CN102211523B - For the method and apparatus of tracing object mark position - Google Patents
For the method and apparatus of tracing object mark position Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000007613 environmental effect Effects 0.000 claims abstract description 80
- 238000001514 detection method Methods 0.000 claims abstract description 67
- 230000000007 visual effect Effects 0.000 claims abstract description 36
- 238000012937 correction Methods 0.000 claims description 12
- 230000001186 cumulative effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 12
- 230000001133 acceleration Effects 0.000 description 8
- 230000010354 integration Effects 0.000 description 7
- 238000005259 measurement Methods 0.000 description 6
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- 238000004422 calculation algorithm Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 3
- 210000003128 head Anatomy 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/01—Head-up displays
- G02B27/0101—Head-up displays characterised by optical features
- G02B2027/014—Head-up displays characterised by optical features comprising information/image processing systems
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
- G02B27/644—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for large deviations, e.g. maintaining a fixed line of sight while a vehicle on which the system is mounted changes course
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Abstract
The present invention relates to the method and apparatus for tracing object mark position.The present invention recommends and marks the position of (114) with the method at the upper tagged object (106) of read out instrument (112) for tracing object, the position of this object tag is wherein tried to achieve based on environmental information, this environmental information represents the information relevant with the object being positioned at this environmental detection set visual field provided by environmental detection set (102), the method includes determining step, namely based on the motion of this automobile (100), determine trace information, with the position at this read out instrument (112) this object tag of upper tracking (114), wherein said motion causes this object (106) about the change in location of this environmental detection set (102).
Description
Technical field
The present invention relates to for the method for tracing object mark position, corresponding device and corresponding computer program.
Background technology
DE102008026397A1 describe a kind of for by stationary objects to estimate the method for the vehicle dynamics of automobile.
Summary of the invention
In this context, by invention describes a kind of method for tracing object mark position, also describing and a kind ofly adopting the device of the method and finally describe a kind of corresponding computer program.Favourable expansion vide infra explanation.
Especially, when analyzing vision signal, the system for detected object in the environment of this automobile usually exists and lingeringly works.Until the order of magnitude that may be in several 100ms delay time that object information output such as position or speed produce.This control system such as ACC(AdaptiveCruiseControl worked for utilizing this information, adaptive learning algorithms) be not especially crucial.If but object information is especially used in visual field telltale, so-called head up display (HUD) relevant with position visual in position now, so just can see immediately in this this delay time.Eyes just clearly record delay time from 50ms.If should superpose such as symbol or mark on the real object of such as automobile now, and the location information of this object 300ms, so these symbols it seems " delayed (nachziehen) " from chaufeur.Especially, in fast speed relative motion, the motion also namely terminated in 300ms, it will be appreciated that between this automobile and object symbol is at random jumped onto and jumps off.
The present invention based on knowledge be can compensate this delay time and correct out-of-date character position to carry out accurate reference by visual field telltale (HUD).This can be realized by the information made full use of about the acceleration sensor of this automobile.Do not use so-called " Forecasting Methodology " according to method of the present invention, because acceleration sensor data existed with the delay time being less than (wenigen) 10ms, and direct compensation calculation can be used to.
Following system is called as visual field telltale (Head-upDisplay head-up display, HUD), and this system is directly inserted into information in the visual field of chaufeur.Have employed a kind of special optical unit, it passes through to the projection on Windshield for producing as having floated the impression of image before automobile for chaufeur for this reason.In contrast, when conventional display (HeadDown-Display, head down display) or in auto meter group, chaufeur must reduce his sight line, to see important display such as speed or direction.
According to an embodiment, can adopt a kind of visual field telltale, wherein information is added on real image targeted specifically, to carry out reference to point in space.That this telltale is commonly referred to as common terminology contact simulation (Kontaktanaloge) or improve visual field telltale (head-up display of enhancing).Can provide instruction of such as navigating to chaufeur with following form: namely mark the road will followed by him by color by this technology.Track or the automobile of advance detected by adaptive-feedrate adjustment device (ACC system, adaptive learning algorithms) also directly can be inserted in the visual field for chaufeur.Generation for 3D effect there is known different schemes.By automatic stereo or eyes system come to be that two eyes generate different images, and be shown to eyes by corresponding optical unit.Other the method being called eyes only generates a unique image, but its image distance is so selected, and eyes no longer can be identified it, and brain automatically distributes to the object after inserted symbol.3D imaging after 2D is implemented by a kind of graphic process unit (renderer), and wherein this graphic process unit is from the perspective of 3D visualized data and chaufeur and the 2D image calculated scene.Usually need to carry out driver head's location estimation for this reason.
A kind of adaptive-feedrate adjustment device (ACC) utilizes radio measurement equipment such as radar sensor to monitor the region before automobile.This adaptive-feedrate adjustment device calculates direction, the Distance geometry relative velocity of advance automobile according to reflected signal.If this adaptive-feedrate adjustment device detects have a comparatively slow automobile advanced in the track of oneself, so it is with regard to matching speed like this, and the distance making to expect is followed.This adaptive-feedrate adjustment device reduces motor torque according to travel conditions for this reason, or brake.When turning, this adaptive-feedrate adjustment device also can identify which automobile is conclusive for speeds control.Once no longer include automobile in measurement range, so this adaptive controller just accelerates to default speed again automatically automobile.
Image recognition algorithm can carry out detected object according to video image, and its position data is supplied to other system as by bus (CAN-BUS, Controller Area Network BUS).
The invention provides a kind of position for the mark of tracing object in automotive display with the method for tagged object, wherein the position of object tag is tried to achieve based on environmental information, wherein this environmental information represents that provided by environmental detection set, relevant with the object being positioned at this environmental detection set visual field information, wherein the method has following step: based on the motion of automobile, determine trace information, with the position of the mark of tracing object on the display apparatus, wherein said motion causes this object about the change in location of this environmental detection set.
In the information system that can be applied to automobile according to method of the present invention or navigationsystem.In this case, this object can be arranged in the environment of this automobile.Such as this object can be a traffic sign, lane markings or track boundary, another automobile or pedestrian.In order to give prominence to this object such as to the passenger of automobile, (eingeblendet) this object tag can be inserted in the visual field of this passenger.So can insert this object tag at this, the position of this object tag is positioned on the position of the real object existed.Object tag can be carried out with the form of the frame around this object.Equally also can by illustrating that the profile of this object carries out object tag.This object tag can show by this read out instrument.This read out instrument as a kind of visual field telltale (HUD) or can realize as a kind of screen.If this read out instrument realizes as visual field telltale, so this object tag can so show, and makes it superimposed with the object for passenger's actual visual viewed from the visual angle of passenger.On the contrary, if this read out instrument realizes as screen, wherein real environment is imaged on the screen, and so this object tag can so show, and it is added on object shown on the screen.This object can be identified based on Object identifying itself.Object identifying can be carried out based on environmental information.This environmental information can exist with the form of graphicinformation, wherein carries out imaging according to this graphicinformation to this object.This environmental information same can exist with the form of spatial positional information, and wherein this spatial positional information such as includes the direction of this object and distance and size.The position of this object relative to this automobile, passenger or read out instrument can also be determined in addition based on this environmental information.This environmental detection set can be for static or a kind of image detection device (such as with camera form) of moving image, a kind of radio measurement device or a kind of acoustic measurement device.This trace information so can offset the location of this object tag, and namely this object tag is thus also consistent with the position of this object on this read out instrument after this environmental detection set and this display device movement after this automobile sport.As long as this environmental detection set is rigidly connected with this read out instrument and this automobile, so the motion of this automobile just can be transferred to this environmental detection set and this read out instrument.The change in location of this object can include the reference axis such as automotive ordinate axis and changing from automobile to the angle of angle the direction vector of this object at automobile.This means, this object has an impact about this environmental detection set relative to the reference axis of automobile.In order to determine trace information, following information can be considered: the type of namely moving, environmental detection set, read out instrument and the visual angle of seeing this read out instrument for the layout of the measurement mechanism that detects motion on automobile and position and car occupant.
In determining step, the deflection that the reference axis of this environmental detection set produces due to automobile sport can be determined.This trace information can be determined based on the deflection of this reference axis.This reference axis can be the main orientation direction of this environmental detection set.This reference axis can deflect based on following information, the information namely provided by acceleration detection device and/or angle detection device and/or speed detector.The deflection of this reference axis can be rotation or the inclination of this reference axis.
The motion of automobile can be rotary motion.In a receiving step, the information about vehicle rotary motion can be received by the interface to vehicle rotary rate sensor.This rotary motion can be carried out around the transverse axis of automobile.This interface can be a receiving interface, can receiving sensor data by it.The rotary motion of automobile can detect by one or more acceleration sensor or rotation rate sensor.So just can detect automobile around the angular acceleration of known automobile axis or angle rates.Again can try to achieve automobile thus and have rotated what angle within the time period determined.The rotary motion of automobile also can be determined based on detected automobile axis deflection.
According to an embodiment of the inventive method, trying to achieve at one can in the hope of the change curve of the cireular frequency of automobile sport in step.This trace information can be determined based on cumulative (Aufsummierung) of cireular frequency change curve.This cireular frequency change curve can be tried to achieve based on measured angular acceleration or based on angle measured on this time change.
According to another embodiment, the motion of environmental detection set can be determined based on the motion of automobile in a determining step.This trace information can be determined based on the motion of this environmental detection set.The rotary motion of automobile is transferred to this environmental detection set, and thus affects the motion of this environmental detection set.According to the layout of this environmental detection set on this automobile, the rotary motion of automobile can corresponding to the rotary motion of the environmental detection set caused due to automobile sport.
This environmental detection set can be configured to a some detection detection time environmental information.The motion of this environmental detection set can be carried out in a period of time, wherein this time period be positioned in time this detection time point after.This time period can corresponding to a delay time or " dead time (Totzeit) ", wherein this delay time or between " dead time " detection in environmental information and the display of the object tag based on this.
Thus this time period in time can and then this detection time point, and try to achieve duration corresponding to the object tag position of being undertaken by environmental information.
The step of the correction position of object tag is determined according to the method for the present invention position that can include based on trace information and object tag.The skew between object and object tag caused due to the motion of environmental detection set quickly can be compensated by correction position.This correction position corresponds to the actual position of this object on the display apparatus at current point in time thus.This correction position can be optimized for display on the display device.
This read out instrument as the visual field telltale of automobile or can construct as screen.There is provided in step at one, the correction position of this object tag can be provided on the interface to this visual field telltale or screen.The correction position of this object tag can construct as the control signal of this read out instrument.In response to the reception of the correction position of this object tag, this read out instrument can show this object tag on corresponding correction position.
The present invention still further provides for tracing object mark position to carry out the device of tagged object on the display apparatus, wherein the position of this object tag is tried to achieve based on environmental information, wherein this environmental information represents and is provided by environmental detection set, the information relevant with the object being positioned at this environmental detection set visual field, wherein this device has following feature: for determining that based on the motion of automobile trace information is with the device of the position of the mark of tracing object on the display apparatus, wherein this motion causes this object about the change in location of this environmental detection set.
This device being used for following the tracks of can have device for trying to achieve object tag position based on environmental information and the device for the motion of trying to achieve this environmental detection set.In order to try to achieve the position of this object tag, known object recognition algorithm can be adopted.This device for trying to achieve environmental detection set motion can include motion sensor and analytical equipment, and this analytical equipment is configured to the motion of trying to achieve this environmental detection set according to the data exported by this motion sensor.
This device being used for following the tracks of can be information system or driver information system and the component part of especially navigationsystem, and wherein this system construction is for implementing or transform the step according to method of the present invention.By of the present invention in a kind of this change mode of device form, also can solve fast and effectively the present invention based on task.This device can be following equipment: the information that this equipment such as may be relevant with selected drive route to automobile driver display.This device can have a kind of such as with the output unit of the form of visual field telltale or telltale, can show information by it to user.
When this program performs on a kind of driver information system, the computer program so with the program code for implementing the inventive method is favourable.This program code can be stored in a kind of machine sensible carrier such as semiconductor memory, harddisk memory or optical memory, and when this program is performed, so it is just for implementing the method according to aforementioned embodiments.
Accompanying drawing explanation
Illustratively the present invention is explained in more detail below by accompanying drawing.Wherein:
Fig. 1 a shows the diagram of automobile in one embodiment of the present of invention of dead position;
Fig. 1 b shows the diagram according to of the present invention display of automobile in dead position;
Fig. 1 c shows the diagram of automobile in one embodiment of the present of invention of inflection point;
Fig. 1 d shows the diagram of automobile in the display of inflection point;
Fig. 1 e shows the diagram according to of the present invention display of automobile at inflection point;
Fig. 2 shows two figure of one embodiment of the present of invention;
Fig. 3 shows the block diagram of one embodiment of the present of invention; And
Fig. 4 shows the diagram of circuit of one embodiment of the present of invention.
Detailed description of the invention
In the explanation of hereafter the preferred embodiments of the present invention, for shown in different figures and act on similar unit and adopt same or similar reference symbol, wherein eliminate the repeat specification to this unit.
Explain according to an embodiment of the invention by Fig. 1 a to 1e, for tracing object mark position with the method for the present invention of tagged object in automotive display.According to this embodiment, can compensate the delay time from video sensor by rotation rate information.
Fig. 1 a shows the indicative icon of the automobile 100 with environmental detection set 102.This automobile 100 moves towards an object 106 on track 104.This environmental detection set 102 is video camera 102 in this example embodiment, and it carrys out orientation along the main shaft 108 of automobile 100 substantially.One is had with the obstacle 110 of track convex form above at this automobile 100.
This environmental detection set 102 is configured to the environment detecting automobile.According to this embodiment, this environmental detection set 102 is configured to detect the region on travel direction before automobile 100.The object 106 be arranged on before this automobile 100 is detected by this environmental detection set 102.This object 106 can be a traffic sign.This environmental detection set 102 can provide environmental information, and it includes the information relevant with this object 106.This environmental information may be used for Object identifying, to determine the information relevant with this object 106.Such as can determine kind and the position of this object 106.
Fig. 1 b shows with a kind of visual field telltale 112 of head-up display form, and it can realize in the automobile shown in Fig. 1 a.By this visual field telltale 112, information can be transferred to the passenger of automobile, is such as transferred to automobilist.According to this embodiment, show an object tag 114 by this visual field telltale 112, wherein this object tag by the visual angle of the passenger of the automobile shown in Fig. 1 a this object 106 that is added to.Thus this object tag 114 is shown on a position, wherein this position see corresponding to passenger, the position of real object 106.This mark 114 should especially illustrate this object 106 to automobilist.
According to this embodiment, this object 106 is located in the surveyed area of the video camera shown in Fig. 1 a.This mark 114 is generated by the graphical analysis of the image of this video camera, and to automobilist, this object 106 should be especially shown.This object tag 114 is positioned at suitably on this object 106 on this visual field telltale 112.Because this automobile moves, so the relative angle between automobile and object 106 only changes slowly on a flat road.Due to angle change slowly, object tag 114 can be kept consistent with this object 106 without large deviation by graphical analysis.
Fig. 1 c shows an indicative icon, and wherein this automobile 100 crosses obstacle 110 on track 104.This automobile 100 is deflected by this obstacle 110.This automobile 100 carries out fast speed rotation around its transverse axis.The main shaft 108 of this environmental detection set 102 also changes along with this rotation.Fast speed motion is there is in this object 106 for this video camera 102.But in fact this object 106 remains on its initial position, and this motion is only the relative motion of this object relative to this environmental detection set 102.
Fig. 1 d shows by the diagram of the known visual field telltale 112 of Fig. 1 b for the automobile deflects shown in Fig. 1 c.Due to fast speed relative motion between automobile and object 106, first this object tag 114 remains on the position shown in Fig. 1 b on this visual field telltale 112.This object tag 114 thus no longer consistent with the position of this object 106 viewed from the sight line of passenger.The skew of this position is by determining the delay time between this video camera and graphical analysis.
Fig. 1 e shows by the diagram of the known visual field telltale 112 of Fig. 1 b for the automobile deflects shown in Fig. 1 c, and wherein this diagram shown in object tag 114 from Fig. 1 d is different and method according to the present invention is tracked.The quick tracking to this object tag 114 can be realized according to the solution of the present invention.For this reason, the movable information about automobile cireular frequency or angular acceleration is also analyzed, and is determined the trace information of this object tag 114 by movable information.Movable information can be received by the motion sensor of automobile.Such as can assign to determine trace information by diagonal angle velocity product on the delay time of video camera and this graphical analysis.According to this embodiment, this trace information is suitable for the relative motion caused by the automobile deflects shown in Fig. 1 c of target compensation 106.So just can correct the position of this object tag 114.Thus achieve the protection of a kind of stabilization for the process with delay.Thus although there is automobile deflects, this object tag 114 is still consistent with the position of object 106 from passenger's sight line.
By described by Fig. 1 a to 1e according to the solution of the present invention based on be following hypothesis: i.e. the displacement Guiding Object of this automobile such as automobile, pedestrian or the road relative motion in these automotive environment.This is particularly suited for fast speed relative motion.The automobile such as detected by adaptive-feedrate adjustment device (ACC) is rendered as when straight and flat road and two car constant speeds relative to this automobile and kept static before this automobile viewed from the visual angle of this automobile.If this vehicle travels one protuberance upwards jolting now, so this strange automobile be just rendered as carry out fast speed downwards/upward movement.By the rotation rate sensor of this automobile, utilize insignificant short delay time, the speed of rotation of this automobile is measured and be provided, make from wherein can draw about the external world with degree (inGrad) relative to the deduction of the relative motion of the direct-view axis of orientation of chaufeur.
Thus, can be estimated according to the relative object motion that the present invention occurs within " dead time " of this measuring system.Object position value measured in the past correspondingly can be corrected based on this.
Fig. 2 shows two figure of one embodiment of the invention.The change curve 221 that there is shown the motion of automobile or environmental detection set below.The superincumbent change curve 223 that there is shown the relative position produced by the moving change of this object.
In figure below, that record on the horizontal scale is time t, record on the vertical scale be with °/cireular frequency of s or speed of rotation w (t).This cireular frequency can relate to motion or this environmental detection set of automobile.By curve 221, cireular frequency change curve is in time shown.This curve 221 can be the change curve of speed of rotation that detected by rotation rate sensor on time t or cireular frequency w.This curve 221 is from time point t
athe zero position at place starts to have a step and rises, and then until time point t
0all keep the magnitude of angular velocity that constant.Thus this environmental detection set is until time point t
aall be in static, and then move with constant cireular frequency.
In superincumbent figure, that record on the horizontal scale is time t, record on the vertical scale be in the surveyed area of this environmental detection set this object with ° position S (t).The position of this object provides with degree at this.By curve 223, this object change in location curve is in time shown.As long as this environmental detection set is static, so the position of this object just remains unchanged.From time point t
astart, the position of this object changes.Thus this curve 223 at the first section until time point t
aall there is the straight line trend being parallel to abscissa, and from time point t
astart the trend with straight line rising.
This time point t
0for current point in time.At time point t
0and t
abetween be provided with a time point t
0-T.
On this curve 223, record is that this object is at time point t
0current location S (t
0) and this object at time point t
0the time upper preceding position S (t of-T
0-T).Position S (t
0) and position S (t
0-T) differ an angle delta ρ
0.Position S (the t of this object
0-T) corresponding to the position of this object calculated by image procossing, wherein this image procossing is at time point t
0place exports this position based on internal processing time or dead time T.
This position S (t
0-T) be known, during this dead time T, find position S (t
0) and anglec of rotation Δ φ
0.At this, there is relational expression S (t
0)=S (t
0-T)+Δ φ
0.The change curve of w (t) is until current point in time t
0place is all known.If S (t) is only caused by the rotation of this automobile, so just have
.At this
be the derivative of this position about the time, n (t) can consider sensor noise or drift.Thus can during dead time T by the integration of speed of rotation as anglec of rotation Δ φ
0estimated valve try to achieve value
.Be suitable for:
Wherein
.
By Fig. 2, show following situation by an embodiment: the automobile wherein advanced is rendered as upward movement by jolting of this automobile.Perpendicular objects position estimated by video sensor should provide with degree relative to an axle at this, and wherein this axle is detected by this rotation rate sensor.Jolting of this automobile causes the rising of (ACC) advance automobile.This motion simultaneously creates a corresponding speed of rotation.That finds at current point in time such as can be calculated with the object's position of elevation angle form, and its mode is, calculates the angular segments experienced at damned time durations, and add out-of-date given value by the integration of speed of rotation.
According to this embodiment, in order to simplify, the situation of this rotation is considered to around an axle.In principle the method can for all S. A.s, shake, jolt and even roll and be employed.
The method can ignore the actual position of the S. A. of this automobile.Such as can carry out measured rotation using chaufeur as mid point.
The accuracy rate of the method can also promote by adopting automobile sport module.Displacement can be assessed all sidedly when considering setting position and other factors of car mass, elasticity, rotation rate sensor for this reason, and be scaled the perspective of chaufeur.Add small conversion usually can to described rotation.
Described calculating can be implemented with Time Continuous or value continuous print form.Contrary signal transacting is in the car that time discrete and value are discrete, the corresponding sum of products (Produktsummen) that described integration is multiplied by scanning interval gained by measured speed of rotation must be replaced when making to implement in control convenience.
Assuming that the signal of this rotation rate sensor is undelayed.Certainly also there is delay time at this in practice, but be wherein starkly lower than the delay time of this video frequency signal processing this delay time.Therefore whole system thus also there is a full retard, but this full retard is usually imperceptible or only faintly feel.In this case hide and can also adopt a kind of Forecasting Methodology remaining delay time.
Often be should be mentioned that the visual of (ACC) object as an example, wherein this object is detected by an adaptive-feedrate adjustment device.The method can be applied to all objects such as automobile, personnel, circuit, building etc. outside this automobile, wherein should realize reference by the visual field telltale (HUD) of a contact simulation for these objects.
Dead time T is measured in advance in order to the parametrization of this system.
Elevation angle change curve in fig. 2 such as shows linear rising.The method nature all works for change curve that is all possible, that detected by this rotation sensor.
This video sensor (comprising other signal transacting) until can be known or can be measured the delay time of Computer image genration, its mode is, is being detected the delay time between object and the symbol (such as ACC) being assigned to location in this visual field telltale (HUD) measured by the motion of object by the dead position of investigating automobile.This measurement can be repeated, wherein the relative motion of this object now by by investigation automobile such as jolt press down (Aufpr gung) and generate.The less dead time is obtained at this, because employed rotation rate sensor in order to calculating object position according to the present invention.
Fig. 3 shows the diagram of circuit of one embodiment of the invention.In step 300, relevant with the object tag for tagged object position on the display apparatus information is received.The information relevant with object tag can be exported by image processing apparatus.This image processing apparatus can try to achieve this object tag based on environmental information, and wherein said environmental information is exported by environmental detection set, and wherein real object is arranged in the surveyed area of this environmental detection set.The information relevant with object tag is loaded predetermined, also i.e. pre-determined delay time of being caused by the handling duration in image processing apparatus.If this environmental detection set or this read out instrument change relative to the position of real object or orientation during this delay time, so the position of this object tag just becomes wrong.
In step 302, thus the current location information of this environmental detection set or this read out instrument be received.This location information can be provided by acceleration sensor and corresponding analytical equipment.In step 304, based on the position that current location information determination trace information marks with tracing object.Within step 306, the correction position of this object tag is determined based on this trace information and the information relevant with this object tag.In step 308, the correction position of this object tag is provided to this read out instrument.
Fig. 4 shows the block diagram of one embodiment of the present of invention.It illustrates a delay block T, an integration block
with an adder unit+.This delay block T is configured to reception information S (t) and output information S (t-T).This integration block
be configured to reception information
and output information S (t)-S (t-T)+n (t).This adder unit+be configured to an information S (t-T) and S (t)-S (t-T)+n (t) phase adduction output information S (t)+n (t).
By this delay block T, the current location S (t) of object be applied in one delay time T, and become position S (t-T) in the past thus.Current cireular frequency w (t) is by integration block
duration t-(t-T) is integrated or is added up, and thus obtain position S (t)-S (t-T)+n (t), wherein this cireular frequency w (t) equals the position derivative with error n (t)
, position S (t)-S (t-T)+n (t) equal the path S of process, equal the anglec of rotation in duration t-(t-T) period in this example embodiment.The position S (t-T) being applied with T delay time with path S (t)-S (the t-T)+n (t) of process be added, obtain current location S (the t)+n (t) with error n (t).
In the dead time of this this block " T " representative whole signal processing chain in the vision signal branch road comprising image display.Integration block or accumulator/accum and adder are the parts according to method of the present invention.
Described and shown in the accompanying drawings embodiment is only illustratively selected.Different embodiments can be combined fully or about single feature mutually.Supplement the feature of another embodiment also can to an embodiment.In addition, steps of a method in accordance with the invention can repeatedly and with described order differently be implemented.
Claims (10)
1. mark the position of (114) for tracing object with the method for the upper tagged object (106) of the read out instrument (112) in automobile (100), the position of this object tag is wherein tried to achieve based on environmental information, this environmental information represents the information relevant with the object being positioned at this environmental detection set visual field provided by the environmental detection set of this automobile (102), and wherein the method includes following step:
Based on the motion of this automobile (100), determine (304) trace information, with the position at this read out instrument (112) this object tag of upper tracking (114), wherein said motion causes this object (106) about the change in location of this environmental detection set (102).
2. method according to claim 1, has the step of the deflection determining this environmental detection set reference axis (108) caused by the motion of this automobile (100), and wherein determines this trace information based on the deflection of this reference axis.
3. according to the method one of aforementioned claim Suo Shu, wherein the motion of this automobile (100) is rotary motion, and has the step being received (302) information relevant with the rotary motion of this automobile (100) by the interface of the rotation rate sensor to this automobile.
4. method according to claim 1 and 2, has the step of the cireular frequency change curve of the motion of trying to achieve this automobile (100), and wherein determines trace information based on the cumulative of this cireular frequency change curve.
5. method according to claim 1 and 2, wherein this environmental detection set (102) is configured to put testing environment information a detection time, and the time period that wherein motion of this environmental detection set is positioned at after this detection time of point in time carries out.
6. method according to claim 5, wherein this time period in time and then this detection time point, and corresponding to trying to achieve the duration of position of object tag (114) from environmental information.
7. method according to claim 1 and 2, the step of the correction position of (306) this object tag (114) is determined in the position had based on trace information and this object tag.
8. method according to claim 7, wherein this read out instrument (112) is as the visual field telltale of automobile (100) or construct as screen, and has the step of the correction position exporting (308) this object tag (114) on the interface to this visual field telltale or this screen.
9. mark the position of (114) for tracing object with the device at the upper tagged object (106) of read out instrument (112), the position of this object tag is wherein tried to achieve based on environmental information, this environmental information represents the information relevant with the object being positioned at this environmental detection set visual field provided by environmental detection set (102), and wherein this device has following feature:
For determining that based on the motion of automobile (100) trace information to follow the tracks of the device of this object tag position on this read out instrument, wherein said motion causes this object (106) about the change in location of this environmental detection set (102).
10. device according to claim 9, has device for trying to achieve this object tag position based on this environmental information and the device for the motion of trying to achieve this environmental detection set (102).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010003850A DE102010003850A1 (en) | 2010-04-12 | 2010-04-12 | Method for adjusting position of marked object for marking object on display unit of vehicle, involves determining position of marked object corresponding to surrounding information |
| DE102010003850.4 | 2010-04-12 |
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| CN102211523A CN102211523A (en) | 2011-10-12 |
| CN102211523B true CN102211523B (en) | 2016-03-16 |
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| CN201110089560.5A Expired - Fee Related CN102211523B (en) | 2010-04-12 | 2011-04-11 | For the method and apparatus of tracing object mark position |
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| KR (1) | KR101805377B1 (en) |
| CN (1) | CN102211523B (en) |
| DE (1) | DE102010003850A1 (en) |
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| DE102012212016A1 (en) | 2012-07-10 | 2014-05-22 | Bayerische Motoren Werke Aktiengesellschaft | Method for operating an optical display device of a vehicle |
| DE102012212015A1 (en) * | 2012-07-10 | 2014-05-22 | Bayerische Motoren Werke Aktiengesellschaft | Device for operating one or more optical display devices of a vehicle |
| DE102012214903A1 (en) | 2012-08-22 | 2014-05-28 | Bayerische Motoren Werke Aktiengesellschaft | Method and apparatus for operating a head-up display of a vehicle and image acquisition system for the head-up display |
| DE102015208738B4 (en) * | 2015-05-12 | 2018-11-08 | Volkswagen Aktiengesellschaft | Head-up display for a vehicle |
| DE102015109027A1 (en) * | 2015-06-08 | 2016-12-08 | Denso Corporation | Head-up display with situation-based adaptation of the presentation of virtual image content |
| DE102015116160B4 (en) | 2015-09-24 | 2022-10-13 | Denso Corporation | Head-up display with situation-based adjustment of the display of virtual image content |
| WO2019057496A1 (en) | 2017-09-25 | 2019-03-28 | Continental Automotive Gmbh | Head-up display |
| DE102017216897A1 (en) * | 2017-09-25 | 2019-03-28 | Continental Automotive Gmbh | Head-Up Display |
| DE102018201769B4 (en) * | 2018-02-06 | 2023-08-24 | Volkswagen Aktiengesellschaft | Method, device and computer-readable storage medium with instructions for controlling a display of an augmented reality head-up display device for a motor vehicle and motor vehicle |
| DE202020103679U1 (en) * | 2020-06-25 | 2020-07-06 | Soft2Tec Gmbh | Device for position and position detection of markings and computer program product |
| CN113119975B (en) * | 2021-04-29 | 2023-03-24 | 东风汽车集团股份有限公司 | Distance identification display method, device and equipment and readable storage medium |
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| JPH0894756A (en) * | 1994-09-21 | 1996-04-12 | Nippondenso Co Ltd | Device for displaying distance between cars, and target cruise |
| JP4334686B2 (en) * | 1999-07-07 | 2009-09-30 | 本田技研工業株式会社 | Vehicle image display device |
| US6535114B1 (en) * | 2000-03-22 | 2003-03-18 | Toyota Jidosha Kabushiki Kaisha | Method and apparatus for environment recognition |
| JP4134785B2 (en) * | 2003-03-28 | 2008-08-20 | 株式会社デンソー | Display device |
| JP2008034981A (en) * | 2006-07-26 | 2008-02-14 | Fujitsu Ten Ltd | Image recognition device and method, pedestrian recognition device and vehicle controller |
| US8855848B2 (en) | 2007-06-05 | 2014-10-07 | GM Global Technology Operations LLC | Radar, lidar and camera enhanced methods for vehicle dynamics estimation |
| JP5008611B2 (en) * | 2008-06-27 | 2012-08-22 | カルソニックカンセイ株式会社 | Vehicle display device |
| JP5062088B2 (en) * | 2008-08-01 | 2012-10-31 | 株式会社デンソー | Vehicle display device |
| JP5458764B2 (en) * | 2008-09-29 | 2014-04-02 | 日産自動車株式会社 | Information presentation device |
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