The invention discloses a parking route planning method based on vehicle-mounted 3D panoramic look-around. The parking route planning method comprises the following steps of route planning, image acquisition and image splicing and synthesis. The method has the following beneficial effects that cameras are arranged in eight different directions of the vehicle, non-blind area image frames are provided, the imx6 + NVP6324 processor is matched, the image quality can be guaranteed to be clear while the processing capacity of image splicing, correction and the like is improved, and high-definition vehicle look-around panoramic images can be obtained even at night with weak light. Joint calibration and distortion correction are carried out on the spliced panoramic image through the vehicle cornerinformation collected by the corner sensor and the vehicle speed and acceleration information collected by the ADAS, so that a more real vehicle look-around panoramic image is obtained; a 3D panoramic look-around technology is adopted to guide a vehicle parking route to give a driver a more intuitive vehicle surrounding visual influence, and meanwhile, the 3D panoramic look-around technology is matched with an ultrasonic sensor to ensure that collision and other situations do not occur in the vehicle parking process.

    本发明公开了一种基于车载3D全景环视的泊车路线规划方法,包括如下步骤:路线规划、影像采集、影像拼接合成;本发明的有益效果在于,本发明在车辆八个不同方位配置摄像头,提供无盲区的影像画面,配合imx6+NVP6324处理器,提高影像拼接、矫正等处理能力的同时也能保证画质清晰,即使在光线较弱的夜间,也能获得高清的车辆环视全景影像;本发明通过转角传感器采集的车辆转角信息,以及ADAS采集的车辆速度和加速度信息,对拼接后的全景影像进行联合标定和畸变矫正,以获得更加真实的车辆环视全景影像;采用3D全景环视技术指导车辆泊车路线给予驾驶人员更加直观的车辆周围视觉影响,同时与超声波传感器相配合确保车辆泊车过程中不会出现碰撞等情况。


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    Titel :

    Parking route planning method based on vehicle-mounted 3D panoramic look-around


    Weitere Titelangaben:

    一种基于车载3D全景环视的泊车路线规划方法


    Beteiligte:
    ZHOU HAISHENG (Autor:in) / BIE PAN (Autor:in)

    Erscheinungsdatum :

    2020-10-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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