Research On The Around View Monitor System Of Articulated Tank Trucks

As the main part of road transportation,articulated tank trucks(hereinafter referred to as tank trucks)have an increasing quantity year by year.There is a large driving blind area in the tank car,so it is difficult to guarantee the driving safety.The Around View Monitor System can effectively eliminate driving blind area and show the environment around the car to the driver to assist him in driving safely.At present,the domestic research and development of Around View Monitor System is mainly aimed at passenger cars,and the research for tank trucks is less.Although the number of tank trucks is not as good as that of passenger cars,once a traffic accident occurs,the harm is often huge.Based on this,the paper studies and develops a set of Around View Monitor System of tank trucks.By installing six fisheye cameras and angle sensors on the tank truck,the system provides the driver with real-time panoramic images around the tank truck through image processing,hinged disk angle acquisition and other technologies.The main contents of this paper are as follows:1、The generation of single section panoramic image for tank truck.The imaging model of fish-eye camera was studied and the distortion correction of fish-eye camera was completed.By comparing different splicing algorithms,a single panoramic splicing algorithm for tank truck based on calibration reference is proposed: building a stitching model,deriving the perspective transformation matrix,using the improved SUSAN corner detection algorithm to detect reference points,and using the calibration reference objects to achieve a single segment quick stitching of the panorama.2、The acquisition data of turning angle.Aiming at the problem that the articulated tank vehicle does not provide information on the angle of the hinge plate,an appropriate angle sensor is selected and an angle sensor installation mechanism suitable for the tank truck is designed;This paper designs the angle analysis algorithm,uses digital filtering technology to process the angle data,and finally obtains the accurate information of the angle of the tank truck hinge plate.3、The splicing model of the whole panoramic view system for tank truck.Open GL technology is used to optimize the display such as stitching and fusion of the two panoramic images of the truck head and truck body under GPU,and the real-time stitching display of the panoramic image of the tank trucks is realized by connecting the hinge plate angle information.4、The transplantation and real tank truck test of the algorithm.IMX.6Q embedded platform was selected to carry out the algorithm migration of the slave controller and the master controller.The system was installed on the tank truck to carry out the actual vehicle experiment.The results show that the system displays good effects.The research shows that the tank truck Around View Monitor System designed and developed in this paper effectively solves the problem of single-section panoramic rapid stitching of tank trucks,raises the installation idea of tank truck angle sensors,and completes the real-time stitching and display of the overall panorama of tank trucks under GPU.This system provides good assistance for the safe driving of tank trucks.