calibration pellets, the region containing the calibration pellets is obtained by cutting, the binarization processing is carried out on the cut region, the outlines of the left calibration pellet and the right calibration pellet are obtained through a circular approximation algorithm, and then the radii of the two calibration pellets are measured and respectively recorded as R1 and R2; when r1=r2, judging that the vehicle does not rotate, and measuring the distance between the two calibrated pellets at the moment, and recording as D, wherein the rotation included angle theta=0; When R1 is larger than R2, judging that the vehicle turns left, prescribing that the rotation included angle is positive at the moment, measuring the distance between two calibration pellets, marking as L, and according to the trigonometric function relation, determining that the rotation included angle theta= arccos L/D at the moment; When R1< R2, the vehicle is judged to turn right, the rotation included angle is regulated to be negative at the moment, the distance between the two calibration pellets is measured and is marked as L, and according to the trigonometric function relation, the rotation included angle theta= arccos L/D at the moment. Preferably, in the step S5, a 360-degree panoramic looking-around image is finally obtained through a dynamic adjustment and splicing algorithm of the included angle between the main vehicle and the trailer. The invention has the following beneficial effects that the 360-degree panoramic picture which is consistent with the actual state is formed by the included angle of the main vehicle and the trailer, so that the driving safety can be improved, and the accident occurrence rate can be reduced. Drawings FIG. 1 is a flow chart of the present invention. FIG. 2 is a schematic view of the installation of the calibration pellet of the present invention. Fig. 3 is a schematic diagram of the principle of calculating the included angle between the