CN115811644B - Remote driving camera system - Google Patents
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Abstract
The invention relates to the technical field of image processing, in particular to a remote driving camera system. The remote driving camera system is characterized by comprising a 360-degree looking around camera, a front-view remote camera and a controller; 360-degree looking camera, including front fish-eye camera, back fish-eye camera, left fish-eye camera, right fish-eye camera, is used for driving the image acquisition of the visual field of front, back, left, right remotely separately; when the looking-around camera is arranged, the height from the ground is more than or equal to 60 cm; the vision is prevented from being blocked by the vehicle body as much as possible; ensuring the surface to be in a plane as much as possible; when the above condition is satisfied, the higher the arrangement position is, the better the arrangement position is, and no blind area is arranged; the front-view remote camera comprises a front narrow-angle camera body and is used for expanding the detection distance in front of remote driving under a high-speed working condition, and the front of the front-view remote camera body is arranged in the middle.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a remote driving camera system.
Background
Remote driving of automobiles by parallel driving systems based on 5G or 4G technology has become a research hotspot in the industry and has a certain application field. At present, parallel driving systems have been used in park scenes. Such as park parallel driving motor sweeper, park parallel driving patrol car, park parallel driving express delivery car, port parallel driving collection card and the like. However, at present, a parallel driving system applied to remote driving vehicles in park scenes and the like has certain limitations in video image processing technology or scheme. In the chinese patent application publication CN110620874a, the main technical scheme is that 4 wide-angle cameras adopted by the camera are subjected to wide-angle distortion treatment, and 4 images acquired by the 4 cameras are spliced into one image, and the image is transmitted to the cloud end and information such as preset vehicle ID, and the preset display base map is combined and displayed in the background. The camera on the vehicle of remote driving gathers surrounding environment video, transmits to long-range cockpit (backstage) driver through the network, and simple wide angle camera gathers two-dimensional image and true three-dimensional scene and has the reason of distortion, and the driver often can't keep the vehicle to travel in the lane for a long time effectively, often unconscious departure lane to lead to certain driving efficiency and driving safety problem.
Disclosure of Invention
In order to better solve the problems, the invention provides a remote driving camera system, which is characterized in that the camera system comprises an external camera and a controller, wherein the external camera comprises a 360-degree looking around camera and a front-degree looking remote camera, and the 360-degree looking around camera comprises a front fisheye camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera which are arranged in a non-blind area manner;
The front-view remote camera comprises a front narrow-angle camera, the front fisheye camera is used for remotely driving a front view, the rear fisheye camera is used for remotely driving a rear view, the left Fang Yuyan camera is used for remotely driving a left view, the right fisheye camera is used for remotely driving a right view, and the front narrow-angle camera is used for enlarging a front detection distance for driving by ;
the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera in the 360-degree looking around camera are all in a plane and are not shielded by the vehicle body, and the height of the lowest camera in the 360-degree looking around camera from the ground is more than or equal to 60cm;
the front narrow-angle camera is positioned at the middle position in front of the vehicle body, the height of the front narrow-angle camera is 1.3-2.6 meters, and the depression angle is 0-4 degrees;
the controller is used for switching states of the front fisheye camera, the rear fisheye camera, the left fisheye camera and/or the right fisheye camera according to the starting state and the running speed of the vehicle.
Further, the controller is arranged to: enabling a front fisheye camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera of the 360-degree looking camera at a low speed; and starting the front narrow-angle camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera at high speed.
Further, the controller is arranged to: when the vehicle is started, the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera of the 360-degree looking camera are started.
Further, the controller is arranged to: and when the speed of the vehicle is reduced, starting the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera.
Further, the low speed is a range of 30km/h or less per hour, and the high speed is a range of more than 30km/h per hour.
Further, the front detection distance of the front narrow-angle camera is 60 meters or more, preferably 60-100 meters, more preferably 100 meters or more and the imaging clear distance is 80 meters or more.
Further, the controller is connected with the camera outside the vehicle through a wireless signal, and the wireless signal is sent out by the 5G gateway.
The invention also provides a switching method of the remote driving camera system, which is characterized by comprising the following steps:
s1, when a vehicle is started, enabling a front fisheye camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera of a 360-degree looking around camera;
s2, when the vehicle is started initially and the speed is low, enabling a front fisheye camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera of the 360-degree looking around camera;
s3, when the vehicle is at a high speed, starting a front narrow-angle camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera;
S4, when the vehicle is decelerated, a controller sends a deceleration instruction, the deceleration instruction reduces the speed to the low speed, and the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera are started when the speed is low.
Further, the low speed is a range of 30km/h or less per hour, and the high speed is a range of more than 30km/h per hour.
Further, the vehicle-mounted camera further comprises a 5G gateway, and the 5G gateway sends out wireless signals to realize signal connection between the controller and the vehicle-mounted camera.
Advantageous effects
1. According to the technical scheme, through switching of the front fisheye camera and the front narrow-angle camera, the acquired images are richer and more approximate to a real driving environment, and the safety of a vehicle is higher when the vehicle runs at a high speed;
2. The invention also adopts the left and right fish-eye cameras and the rear fish-eye cameras and the front-view narrow-angle camera to be used cooperatively, acquires images around the vehicle, and simultaneously can remotely detect the front road condition information, so that a driver can master driving information in an omnibearing manner, and the driving efficiency is improved;
3. According to the invention, different camera schemes are adopted according to different speed and starting states of the vehicle, so that a camera image can be provided more accurately, and when the running speed and state of the vehicle are changed, the camera scheme can be switched rapidly, thereby meeting the real-time performance of the running scene of the vehicle, improving the accuracy of vehicle control, and simultaneously overcoming lane departure better, so that certain running efficiency and running safety problems are caused.
Drawings
Fig. 1 is a diagram showing an example of a 360-degree looking around camera arrangement.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides a remote driving camera system, which comprises an off-vehicle camera and a controller, wherein the off-vehicle camera comprises a 360-degree looking around camera and a front-degree looking remote camera, and the 360-degree looking around camera comprises a front fisheye camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera which are arranged in a non-blind area mode; the front-view remote camera comprises a front narrow-angle camera, the front fisheye camera is used for remotely driving a front view, the rear fisheye camera is used for remotely driving a rear view, the left Fang Yuyan camera is used for remotely driving a left view, the right fisheye camera is used for remotely driving a right view, and the front narrow-angle camera is used for enlarging a front detection distance for driving by ; the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera in the 360-degree looking around camera are all in a plane and are not shielded by the vehicle body, and the height of the lowest camera in the 360-degree looking around camera from the ground is more than or equal to 60cm; the front narrow-angle camera is positioned at the middle position in front of the vehicle body, the height of the front narrow-angle camera is 1.3-2.6 meters, and the depression angle is 0-4 degrees; the controller is used for switching states of the front fisheye camera, the rear fisheye camera, the left fisheye camera and/or the right fisheye camera according to the starting state and the running speed of the vehicle. As shown in fig. 1, through the above technical solution of the remote driving camera system, the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera of the 360-degree looking camera respectively collect images of the front, rear, left and right regions of the vehicle, the collected image regions have fisheye shapes, the furthest distance of the fisheye regions corresponding to the front fisheye camera and the rear fisheye camera is at least 7.5m, and the furthest distance of the fisheye regions corresponding to the left fisheye camera and the right fisheye camera is at least 4.5m; the front detection distance of the front narrow-angle camera is more than or equal to 60 meters, preferably 60-100 meters, more preferably more than or equal to 100 meters and the imaging clear distance is more than or equal to 80 meters. Therefore, when the running speed and the running state of the vehicle are changed, the camera scheme can be switched rapidly, the real-time performance of the running scene of the vehicle is met, the accuracy of vehicle control is improved, and meanwhile, lane departure is better overcome, so that certain running efficiency and running safety problems are caused; through the switching of the front fisheye camera and the front narrow-angle camera, the collected images are richer and more approximate to the real driving environment, and the safety of the vehicle is higher when the vehicle runs at a high speed.
Further, the front narrow angle camera is used for enlarging a driving front detection distance of ; the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera in the 360-degree looking-around camera are in a plane and are not shielded by a car body, the height of the camera, which is positioned at the lowest position in the 360-degree looking-around camera, from the ground is more than or equal to 60cm, and when the two conditions are met, the higher the arrangement position of the 360-degree looking-around camera is, the better the arrangement position is.
Further, the front narrow-angle camera is located at the middle position in front of the car body, the height of the front narrow-angle camera is 1.3-2.6 meters, the depression angle is 0-4 degrees, and after the requirements of the detection distance and the blind area are met, the arrangement position is higher and better.
Further, the controller is arranged to: enabling a front fisheye camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera of the 360-degree looking camera at a low speed; and starting the front narrow-angle camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera at high speed. According to the technical scheme, when the speed is high and low, the proper camera is selected according to the scene to acquire the images, so that the driving requirements of different scenes are met, more particularly, when the speed is low, the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera of the 360-degree looking around camera are started, the surrounding environment of the vehicle can be known in an omnibearing manner, richer images are provided for driving, the driving environment is more similar to the real driving environment, and at the moment, the front vision narrow-angle camera can be selected to be closed, and the energy saving effect is improved; when the front narrow-angle camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera are started at high speed, the front narrow-angle camera detects a farther distance to improve safety, and the front narrow-angle camera, the left fisheye camera and the right fisheye camera are matched to acquire peripheral information of a vehicle, so that a driver can master driving information omnidirectionally on the basis of ensuring safety in the long-distance detection, and driving efficiency is improved.
Further, the controller is arranged to: when the vehicle is started, the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera of the 360-degree looking camera are started, so that the same effect as the low-speed fisheye camera is achieved.
Further, the controller is arranged to: and when the speed of the vehicle is reduced, starting the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera. Therefore, when the vehicle needs to be decelerated, the surrounding environment can be acquired when the vehicle is decelerated to a low speed, and the safety and the efficiency are improved.
Further, the low speed is a range of 30km/h or less per hour, and the high speed is a range of more than 30km/h per hour. The invention sets 30km/h as the critical point of high and low speed, and when the speed is lower than the critical point, the requirement for long-distance detection is not very urgent, but the requirement for surrounding scenes is higher, so that the range smaller than or equal to 30km/h is set as low speed, and the range larger than 30km/h is set as high speed.
Further, the front detection distance of the front narrow-angle camera is 60 meters or more, preferably 60-100 meters, more preferably 100 meters or more and the imaging clear distance is 80 meters or more. At high speed, the requirement for a long-distance scene is high, and the front detection distance of the front narrow-angle camera is set to be more than or equal to 60 meters, and the requirement of the high speed on the front road condition can be met at the distance, preferably 60-100 meters, more preferably more than or equal to 100 meters, and the imaging clear distance is more than or equal to 80 meters.
Further, the controller is connected with the camera outside the vehicle through a wireless signal, and the wireless signal is sent out by the 5G gateway. The 5G gateway has high transmission speed and small delay, and can switch cameras more quickly.
The invention also provides a switching method of the remote driving camera system, which comprises the following steps:
s1, when a vehicle is started, enabling a front fisheye camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera of a 360-degree looking around camera;
s2, when the vehicle is started initially and the speed is low, enabling a front fisheye camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera of the 360-degree looking around camera;
s3, when the vehicle is at a high speed, starting a front narrow-angle camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera;
S4, when the vehicle is decelerated, a controller sends a deceleration instruction, the deceleration instruction reduces the speed to the low speed, and the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera are started when the speed is low.
Further, the low speed is a range of 30km/h or less per hour, and the high speed is a range of more than 30km/h per hour. The invention sets 30km/h as the critical point of high and low speed, and when the speed is lower than the critical point, the requirement for long-distance detection is not very urgent, but the requirement for surrounding scenes is higher, so that the range smaller than or equal to 30km/h is set as low speed, and the range larger than 30km/h is set as high speed.
Further, the vehicle-mounted camera further comprises a 5G gateway, and the 5G gateway sends out wireless signals to realize signal connection between the controller and the vehicle-mounted camera. The 5G gateway has high transmission speed and small delay, and can switch cameras more quickly.
According to the invention, when the running speed and the state of the vehicle are changed, the camera scheme can be switched rapidly, the real-time performance of the running scene of the vehicle is met, the accuracy of vehicle control is improved, and meanwhile, the lane departure is better overcome, so that certain running efficiency and running safety problems are caused; through the switching of the front fisheye camera and the front narrow-angle camera, the collected images are richer and more approximate to the real driving environment, and the safety of the vehicle is higher when the vehicle runs at a high speed. When the speed is high and low, a proper camera is selected according to the scene to acquire images, so that the driving requirements of different scenes are met, more particularly, when the speed is low, a front fisheye camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera of a 360-degree looking around camera are started, the surrounding environment of a vehicle can be known in all directions, richer images are provided for driving, the driving environment is more similar to the real driving environment, and at the moment, the front looking narrow-angle camera can be selected to be closed, and the energy saving effect is improved; enabling a front narrow-angle camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera at high speed, detecting a farther distance by the front narrow-angle camera to improve safety, and matching the rear fisheye camera, the left fisheye camera and the right fisheye camera to acquire vehicle peripheral information, so that a driver can master driving information in an omnibearing manner on the basis of ensuring safety by the long-distance detection, and driving efficiency is improved; and in the deceleration process, the 360-degree looking around camera can be automatically switched to acquire the surrounding environment when the speed is reduced to a low speed, so that the safety and the efficiency are improved.
The technical features of the above embodiments may be arbitrarily combined, and for brevity, all of the possible combinations of the technical features of the above embodiments are not described, however, they should be considered as the scope of the description of the present specification as long as there is no contradiction between the combinations of the technical features.
The foregoing examples have been presented to illustrate only a few embodiments of the invention and are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. The remote driving camera system is characterized by comprising an external car camera and a controller, wherein the external car camera comprises a 360-degree looking camera and a front-degree looking remote camera, and the 360-degree looking camera comprises a front fisheye camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera which are arranged in a non-blind area mode;
The front-view remote camera comprises a front narrow-angle camera, the front fisheye camera is used for remotely driving a front view, the rear fisheye camera is used for remotely driving a rear view, the left Fang Yuyan camera is used for remotely driving a left view, the right fisheye camera is used for remotely driving a right view, and the front narrow-angle camera is used for enlarging a front detection distance for driving by ;
the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera in the 360-degree looking around camera are all in a plane and are not shielded by the vehicle body, and the height of the lowest camera in the 360-degree looking around camera from the ground is more than or equal to 60cm;
the front narrow-angle camera is positioned at the middle position in front of the vehicle body, the height of the front narrow-angle camera is 1.3-2.6 meters, and the depression angle is 0-4 degrees;
The controller is used for switching states of the front fisheye camera, the rear fisheye camera, the left fisheye camera and/or the right fisheye camera according to the starting state and the running speed of the vehicle; the method comprises the following specific steps:
s1, when a vehicle is started, enabling a front fisheye camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera of a 360-degree looking around camera;
s2, when the vehicle is started initially and the speed is low, enabling a front fisheye camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera of the 360-degree looking around camera;
s3, when the vehicle is at a high speed, starting a front narrow-angle camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera;
S4, when the vehicle is decelerated, a controller sends a deceleration instruction, the deceleration instruction reduces the speed to the low speed, and the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera are started when the speed is low.
2. The remotely driven imaging system of claim 1, wherein the controller is arranged to: enabling a front fisheye camera, a rear fisheye camera, a left fisheye camera and a right fisheye camera of the 360-degree looking camera at a low speed; and starting the front narrow-angle camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera at high speed.
3. The remotely driven imaging system of claim 1, wherein the controller is arranged to: when the vehicle is started, the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera of the 360-degree looking camera are started.
4. The remotely driven imaging system of claim 2, wherein the controller is arranged to: and when the speed of the vehicle is reduced, starting the front fisheye camera, the rear fisheye camera, the left fisheye camera and the right fisheye camera.
5. The remote driving camera system of claim 2, wherein: the low speed is a range of 30km/h or less per hour, and the high speed is a range of more than 30km/h per hour.
6. The remote driving camera system of claim 1, wherein: the front detection distance of the front narrow-angle camera is more than or equal to 60 meters.
7. The remote driving camera system of claim 1, wherein: the controller is connected with the camera outside the vehicle through wireless signals, and the wireless signals are sent out by the 5G gateway.
8. The remote driving camera system of claim 1, wherein: the system further comprises a 5G gateway, and the 5G gateway sends out wireless signals to realize signal connection between the controller and the camera outside the vehicle.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102774380A (en) * | 2011-05-12 | 2012-11-14 | 无锡维森智能传感技术有限公司 | Method for judging running state of vehicle |
| CN210201969U (en) * | 2019-08-02 | 2020-03-27 | 广州汽车集团股份有限公司 | Camera signal switching device, driving assistance system and automobile |
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| KR102322282B1 (en) * | 2019-12-19 | 2021-11-10 | 에스티에스 주식회사 | Rear area monitoring systeam and method for military vehicle |
| JP2022149731A (en) * | 2021-03-25 | 2022-10-07 | 本田技研工業株式会社 | Control device, operation method thereof, and program |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102774380A (en) * | 2011-05-12 | 2012-11-14 | 无锡维森智能传感技术有限公司 | Method for judging running state of vehicle |
| CN210201969U (en) * | 2019-08-02 | 2020-03-27 | 广州汽车集团股份有限公司 | Camera signal switching device, driving assistance system and automobile |
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