CN108650495A - A kind of automobile-used panoramic looking-around system and its adaptive light compensation method - Google Patents
A kind of automobile-used panoramic looking-around system and its adaptive light compensation method Download PDFInfo
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- CN108650495A CN108650495A CN201810689727.3A CN201810689727A CN108650495A CN 108650495 A CN108650495 A CN 108650495A CN 201810689727 A CN201810689727 A CN 201810689727A CN 108650495 A CN108650495 A CN 108650495A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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- Multimedia (AREA)
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- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
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- Closed-Circuit Television Systems (AREA)
Abstract
A kind of automobile-used panoramic looking-around system and its adaptive light compensation method, the present invention to the raw video image that camera captures of looking around for being installed on vehicle body both sides by carrying out grey level histogram Luminance Analysis, judge the power for being installed on the external environment light for looking around camera at left and right sides of vehicle body, whether adaptive decision-making needs to look around camera progress light filling operation to this, camera fill flash group is looked around in setting, to realize the adaptive light filling to panoramic looking-around system.According to the present invention, realizes and effectively overcome the defect that panoramic looking-around system fails under external insufficient light or scene without apparent external light source to be installed on the function of looking around camera and carry out adaptive light filling of vehicle body both sides.
Description
Technical field：
The present invention relates to automotive safety and intelligent vehicle research fields, and especially, the present invention relates to one kind to have adaptively
The automobile-used panoramic looking-around system of light filling function, and carried out using the automobile-used panoramic looking-around system with adaptive light filling function
The panoramic looking-around method of adaptive light filling.
Background technology：
With the continuous development of economy and communication, automobile has become the indispensable vehicles of people.In recent years
Come, the quick increase of automobile is so that urban road, community parking increasingly congestion, enable driver when parking by the visual field and parking stall
The limitation of the objective condition such as narrow, and easily crash, to bring unnecessary loss.Most of vehicle scratches
Event be all come in and go out parking stall and allow vehicle when caused by, although speed will not quickly, accidentally scratch to love vehicle lacquer painting still
It is the very irritating thing of part.Therefore there is the demand of panoramic looking-around driving auxiliary around vehicle body.
Panoramic looking-around system typically refers to that (such as 4 to 8 is each wide by multiple wide-angle cameras to being laid in vehicle periphery
Angle camera, that is, look around camera) collected to the synchronization multichannel that can cover all field ranges of vehicle-surroundings regards
Frequency image is handled, and includes that 360 degree of panorama vertical views of automobile body and vehicle-surroundings (get a bird's eye view vertical view to form a width
Figure), and in the car the vertical view is shown on the screen of control platform, it can intuitively show the location of vehicle and vehicle body periphery
Situation, to which the vehicle of more and more models wants to realize panoramic looking-around.
Panoramic looking-around is due to that can help driver clearly to check vehicle-surroundings whether there are obstacles and barrier
Relative bearing and distance etc., help driver easily to drive, such as help the light parked vehicle of driver and pass through complicated road
Sensing capability of the driver to surrounding and environment has greatly been expanded in face etc., therefore, panoramic looking-around system, and driver is made to handle
Vehicle start, parks and is shortlisted for, when arrow path meeting, obstacle avoidance at driving turning, can be calm and unhurried, easily grasps
Make, thus effectively avoids collision the generation for the accidents such as rolling.
Currently, panoramic looking-around systematic research emphasis focuses mostly in calibration, the image seamless splicing fusion for looking around camera
On the technologies points such as technology, image beautification and system processing speed.If in external ambient light deficiency even unapparent
Under the scene of external light source, removing the camera of looking around before and after being installed on vehicle body has the auxiliary of corresponding car light (such as front car light and taillight)
Except helping, it is installed on the camera of looking around at left and right sides of vehicle body and is difficult to capture side images.However, these extraneous lights it is insufficient or
Scene of the person without apparent external light source is much in driving at night, meanwhile, it is to need panoramic looking-around that these scenes, which also belong to,
The place of system row cart auxiliary.
Invention content：
In order to solve current panorama viewing system in external insufficient light even without under the scene of apparent external light source, pacify
Loaded on the problem of camera can not capture side images is looked around at left and right sides of vehicle body, the present invention provides one kind to have adaptively
The automobile-used panoramic looking-around system of light filling function and its adaptive light compensation method, it is according to the present invention with adaptive light filling function
Automobile-used panoramic looking-around system and its adaptive light compensation method, can be by flutterring and catching to the camera of looking around for being installed on vehicle body both sides
Image carries out grey level histogram Luminance Analysis, and then realizes that looking around camera to this carries out adaptive light filling, and to light filling after
Panoramic picture carries out luminance proportion.
The scheme of the adaptive light compensation method of the present invention is as follows：A kind of adaptive light filling side of automobile-used panoramic looking-around system
Method, steps are as follows：
(1) processing unit is set for the panoramic looking-around system of vehicle body both sides, the processing unit includes illuminant module, light filling
Module and luminance proportion module, the supplementary lighting module include around the light filling lamp group for looking around the setting of camera periphery；
(2) each road video image of camera acquisition is looked around in the illuminant module real-time reception vehicle body both sides, and to described
Video image carry out histogram luminance existence analysis, judge whether to need to carry out light filling operation to the camera of looking around of vehicle body both sides；
(3) it if illuminant module judgement carries out light filling operation without looking around camera accordingly to vehicle body left/right side, sends
The corresponding instruction for looking around camera periphery light filling lamp group is closed to supplementary lighting module, and enters step (6)；
(4) it if illuminant module judgement needs to look around camera progress light filling operation accordingly to vehicle body left/right side, sends
Light filling instructs the light filling lamp group for being lighted to supplementary lighting module and corresponding to and looking around camera periphery, and enters step (5)；
(5) if the corresponding light filling lamp group of all cameras in the vehicle body left and right sides is lit entirely, start luminance proportion module,
Luminance proportionization processing to entire panoramic picture, and enter step (6)；
(6) panoramic picture is exported, the adaptive light filling of panoramic looking-around system is completed.
Further, the adaptive light compensation method of automobile-used panoramic looking-around system according to the present invention, the step (1)
In, the method for carrying out histogram luminance existence analysis to panoramic picture is：
Illuminant module makes grey level histogram respectively according to the raw video image at left and right sides of the vehicle body captured, and
On the grey level histogram, on the basis of gray value, grey level histogram is divided into five regions, if vehicle body one or both sides are big
It is all fallen in the first two region in the peak point of unit gradation number of pixels mean value, then it represents that the vehicle body one or both sides camera institute
The external environment light at place is weaker, needs to carry out light filling to the vehicle body one or both sides, otherwise need not carry out light filling.
Further, the adaptive light compensation method of automobile-used panoramic looking-around system according to the present invention, the unit ash
The calculation for spending number of pixels mean value is as follows：
Wherein, N0Indicate unit gradation number of pixels mean value；
niIndicate the number for the pixel that the gray value on gray level image is i.
Further, the adaptive light compensation method of automobile-used panoramic looking-around system according to the present invention, the step (4)
In, each road video image of acquisition is spliced into a width panoramic picture, and carry out region division, first, on the basis of gray value,
Video image in field range on the left of vehicle body is divided into left area, the video image in the field range of vehicle body right side divides
For right area, vehicle body is located at intermediate region；Secondly, by the video image in the intermediate region in vehicle front field range
It is divided into front area, and the video image in the intermediate region in the field range of vehicle body rear is divided into posterior region,
Then whole picture panoramic picture is divided into the region of front, rear, left and right 4, when carrying out luminance proportionization processing, uses left area
Brightness and right area brightness come brightness and posterior region to front area brightness carry out equalization operation.
Further, the adaptive light compensation method of automobile-used panoramic looking-around system according to the present invention, is regarded using each road
The color space characteristic of the brightness change factor of pixel and the panoramic picture on frequency image, by the brightness value of current pixel point
It adjusts to ideal brightness value, that is, completes the brightness adjustment to current pixel point.
Further, the adaptive light compensation method of automobile-used panoramic looking-around system according to the present invention, with panoramic picture
Width be x-axis, be highly y-axis, the brightness change factor at pixel (x, y) is：
δ is the brightness change factor of pixel (x, y)；
Iideal(x, y) indicates the gray value of pixel (x, y)；
I (x, y) is the gray value of pixel (x, y).
Further, the adaptive light compensation method of automobile-used panoramic looking-around system according to the present invention, if pixel P
(x, y) belongs to front area, and the desired level value of pixel P is：
Wherein, xnIndicate the width of panoramic picture namely the maximum abscissa of panoramic picture；
When x ∈ [0, x1], which belongs to left area；
As x ∈ [x2, xn], which belongs to right area；
As x ∈ (x1, x2), which belongs to front area or posterior region.
The present invention also provides a kind of automobile-used panoramic looking-around system with adaptive light filling function, the automobile-used panoramic looking-arounds
System includes that be installed on around vehicle body multiple look around camera, is provided with processing unit, the processing unit includes photosensitive mould
Block, supplementary lighting module and luminance proportion module, the supplementary lighting module include light filling lamp group and driving circuit, and the light filling lamp group surrounds
The setting of camera periphery is looked around, the input terminal connection ring of the illuminant module regards camera, and camera acquisition is looked around for obtaining
Each road video image and the panoramic picture that is spliced of each road video image, and determine a need for light filling operation；It is described
The output end of illuminant module connects the driving circuit, for sending the instruction for being turned on and off light filling lamp group to driving circuit；
The output end control connection light filling lamp group of the driving circuit, the light on and off for controlling light filling lamp group；The luminance proportion module
The output end for connecting illuminant module, at left and right sides of vehicle body it is all look around the corresponding light filling lamp group of camera and be lit full when
Start, the luminance proportionization of entire panoramic picture is handled.
Further, the automobile-used panoramic looking-around system according to the present invention with adaptive light filling function, the benefit
Light lamp group by plurality of LEDs lamp group at.
Further, the automobile-used panoramic looking-around system according to the present invention with adaptive light filling function, the sense
Optical module includes photosensitive sensor.
The positive effect of the present invention is：The present invention realize for be installed on vehicle body both sides look around camera carry out it is adaptive
The function of light filling is answered, effectively overcomes panoramic looking-around system under scene of the external insufficient light even without external light source, peace
Side images can not be captured loaded on the panoramic looking-around system camera at left and right sides of vehicle body, and cause panoramic looking-around system at this
The defect to fail under scape, helps to realize intelligent transportation and intelligent vehicle, so as to improve driving safety, effectively reduces latent
Traffic accident.
Description of the drawings：
Fig. 1 intermodule communication relational graphs；
Fig. 2 grey level histogram region division schematic diagrames；
Fig. 3 need the grey level histogram exemplary plot of light filling；
Fig. 4 do not need the grey level histogram exemplary plot of light filling；
Fig. 5 front car lights shine ground range schematic diagram with taillight on the panoramic picture visual field；
Fig. 6 light fillings lamp groups shine ground range schematic diagram on the panoramic picture visual field；
Fig. 7 panoramic picture luminance proportion region division schematic diagrames；
Fig. 8 panoramic picture luminance proportion coordinate system diagrams；
Scheme of installation of Fig. 9 light fillings lamp groups in panoramic looking-around system.
Specific implementation mode：
Hereinafter, clearly and completely describing the embodiment of the present invention for embodiment.Obviously, described embodiment is only
A part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment of the present invention, those of ordinary skill in the art exist
The every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
The present invention is additionally arranged illuminant module (M1) on the basis of current panorama viewing system, supplementary lighting module (M2) and bright
Balance module (M3) is spent, wherein supplementary lighting module includes around the light filling lamp group for looking around the setting of camera periphery.As shown in Figure 1, ring
Depending on camera using the multiple paths of video images collected and its panoramic picture obtained after processing as input, it is single to send processing to
First (P), the illuminant module (M1) in processing unit (P) pass through the original looked around camera and collected to being installed on vehicle body both sides
Beginning video image carries out certain analysis of image data, and light filling operation is carried out so that whether decision should look around this camera, and
Command adapted thereto is sent to supplementary lighting module (M2)；Supplementary lighting module (M2) controls phase according to the instruction transmitted from illuminant module (M1)
The light filling lamp group that should be looked around in camera neighborhood being lighted and closing；It is corresponded to when being installed on all cameras of looking around in vehicle body both sides
Light filling lamp group when all lighting, since the active of external light source intervenes, the variation that vehicle body ambient enviroment light will be caused to be distributed,
The panoramic picture of luminance proportion in order to obtain needs to carry out brightness to the panoramic picture of acquisition by luminance proportion module (M3)
Equalization processing.
Illuminant module (M1)：
Illuminant module (M1) is made with being installed on each road raw video image for looking around camera capture at left and right sides of vehicle body
Come whether decision needs to light or close accordingly by carrying out histogram luminance existence analysis to each road video image for input
Look around the corresponding light filling lamp group of camera.Grey level histogram is the function of gray level, has each gray level in its presentation image
Pixel number, reflect image in each gray scale occur frequency.
Computing unit gray-scale pixels number mean value N0(as shown in phantom in Figure 2), calculation is as follows：
Wherein, niIndicate the number for the pixel that gray value is i on gray level image.
On grey level histogram, on the basis of gray value, grey level histogram is uniformly divided into A, B, C, D, E etc. 5
Region.As shown in figure 3, if all be more than unit gradation number of pixels mean value N0Peak point all fall in a-quadrant and B area, then
It indicates that the external environment light currently looked around residing for camera is weaker, needs to light the light filling lamp group for looking around camera to carry out
Light filling, meanwhile, illuminant module (M1) lights instruction accordingly to supplementary lighting module (M2) transmission；If as shown in figure 4, having more than unit
Gray-scale pixels number mean value N0Peak point fall in the regions D or the regions E, then this need not be looked around camera carry out light filling, phase
The light filling lamp group answered should be at closed state, if current light filling lamp group has been lit, illuminant module (M1) is needed to light filling mould
Block (M2) sends corresponding out code.
Supplementary lighting module (M2)：
Supplementary lighting module (M2), which is lighted or closed according to the instruction that illuminant module (M1) is sent, is installed on vehicle body both sides
Look around the light filling lamp group of camera.In external insufficient light even without under the scene of apparent external light source, it is installed on vehicle body two
Camera is looked around in side, relative to before and after being installed on car body look around camera for, due to there is no vehicle head lamp and taillight
Light auxiliary, will be unable to flutter the environment caught around vehicle body, with panorama sketch of its splicing, will to will appear the visual field as shown in Figure 5 blind
Area.Therefore, light filling lamp group of the invention needs to ensure light according to these blind areas of ground region overlay, according to ground range schematic diagram
As shown in black portions in Fig. 6.
Luminance proportion module (M3)：
When and if only if vehicle body both sides, all light filling lamp groups for looking around camera are all lighted, spliced map luminance proportion module
(M3) using the panoramic picture of acquisition as input, and (F), rear (H), left (L), right (R) etc. 4 before it is divided by the panoramic picture
A region, as shown in Figure 7.The active intervention of external light source has been obtained due to being installed on the camera of looking around at left and right sides of vehicle body,
Its brightness of image on panoramic picture can be closer to desired level value, therefore is come using the brightness in the regions L and the brightness in Zone R domain
The brightness of brightness and the regions H to the regions F carries out equalization operation.
Look around the detailed description of camera and the relative installation of light filling lamp group：
The present embodiment only lists a kind of example for the relative installation for looking around camera and light filling lamp group, for installation
Camera is looked around in vehicle body both sides, light filling lamp group can be looked around mounted on this around the camera lens of camera, as shown in figure 9, simultaneously
By adjusting the Installation posture of light group and other installation details, when it being made to be lit, can be covered such as institute in Fig. 6 according to ground region
The dark elliptical regions shown.
Look around the detailed description that camera fill flash group needs the deterministic process being lit：
Fig. 3 gives one and needs the intensity histogram illustrated example lighted depending on camera fill flash group to respective rings.
From figure 3, it can be seen that the grey level histogram shares 5 peak points, it is located at a-quadrant, B area and the regions C,
Unit gradation number of pixels mean value N is calculated further according to respective formula0, it is obvious that value by dotted line in figure marks, according to this implementation
Example is more than unit gradation number of pixels mean value N0Peak point (peak point in figure more than dotted line) have 4, fully fallen in A
Region and B area meet all more than unit gradation number of pixels mean value N0Peak point all fall the point in a-quadrant and B area
Bright wisp part, so illuminant module (M1) sends respective rings to supplementary lighting module (M2) lights order depending on camera fill flash group.
Look around the detailed description that camera fill flash group point should be at the deterministic process of closed state：
Fig. 4 gives one and needs to regard the intensity histogram diagram that camera fill flash group carries out shutoff operation to respective rings
Example.
Figure 4, it is seen that the grey level histogram shares 6 peak points, divides and be scattered in 5 areas such as A, B, C, D, E
In domain.Unit gradation number of pixels mean value N is calculated according to respective formula0, value marks by dotted line in figure, it is clear that is more than single
First gray-scale pixels number mean value N0Peak point (peak point in figure more than dotted line) have 4, respectively fallen in a-quadrant, the areas B
Domain, the regions C and the regions D meet there are one since this 4 peak points are there are one falling in the regions D more than unit gradation pixel
Number mean value N0Peak point fall the condition in the regions D or the regions E, so at this time, it may be necessary to closing corresponding light filling lamp group.
If the light filling lamp group has been lit, illuminant module (M1) sends respective rings to supplementary lighting module (M2) and regards camera light filling
The shutdown command of lamp group.
The detailed description of the luminance proportion of YUV color space panorama sketch：
Since the channels Y in YUV color spaces just represent the brightness value of image pixel, so being directed to YUV color spaces
The panorama sketch of format only needs the Y channel values by all pixels in the regions F and the regions H to replace with corresponding desired level value i.e.
It can.For certain pixel P (x, y) in the regions F and the regions H, the value in the channels Y is：
Wherein, Y (x, y) indicates the Y channel values of pixel (x, y) on panoramic picture；xnIndicate the width of panoramic picture；When
x∈[0,x1] when, which belongs to the regions L；As x ∈ [x2,xn] when, which belongs to Zone R domain；As x ∈ (x1,x2) when,
The pixel belongs to the regions F or the regions H.
In conjunction with the gray value I (x, y) of pixel (x, y) on panoramic picture, the brightness change at current pixel point can be obtained
Factor delta is：
Using the color space characteristic of the brightness change factor and the panoramic picture of the pixel, to each on the pixel
Channel numerical value is adjusted, you can completes the brightness adjustment to the pixel.Pixel all in the regions F and the regions H is held
The same operation of row, you can complete the luminance proportion to whole picture panoramic picture.
The present invention is based on panoramic looking-around systems, and light light group is tied up with the camera of looking around for being installed on vehicle body both sides
It is fixed, it realizes to be installed on the function of looking around camera and carry out adaptive light filling of vehicle body both sides, effectively overcomes panoramic looking-around
The defect that system fails under external insufficient light or scene without apparent external light source.
Claims (10)
1. a kind of adaptive light compensation method of automobile-used panoramic looking-around system, which is characterized in that the adaptive light compensation method step
It is as follows：
(1) processing unit is set for the panoramic looking-around system of vehicle body both sides, the processing unit includes illuminant module, supplementary lighting module
And luminance proportion module, the supplementary lighting module include around the light filling lamp group for looking around the setting of camera periphery；
(2) each road video image of camera acquisition is looked around in the illuminant module real-time reception vehicle body both sides, and is regarded to described
Frequency image carries out histogram luminance existence analysis, judges whether to need to carry out light filling operation to the camera of looking around of vehicle body both sides；
(3) if illuminant module judgement carries out light filling operation without looking around camera accordingly to vehicle body left/right side, closing is sent
The corresponding instruction for looking around camera periphery light filling lamp group enters step (6) to supplementary lighting module；
(4) if illuminant module judgement needs to look around camera progress light filling operation accordingly to vehicle body left/right side, light filling is sent
The light filling lamp group for being lighted to supplementary lighting module and corresponding to and looking around camera periphery is instructed, and enters step (5)；
(5) if the corresponding light filling lamp group of all cameras in the vehicle body left and right sides is lit entirely, start luminance proportion module, to whole
The luminance proportionization of a panoramic picture is handled, and enters step (6)；
(6) panoramic picture is exported, the adaptive light filling of panoramic looking-around system is completed.
2. the adaptive light compensation method of automobile-used panoramic looking-around system as described in claim 1, which is characterized in that the step
(1) in, the method for carrying out histogram luminance existence analysis to panoramic picture is：
Illuminant module makes grey level histogram respectively according to the raw video image at left and right sides of the vehicle body captured, and described
On grey level histogram, on the basis of gray value, grey level histogram is divided into five regions, if vehicle body one or both sides are more than list
The peak point of first gray-scale pixels number mean value is all fallen in the first two region, then it represents that residing for the vehicle body one or both sides camera
External environment light is weaker, needs to carry out light filling to the vehicle body one or both sides, otherwise need not carry out light filling.
3. the adaptive light compensation method of automobile-used panoramic looking-around system as claimed in claim 2, which is characterized in that the unit ash
The calculation for spending number of pixels mean value is as follows：
Wherein, N0Indicate unit gradation number of pixels mean value；
niIndicate the number for the pixel that the gray value on gray level image is i.
4. the adaptive light compensation method of automobile-used panoramic looking-around system as described in claim 1, which is characterized in that the step
(4) in, each road video image of acquisition is spliced into a width panoramic picture, and carry out region division, first, using gray value as base
Video image in field range on the left of vehicle body is divided into left area, the video image in the field range of vehicle body right side by standard
It is divided into right area, vehicle body is located at intermediate region；Secondly, by the video in the intermediate region in vehicle front field range
Image is divided into front area, and the video image in the intermediate region in the field range of vehicle body rear is divided into side area
Domain, then whole picture panoramic picture be divided into the region of front, rear, left and right 4, when carrying out luminance proportionization processing, area on the left of use
The brightness that the brightness in domain and the brightness of right area come brightness and posterior region to front area carries out equalization operation.
5. the adaptive light compensation method of automobile-used panoramic looking-around system as claimed in claim 4, which is characterized in that regarded using each road
The color space characteristic of the brightness change factor of pixel and the panoramic picture on frequency image, by the brightness value of current pixel point
It adjusts to ideal brightness value, that is, completes the brightness adjustment to current pixel point.
6. the adaptive light compensation method of automobile-used panoramic looking-around system as claimed in claim 5, which is characterized in that with panoramic picture
Width be x-axis, be highly y-axis, the brightness change factor at pixel (x, y) is：
δ is the brightness change factor of pixel (x, y)；
Iideal(x, y) indicates the gray value of pixel (x, y)；
I (x, y) is the gray value of pixel (x, y).
7. the adaptive light compensation method of automobile-used panoramic looking-around system as claimed in claim 5, which is characterized in that set pixel P
(x, y) belongs to front area, and the desired level value of pixel P is：
Wherein, xnIndicate the width of panoramic picture namely the maximum abscissa of panoramic picture；
When x ∈ [0, x1], which belongs to left area；
As x ∈ [x2, xn], which belongs to right area；
As x ∈ (x1, x2), which belongs to front area or posterior region.
8. a kind of automobile-used panoramic looking-around system, the automobile-used panoramic looking-around system includes that multiple look around being installed on around vehicle body is taken the photograph
As head, which is characterized in that there is the automobile-used panoramic looking-around system adaptive light filling function, the automobile-used panoramic looking-around system to set
It is equipped with processing unit, the processing unit includes illuminant module, supplementary lighting module and luminance proportion module, and the supplementary lighting module includes
Light filling lamp group and driving circuit, the light filling lamp group connect around the setting of camera periphery, the input terminal of the illuminant module is looked around
Connect and look around camera, for obtain look around camera acquisition each road video image and each road video image be spliced it is complete
Scape image, and determine a need for light filling operation；The output end of the illuminant module connects the driving circuit, is opened for sending
The instruction of light filling lamp group is opened or closed to driving circuit；The output end control connection light filling lamp group of the driving circuit, for controlling
The light on and off of light filling lamp group processed；The output end of the luminance proportion module connection illuminant module, for owning at left and right sides of vehicle body
It looks around when the corresponding light filling lamp group of camera is lit entirely and starts, equalization processing is done to the brightness of entire panoramic picture.
9. automobile-used panoramic looking-around system as claimed in claim 8, which is characterized in that the light filling lamp group is by plurality of LEDs lamp group
At.
10. automobile-used panoramic looking-around system as claimed in claim 8, which is characterized in that the illuminant module includes light sensor
Device.
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