CN105589458B

CN105589458B - A kind of guiding method for displaying parameters and device

Info

Publication number: CN105589458B
Application number: CN201510255537.7A
Authority: CN
Inventors: 史美萍; 李焱; 孙振平; 王维; 王全
Original assignee: National University of Defense Technology
Current assignee: National University of Defense Technology
Priority date: 2015-05-19
Filing date: 2015-05-19
Publication date: 2019-07-12
Anticipated expiration: 2035-05-19
Also published as: CN105589458A

Abstract

The present invention relates to a kind of guiding method for displaying parameters and devices, comprising: obtains the current motion state of movement car body；Current motion state includes the current front-wheel steer angle for moving car body, moves the current movement velocity of car body and move the current acceleration of motion of car body；Current guiding parameter of the movement car body in the preset time period using current time as initial time is calculated according to current motion state；Current guiding parameter includes at least current motion profile and current movement destination；The image for being located at and moving in front of car body is obtained along the direction of motion for moving car body；Current guiding parameter is added in image；Display is added to the image of current guiding parameter.In this way, the accuracy that the motion state of unmanned vehicle is adjusted in technical staff can be improved according to the motion profile and the movement destination.

Description

A kind of guiding method for displaying parameters and device

Technical field

The present invention relates to field of computer technology more particularly to a kind of guiding method for displaying parameters and device.

Background technique

With the rapid development of technology, more and more unmanned vehicles have progressed into the visual field of people.Existing unmanned vehicle Not only autokinetic movement can be carried out according to the navigation system of itself, can also be transported according to the control signal that control centre sends It is dynamic.

In order to monitor in real time to unmanned vehicle, technical staff is provided with camera on the headstock of unmanned vehicle in advance, uses In the direction that shooting is moved along unmanned vehicle and the image in front of unmanned vehicle, the image is then sent to control centre； Control centre receives the image and is shown.In this way, the staff for being located at control centre can understand according to the image Traffic information in front of unmanned vehicle, and can front-wheel steer angle, movement velocity to unmanned vehicle according to the traffic information It is adjusted in real time with motion states such as acceleration,

However, technical staff is merely capable of understanding the traffic information being located in front of unmanned vehicle, technical staff according to the image The accuracy being adjusted only according to motion state of the traffic information to unmanned vehicle is lower.

Summary of the invention

To overcome the problems in correlation technique, the present invention provides a kind of guiding method for displaying parameters and device.

According to a first aspect of the embodiments of the present invention, a kind of guiding method for displaying parameters is provided, which comprises

Obtain the current motion state of movement car body；Current motion state include the movement car body it is current before Take turns the current acceleration of motion of steering angle, the current movement velocity of the movement car body and the movement car body；

According to the current motion state calculate it is described movement car body using current time as initial time it is default when Between current guiding parameter in section；Current guiding parameter includes at least current motion profile and current movement purpose Ground；

It is obtained along the direction of motion for moving car body and is located at the image moved in front of car body；

The current guiding parameter is added in described image；

Display is added to the described image of the current guiding parameter.

Wherein, described that the movement car body is calculated using current time as initial time according to the current motion state Preset time period in current guiding parameter, comprising:

Obtain the current location of the movement car body；

It is identical as the every movement of starting point using the current location that the movement car body is calculated according to the current motion state The target position when distance of path length；

Using a target position farthest apart from the current location as current movement destination；

Obtained multiple target positions are attached to obtain the current motion profile of the movement car body.

Further, the method also includes:

It detects whether to receive the adjusting operation that the current motion state of the movement car body is adjusted；

When receiving adjusting operation, operation and the current motion state generation sport(s) car are adjusted according to described The target state of body；

Calculating the movement car body at the time of to receive adjusting operation according to the target state is The target guiding parameter to begin in the preset time period at moment；

The target guiding parameter is added in described image.

It is wherein, described that the current guiding parameter is added in described image, comprising:

Obtain image coordinate of each position in the image being located in front of the movement car body in image coordinate system；

Obtain image coordinate of each target position in described image coordinate system；

It is sat according to image of each position in the image being located in front of the movement car body in described image coordinate system Mark and image coordinate of each target position in described image coordinate system, are added to the figure for the current guiding parameter As in.

Wherein, the image coordinate for obtaining each target position in described image coordinate system, comprising:

Obtain the corresponding relationship between the car body coordinate in the image coordinate and bodywork reference frame in image coordinate system；

In the corresponding relationship, car body coordinate of each target position in bodywork reference frame is calculated separately in the figure As corresponding image coordinate in coordinate system.

According to a second aspect of the embodiments of the present invention, a kind of guiding parameter displaying device is provided, described device includes:

First obtains module, for obtaining the current motion state of movement car body；Current motion state includes described Move the current front-wheel steer angle, the current movement velocity of the movement car body and working as the movement car body of car body Preceding acceleration of motion；

First computing module, for being with current time according to the current motion state calculating movement car body Current guiding parameter in the preset time period of initial time；Current guiding parameter include at least current motion profile and Current movement destination；

Second obtains module, is located at described move in front of car body for obtaining along the direction of motion for moving car body Image；

First adding module, for the current guiding parameter to be added in described image；

Display module, for showing the described image for being added to the current guiding parameter.

Wherein, first computing module includes:

First acquisition unit, for obtaining the current location of the movement car body；

Computing unit, for being with the current location according to the current motion state calculating movement car body The target position when distance of the identical path length of the every movement of point；

Determination unit, for using a target position farthest apart from the current location as current movement purpose Ground；

Connection unit obtains the current movement of the movement car body for being attached obtained multiple target positions Track.

Further, described device further include:

Detection module, for detecting whether receiving the tune that the current motion state of the movement car body is adjusted Section operation；

Generation module, for being operated and the current movement according to the adjusting when receiving adjusting operation State generates the target state of movement car body；

Second computing module, for calculating the movement car body to receive the tune according to the target state It is the target guiding parameter in the preset time period of initial time at the time of section operation；

Second adding module, for the target guiding parameter to be added in described image.

Wherein, first adding module includes:

Second acquisition unit, for obtaining each position in the image being located in front of the movement car body in image coordinate Image coordinate in system；

Third acquiring unit, for obtaining image coordinate of each target position in described image coordinate system；

Adding unit is located at each position in the image in front of the movement car body for basis in described image coordinate The image coordinate of image coordinate and each target position in described image coordinate system in system, by the current guiding parameter It is added in described image.

Wherein, the third acquiring unit includes:

Subelement is obtained, for obtaining between the car body coordinate in image coordinate and bodywork reference frame in image coordinate system Corresponding relationship；

Computation subunit, for calculating separately each target position in bodywork reference frame in the corresponding relationship Car body coordinate corresponding image coordinate in described image coordinate system.

The technical solution that the embodiment of the present invention provides can include the following benefits: in the present invention, obtain movement The current motion state of car body；Current motion state includes the current front-wheel steer angle for moving car body, movement car body Current movement velocity and move car body current acceleration of motion；Movement car body is calculated according to current motion state Current guiding parameter in the preset time period using current time as initial time；Current guiding parameter, which includes at least, to be worked as Preceding motion profile and current movement destination；The figure for being located at and moving in front of car body is obtained along the direction of motion for moving car body Picture；Current guiding parameter is added in image；Display is added to the image of current guiding parameter.

In this way, technical staff is according to the image for being added to guiding parameter it is seen that movement car body is being with current time Motion profile and movement destination in the preset time period of initial time, can be clear according to the motion profile and movement destination Chu easily knows whether movement car body is to move according to the desired route of technical staff and whether can reach technology The desired destination of personnel, and then the motion state of movement car body can be adjusted in real time, compared to only showing image In traffic information, the embodiment of the present invention show be added to guiding parameter image after, technical staff is according to the motion profile The accuracy that the motion state of unmanned vehicle is adjusted with the movement destination is higher.

It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not It can the limitation present invention.

Detailed description of the invention

The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention Example, and be used to explain the principle of the present invention together with specification.

Fig. 1 is a kind of flow chart for guiding method for displaying parameters shown according to an exemplary embodiment.

Fig. 2 is a kind of schematic diagram of bodywork reference frame shown according to an exemplary embodiment.

Fig. 3 is a kind of flow chart of the guiding method for displaying parameters shown according to another exemplary embodiment.

Fig. 4 is a kind of schematic diagram of the bodywork reference frame shown according to another exemplary embodiment.

Fig. 5 is the schematic diagram of another bodywork reference frame shown according to another exemplary embodiment.

Fig. 6 is a kind of flow chart of the guiding method for displaying parameters shown according to a further exemplary embodiment.

Fig. 7 is a kind of flow chart of the guiding method for displaying parameters shown according to a further exemplary embodiment.

Fig. 8 is a kind of block diagram of the guiding parameter displaying device shown according to a further exemplary embodiment.

Specific embodiment

Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment Described in embodiment do not represent all embodiments consistented with the present invention.On the contrary, they be only with it is such as appended The example of device and method being described in detail in claims, some aspects of the invention are consistent.

Fig. 1 is a kind of flow chart for guiding method for displaying parameters shown according to an exemplary embodiment, as shown in Figure 1, This approach includes the following steps.

In step s101, the current motion state of movement car body is obtained；

Wherein, current motion state includes the current front-wheel steer angle for moving car body, moves the current of car body Movement velocity and the current acceleration of motion for moving car body；

Wherein, technical staff is located in remote control station, and control platform is provided in remote control station, moves and is loaded with sensing on car body Device, for obtaining the motion state of movement car body in real time, therefore, control platform can be by being located at the sensor moved on car body Obtain the current motion state of movement car body.

Wherein, acceleration of motion can embody movement car body carrying out retarded motion, uniform motion or accelerated motion, when When acceleration of motion is greater than 0, it can determine that movement car body is being accelerated, it, can be true when acceleration of motion is equal to 0 Surely movement car body is carrying out uniform motion, when acceleration of motion is less than 0, can determine that movement car body is carrying out deceleration fortune It is dynamic.

Wherein, one skilled in the art will appreciate that the front-wheel steer angle of movement car body determines the movement side of movement car body To.When obtaining the current motion state of movement car body, referring to fig. 2, bodywork reference frame is established, include movement car body in Fig. 2 Top view, wherein A1 and A2 respectively indicates the center of the near front wheel of movement car body and the center of off-front wheel, and B1 and B2 distinguish table Show the center of the left rear wheel of movement car body and the center of off hind wheel, the origin O of bodywork reference frame is the left rear wheel for moving car body The left rear wheel of the midpoint C of line between center and the center of off hind wheel, i.e., the origin O of bodywork reference frame at this time and movement car body The midpoint C of line is overlapped between center and the center of off hind wheel；In Fig. 2, the positive direction horizontal direction of the X-axis of bodywork reference frame The right side, for moving car body the positive direction of X-axis be move car body right, the positive direction of Y-axis straight up, for sport(s) car The positive direction of Y-axis is to move the front of car body for body.

In step s 102, movement car body is calculated using current time as the pre- of initial time according to current motion state If the current guiding parameter in the period；

Current guiding parameter includes moving the current movement purpose of the current motion profile and movement car body of car body Ground；The time span that preset time period includes can be 1 second, 5 seconds or 10 seconds etc., and the present invention is not limited this.

In step s 103, the image for being located at and moving in front of car body is obtained along the current direction of motion for moving car body；

Wherein, it moves and is loaded with image collecting device on car body, such as video camera etc., for acquiring before movement car body The image of side；Control platform can receive image that the image acquisition device is sent, in front of movement car body；

In step S104, current guiding parameter is added in image；

In step s105, display is added to the image of current guiding parameter.

In this way, technical staff is according to the image for being added to guiding parameter it is seen that movement car body is being with current time Motion profile and movement destination in the preset time period of initial time.

In present invention embodiment shown in FIG. 1, the current motion state of movement car body is obtained；Current motion state Including moving the current of the current front-wheel steer angle of car body, the current movement velocity for moving car body and movement car body Acceleration of motion；Movement car body is calculated in the preset time period using current time as initial time according to current motion state Current guiding parameter；Current guiding parameter includes at least current motion profile and current movement destination；Along The direction of motion for moving car body obtains the image being located in front of movement car body；Current guiding parameter is added in image；It is aobvious Show the image for being added to current guiding parameter.

In an alternative embodiment of the invention, include: referring to Fig. 3, step S102

In step s 201, the current location of movement car body is obtained；

The current location of the movement car body of acquisition includes position of the center of movement car body in bodywork reference frame, sport(s) car Position of the center of the near front wheel of body in bodywork reference frame moves position of the center of the off-front wheel of car body in bodywork reference frame It sets, moves position of the center of the left rear wheel of car body in bodywork reference frame, the center for moving the off hind wheel of car body is sat in car body Position in mark system.

Wherein, the center for moving car body is in the line moved between the center of car body left rear wheel and the center of off hind wheel Point.

In step S202, it is identical as the every movement of starting point using current location that movement car body is calculated according to current motion state The target position when distance of path length；

Specifically, this step can be realized by following process, comprising:

(A-1), movement car body is calculated using current time as the preset time of initial time according to current motion state The path length of the distance moved in section；

Specifically, the current movement velocity and current acceleration of motion for including according to current motion state, according to The distance that following formula (1) calculates the distance that movement car body moves in the preset time period using current time as initial time is long Spend S:

Wherein, in above-mentioned formula (1), v is the current movement velocity for moving car body；A is the current of movement car body Acceleration of motion；T is the time span that preset time period includes.

Wherein, technical staff is provided with minimum path length Smin in control platform in advance, when calculating path length S Later, judge whether path length S is less than or equal to minimum path length Smin, when path length S is less than or equal to minimal path When Cheng Changdu Smin, operation then is carried out using minimum path length Smin in the steps afterwards；When path length S is greater than minimum When path length Smin, operation is carried out using path length S in the steps afterwards.

(A-2), the direction of motion of movement car body is determined according to the current front-wheel steer angle of movement car body；

Specifically, can determine the direction of motion of movement car body according to following process: including:

11), the relationship between the current front-wheel steer angle and the first predetermined angle threshold value of judgement movement car body, and Relationship between the current front-wheel steer angle and the second predetermined angle threshold value of judgement movement car body；

First predetermined angle threshold value is less than the second predetermined angle threshold value；

First predetermined angle threshold value can be with are as follows: -0.1, -0.2 or -0.3 degree etc., the present invention is not limited this.

Second predetermined angle threshold value can be with are as follows: 0.1,0.2 or 0.3 degree etc., the present invention is not limited this.

Wherein, due to the direction of the rear-wheel of movement car body relative to the direction of car body be it is constant, that is, move a left side for car body The direction of the rear-wheel in the direction and movement car body of the line between the center of the left rear wheel at the center and movement car body of front-wheel is always It is identical.

Moving the direction of the front-wheel of car body is variable, the i.e. center of the near front wheel of movement car body relative to the direction of car body The direction of line between the center of the left rear wheel of movement car body is identical as the movement direction possibility of front-wheel of car body, it is also possible to It is different；When the two is identical, determining that the front-wheel steer angle of movement car body is 0, that is, movement car body will move along a straight line, when When the two difference, determine that the front-wheel steer angle of movement car body is not 0, when side of the front-wheel direction of movement car body relative to rear-wheel To when turning left, the front-wheel steer angle of determining movement car body is less than 0；When the front-wheel direction of movement car body is relative to rear-wheel When direction turns right, determine that the front-wheel steer angle of movement car body is greater than 0.

That is, when the direction of the front-wheel of movement car body is identical as Y-axis positive direction, moving the front-wheel steer of car body in Fig. 2 Angle is 0, when moving the direction of front-wheel of car body along Y-axis positive direction to when the offset of the positive direction of X-axis, moves the front-wheel of car body Steering angle is greater than 0, when moving the direction of front-wheel of car body along Y-axis positive direction to when the offset of the negative direction of X-axis, moves car body Front-wheel steer angle less than 0.

12), when the current front-wheel steer angle for moving car body is greater than or equal to the first predetermined angle threshold value, and it is less than Or when being equal to the second predetermined angle threshold value, determining movement car body is with current motion state along current since current time The direction of front-wheel steer angle moves along a straight line；

13), when moving the current front-wheel steer angle of car body less than the first predetermined angle threshold value, movement car body is determined Left-hand bend campaign is carried out since current time with current motion state；

14), when the current front-wheel steer angle for moving car body is greater than the second predetermined angle threshold value, movement car body is determined Right-hand bend campaign is carried out since current time with current motion state.

(A-3), calculated path length progress equal part is obtained into multistage path length；

Wherein, for either segment path length Sn, wherein Sn may be path length S, may also be path length Smin；When Sn is path length S, path length Sn progress equal part is obtained into multistage path length Δ S.In the embodiment of the present disclosure In, path length Sn and default value N can be subjected to division arithmetic, obtain N sections of isometric path length Δ S.N be greater than or Positive integer equal to 1.For other every section path length Sn, it is performed both by aforesaid operations.

(A-4), the coordinate of the journey's end of the corresponding distance of every section of path length is calculated, and by it in bodywork reference frame Position as target position.

The first situation, when movement car body with current motion state since current time along current front-wheel steer When the direction of angle is moved along a straight line, need to calculate separately the corresponding road of every section of path length of the center movement of movement car body The coordinate of the journey's end of journey, the distance for moving the corresponding distance of every section of path length of the center movement of the left rear wheel of car body are whole The coordinate of point, and move the seat of the journey's end of the corresponding distance of every section of path length of the center movement of the off hind wheel of car body Mark.

During the motion, the coordinate value for moving abscissa of the center of car body in bodywork reference frame is constant, and always It is 0, variation is only the coordinate value for moving the ordinate of car body.

Wherein, the length for moving line between the center of the left rear wheel of car body and the center of off hind wheel is denoted as W, is being moved through Cheng Zhong, the coordinate value for moving abscissa of the center of the left rear wheel of car body in bodywork reference frame remain unchanged, and are always-W/ 2, variation is only the coordinate value for moving the ordinate at the center of left rear wheel of car body；During the motion, car body is moved The coordinate value of abscissa of the center of off hind wheel in bodywork reference frame remains unchanged, and is always W/2, and variation is only to transport The coordinate value of the ordinate at the center of the off hind wheel of motor vehicles bodies.

In this way, can be calculated according to following formula: during the motion, moving one segment length of the every movement in center of car body For the coordinate of the journey's end of the distance of Δ S；

(Xi=0, Yi=Δ S × i)；(i=1,2 ... N)；

Wherein, which section distance i indicates, for example, indicating paragraph 1 distance when i=1；When i=2, the 2nd section of distance, i are indicated When=N, N sections of distances are indicated.

For example, when move the complete paragraph 1 length of body movement be Δ S distance when, move the center of car body coordinate be (0, ΔS)；When moving the distance that complete 2nd segment length of body movement is Δ S, the coordinate for moving the center of car body is (0,2 × Δ S)；..., when moving the distance that the complete N segment length of body movement is Δ S, the coordinate for moving the center of car body is (0, N × Δ S)。

Using position of each coordinate being calculated in bodywork reference frame as movement car body center target Position.

Wherein it is possible to be calculated according to following formula: during the motion, moving the every movement in center of the left rear wheel of car body One segment length is the coordinate of the journey's end of the distance of Δ S；

(Xi=-W/2, Yi=Δ S × i)；(i=1,2 ... N)；

For example, moving the center of the left rear wheel of car body when moving the distance that the complete paragraph 1 length of body movement is Δ S Coordinate is (- W/2, Δ S)；When moving the distance that complete 2nd segment length of body movement is Δ S, move in the left rear wheel of car body The coordinate of the heart is (- W/2,2 × Δ S)；..., when moving the distance that the complete N segment length of body movement is Δ S, move car body Left rear wheel center coordinate be (- W/2, N × Δ S).

Using position of each coordinate being calculated in bodywork reference frame as movement car body left rear wheel mesh Cursor position.

It and can be calculated according to following formula: during the motion, move the every movement in center of the off hind wheel of car body One segment length is the coordinate of the journey's end of the distance of Δ S；

(Xi=W/2, Yi=Δ S × i)；(i=1,2 ... N)；

For example, moving the center of the off hind wheel of car body when moving the distance that the complete paragraph 1 length of body movement is Δ S Coordinate is (W/2, Δ S)；When moving the distance that complete 2nd segment length of body movement is Δ S, the center of the off hind wheel of car body is moved Coordinate be (W/2,2 × Δ S)；..., when moving the distance that the complete N segment length of body movement is Δ S, move the right side of car body The coordinate at the center of rear-wheel is (W/2, N × Δ S).

Using position of each coordinate being calculated in bodywork reference frame as movement car body off hind wheel mesh Cursor position.

Second situation, when move car body carry out with current motion state turning right since current time movement when, Referring to fig. 4, need to calculate separately the coordinate of the corresponding journey's end of every section of path length of the center movement of movement car body, movement The coordinate of the corresponding journey's end of every section of path length of the center movement of the near front wheel of car body, and the off hind wheel of movement car body Center movement the corresponding journey's end of every section of path length coordinate.

Therefore, the distance between the center of the near front wheel of movement car body and the center of left rear wheel L are obtained, according to movement car body The near front wheel center and left rear wheel the distance between center L and current front-wheel steer angle α t, according to following formula (2) Calculate turning radius R of the center of movement car body when turn right movement；

Then the left rear wheel of the turning radius R according to the center of movement car body when turn right movement, movement car body Center and off hind wheel center between line length W and move car body the center of the near front wheel and the center of left rear wheel between Distance L, calculate turning half of the center of the near front wheel of movement car body when turn right movement according to following formula (3) Diameter Rl,

Then the left rear wheel of the turning radius R according to the center of movement car body when turn right movement and movement car body Center and off hind wheel center between line length W, according to following formula (4) calculate movement car body off hind wheel in Turning radius Rr of the heart when turn right movement,

Wherein, when move car body turn right movement when, move the track for the distance that the center movement of car body is crossed as circle Arc；The track for the distance that the center movement of the near front wheel of movement car body is crossed is circular arc；Move the center movement of the off hind wheel of car body The track for the distance crossed is circular arc.

Wherein, the distance for being Δ S for any length crossed of center movement for moving car body, according to path length Δ S and Turning radius R of the center of car body when turn right movement is moved, calculating the length according to following formula (5) is Δ S's The corresponding central angle Δ θ of circular arc where distance；

When movement car body carries out turning right since current time movement with current motion state, movement car body is being transported The coordinate value of abscissa and the coordinate value of ordinate during dynamic change.

(Xi=R-Rcos (i × Δ θ), Yi=Rsin (i × Δ θ)), (i=1,2 ... N)；

For example, the coordinate for moving the center of car body is (R- when moving the distance that the complete paragraph 1 length of body movement is Δ S Rcos Δ θ, Rsin Δ θ)；When moving the distance that complete 2nd segment length of body movement is Δ S, the coordinate at the center of car body is moved For (R-Rcos (2 × Δ θ), Rsin (2 × Δ θ))；..., when moving the distance that the complete N segment length of body movement is Δ S, The coordinate for moving the center of car body is (R-Rcos (N × Δ θ), Rsin (N × Δ θ)).

Further, it needs to calculate when the path length for moving the distance of center movement of car body is Δ S, moves car body The near front wheel center movement distance path length Δ Sl, can be calculated according to following formula movement car body the near front wheel Center movement distance path length Δ Sl；

Δ Sl=Δ θ * Rl；

It and can be calculated according to following formula: during the motion, move the every movement in center of the near front wheel of car body One segment length is the coordinate of the journey's end of the distance of Δ Sl；

(X=R-Rlcos (i × Δ θ), Y=Rlsin (i × Δ θ)), (i=1,2 ... N)；

For example, moving the near front wheel of car body when the near front wheel for moving car body has moved the distance that paragraph 1 length is Δ Sl Center coordinate be (R-Rlcos Δ θ, Rlsin Δ θ)；It is Δ Sl's when the near front wheel of movement car body has moved the 2nd segment length When distance, the coordinate for moving the center of the near front wheel of car body is (R-Rlcos (2 × Δ θ), Rlsin (2 × Δ θ))；..., when When the near front wheel of movement car body has moved the distance that N segment length is Δ Sl, the coordinate for moving the center of the near front wheel of car body is (R-Rlcos (N × Δ θ), Rlsin (N × Δ θ)).

In using position of each coordinate being calculated in bodywork reference frame as the near front wheel of movement car body The target position of the heart.

Further, it needs to calculate when the path length for moving the distance of center movement of car body is Δ S, moves car body Off hind wheel center movement distance distance degree Δ Sr, can be calculated according to following formula movement car body off hind wheel Center movement distance path length Δ Sr；

Δ Sr=Δ θ * Rr；

It and can be calculated according to following formula: during the motion, move the every movement in center of the off hind wheel of car body One segment length is the coordinate of the journey's end of the distance of Δ Sr；

(X=R-Rrcos (i × Δ θ), Y=Rrsin (i × Δ θ)), (i=1,2 ... N)；

Wherein, which section distance i indicates, for example, indicating first segment distance when i=1；When i=2, second segment road is indicated Journey when i=N, indicates N sections of distances.

For example, moving the off hind wheel of car body when the off hind wheel for moving car body has moved the distance that paragraph 1 length is Δ Sr Center coordinate be (R-Rrcos Δ θ, Rrsin Δ θ)；It is Δ Sr's when the off hind wheel of movement car body has moved the 2nd segment length When distance, the coordinate for moving the center of the off hind wheel of car body is (R-Rrcos (2 × Δ θ), Rrsin (2 × Δ θ))；..., when When the off hind wheel of movement car body has moved the distance that N segment length is Δ Sr, the coordinate for moving the center of the off hind wheel of car body is (R-Rrcos (N × Δ θ), Rrsin (N × Δ θ)).

In using position of each coordinate being calculated in bodywork reference frame as the off hind wheel of movement car body The target position of the heart.

The third situation, when moving car body and carrying out with current motion state movement since current time, Referring to Fig. 5, need to calculate separately the coordinate of the corresponding journey's end of every section of path length of the center movement of movement car body, movement The coordinate of the corresponding journey's end of every section of path length of the center movement of the left rear wheel of car body, and the off-front wheel of movement car body Center movement the corresponding journey's end of every section of path length coordinate.

Therefore, the distance between the center of the near front wheel of movement car body and the center of left rear wheel L are obtained, according to movement car body The near front wheel center and left rear wheel the distance between center L and current front-wheel steer angle α t, according to following formula (8) Calculate turning radius R of the center of movement car body when carrying out movement；

Then the left rear wheel of the turning radius R according to the center of movement car body when carrying out movement and movement car body Center and off hind wheel center between line length W, according to following formula (9) calculate movement car body left rear wheel in Turning radius Rl of the heart when carrying out movement,

Then the left rear wheel of the turning radius R according to the center of movement car body when carrying out movement, movement car body Center and off hind wheel center between line length W and move car body the center of the near front wheel and the center of left rear wheel between Distance L, according to following formula (10) calculate movement car body off-front wheel center carry out turn left movement when turning Radius Rr,

Wherein, when moving car body and carrying out movement, the track for the distance that the center movement of car body is crossed is moved as circle Arc；The track for the distance that the center movement of the left rear wheel of movement car body is crossed is circular arc；Move the center movement of the off-front wheel of car body The track for the distance crossed is circular arc.

Wherein, the distance for being Δ S for any length crossed of center movement for moving car body, according to path length Δ S and Turning radius R of the center of car body when carrying out movement is moved, calculating the length according to following formula (11) is Δ S's The corresponding central angle Δ θ of circular arc where distance；

When movement car body carries out since current time movement with current motion state, movement car body is being transported The coordinate value of abscissa and the coordinate value of ordinate during dynamic change.

(Xi=Rcos (i × Δ θ)-R, Yi=Rsin (i × Δ θ)), (i=1,2 ... N)；

For example, the coordinate for moving the center of car body is when moving the distance that the complete paragraph 1 length of body movement is Δ S (Rcos Δ θ-R, Rsin Δ θ)；When moving the distance that complete 2nd segment length of body movement is Δ S, the seat at the center of car body is moved It is designated as (Rcos (2 × Δ θ)-R, Rsin (2 × Δ θ))；..., when the movement complete N segment length of body movement is the distance of Δ S When, the coordinate for moving the center of car body is (Rcos (N × Δ θ)-R, Rsin (N × Δ θ)).

Further, it needs to calculate when the path length for moving the distance of center movement of car body is Δ S, moves car body Left rear wheel center movement distance path length Δ Sl, can be calculated according to following formula movement car body left rear wheel Center movement distance path length Δ Sl；

Δ Sl=Δ θ * Rl；

It and can be calculated according to following formula: during the motion, move the every movement in center of the left rear wheel of car body One segment length is the coordinate of the journey's end of the distance of Δ Sl；

(X=Rlcos (i × Δ θ)-R, Y=Rlsin (i × Δ θ)), (i=1,2 ... N)；

For example, moving the left rear wheel of car body when the left rear wheel for moving car body has moved the distance that paragraph 1 length is Δ Sl Center coordinate be (Rlcos Δ θ-R, Rlsin Δ θ)；It is Δ Sl's when the left rear wheel of movement car body has moved the 2nd segment length When distance, the coordinate for moving the center of the left rear wheel of car body is (Rlcos (2 × Δ θ)-R, Rlsin (2 × Δ θ))；..., when When the left rear wheel of movement car body has moved the distance that N segment length is Δ Sl, the coordinate for moving the center of the left rear wheel of car body is (Rlcos (N × Δ θ)-R, Rlsin (N × Δ θ)).

In using position of each coordinate being calculated in bodywork reference frame as the left rear wheel of movement car body The target position of the heart.

Further, it needs to calculate when the path length for moving the distance of center movement of car body is Δ S, moves car body Off-front wheel center movement distance distance degree Δ Sr, can be calculated according to following formula movement car body right front and back The path length Δ Sr of the distance of the center movement of wheel；

Δ Sr=Δ θ * Rr；

It and can be calculated according to following formula: during the motion, move the every movement in center of the off-front wheel of car body One segment length is the coordinate of the journey's end of the distance of Δ Sr；

(X=Rrcos (i × Δ θ)-R, Y=Rrsin (i × Δ θ)), (i=1,2 ... N)；

For example, moving the off-front wheel of car body when the off-front wheel for moving car body has moved the distance that paragraph 1 length is Δ Sr Center coordinate be (Rrcos Δ θ-R, Rrsin Δ θ)；It is Δ Sr's when the off-front wheel of movement car body has moved the 2nd segment length When distance, the coordinate for moving the center of the off-front wheel of car body is (Rrcos (2 × Δ θ)-R, Rrsin (2 × Δ θ))；..., when When the off-front wheel of movement car body has moved the distance that N segment length is Δ Sr, the coordinate for moving the center of the off-front wheel of car body is (Rrcos (N × Δ θ)-R, Rrsin (N × Δ θ)).

In using position of each coordinate being calculated in bodywork reference frame as the off-front wheel of movement car body The target position of the heart.

In step S203, using a target position farthest apart from current location as current movement destination；

When movement car body with current motion state since current time along the direction of current front-wheel steer angle Mesh when being moved along a straight line, after obtaining the target position at center of multiple movement car bodies, at the center of multiple movement car bodies In cursor position, using a target position farthest apart from current location as the movement destination at the center of movement car body.? To after the target position at the center of the left rear wheel of multiple movement car bodies, in the target position at the center of the left rear wheel of multiple movement car bodies In setting, using a target position farthest apart from current location as the movement destination at the center of the left rear wheel of movement car body. Mesh after obtaining the target position at the center of off hind wheel of multiple movement car bodies, at the center of the off hind wheel of multiple movement car bodies In cursor position, using a target position farthest apart from current location as the movement purpose at the center of the off hind wheel of movement car body Ground.

When movement car body with current motion state since current time along the direction of current front-wheel steer angle Target when right-hand bend movement, after obtaining the target position at centers of multiple movement car bodies, at the centers of multiple movement car bodies In position, using a target position farthest apart from current location as the movement destination at the center of movement car body.It is obtaining Behind the target position at the center of the near front wheel of multiple movement car bodies, in the target position at the center of the near front wheel of multiple movement car bodies In, using a target position farthest apart from current location as the movement destination at the center of the near front wheel of movement car body.? Target after obtaining the target position at the center of the off hind wheel of multiple movement car bodies, at the center of the off hind wheel of multiple movement car bodies In position, using a target position farthest apart from current location as the movement purpose at the center of the off hind wheel of movement car body Ground.

When movement car body with current motion state since current time along the direction of current front-wheel steer angle Target when turning left to move, after obtaining the target position at centers of multiple movement car bodies, at the centers of multiple movement car bodies In position, using a target position farthest apart from current location as the movement destination at the center of movement car body.It is obtaining Behind the target position at the center of the left rear wheel of multiple movement car bodies, in the target position at the center of the left rear wheel of multiple movement car bodies In, using a target position farthest apart from current location as the movement destination at the center of the left rear wheel of movement car body.? Target after obtaining the target position at the center of the off-front wheel of multiple movement car bodies, at the center of the off-front wheel of multiple movement car bodies In position, using a target position farthest apart from current location as the movement purpose at the center of the off-front wheel of movement car body Ground.

In step S204, obtained multiple target positions are attached to obtain the current movement rail of movement car body Mark.

When movement car body with current motion state since current time along the direction of current front-wheel steer angle When being moved along a straight line, after obtaining the target position at center of multiple movement car bodies, by the mesh at the center of multiple movement car bodies Cursor position is smoothly connected to obtain the motion profile at the center of movement car body sequentially in time.Obtaining multiple movement car bodies Left rear wheel center target position after, by it is multiple movement car bodies left rear wheels center target position sequentially in time It is smoothly connected to obtain the motion profile at the center of the left rear wheel of movement car body.Obtaining the off hind wheel of multiple movement car bodies Behind the target position at center, the target position at the center of the off hind wheel of multiple movement car bodies is smoothly connected sequentially in time It connects to obtain the center movement track of the off hind wheel of movement car body.

When movement car body with current motion state since current time along the direction of current front-wheel steer angle When carrying out right-hand bend movement, after obtaining the target position at centers of multiple movement car bodies, by the centers of multiple movement car bodies Target position is smoothly connected to obtain the motion profile at the center of movement car body sequentially in time.Obtaining multiple sport(s) cars It is behind the target position at the center of the near front wheel of body, the target position at the center of the near front wheel of multiple movement car bodies is suitable according to the time Sequence is smoothly connected to obtain the motion profile at the center of the near front wheel of movement car body.Obtaining the off hind wheel of multiple movement car bodies Center target position after, the target position at center of the off hind wheels of multiple movement car bodies is carried out smoothly sequentially in time Connection obtains the center movement track of the off hind wheel of movement car body.

When movement car body with current motion state since current time along the direction of current front-wheel steer angle When carrying out movement, after obtaining the target position at center of multiple movement car bodies, by the center of multiple movement car bodies Target position is smoothly connected to obtain the motion profile at the center of movement car body sequentially in time.Obtaining multiple sport(s) cars It is behind the target position at the center of the left rear wheel of body, the target position at the center of the left rear wheel of multiple movement car bodies is suitable according to the time Sequence is smoothly connected to obtain the motion profile at the center of the left rear wheel of movement car body.Obtaining the off-front wheel of multiple movement car bodies Center target position after, the target position at center of the off-front wheels of multiple movement car bodies is carried out smoothly sequentially in time Connection obtains the center movement track of the off-front wheel of movement car body.

In still another embodiment of the process, include: referring to Fig. 6, step S104

In step S301, figure of each position in the image being located in front of movement car body in image coordinate system is obtained As coordinate；

In step s 302, image coordinate of each target position in image coordinate system is obtained；

Specifically, obtaining the image coordinate in image coordinate system and the corresponding pass between the car body coordinate in bodywork reference frame System；In the above correspondence relationship, car body coordinate of each target position in bodywork reference frame is calculated separately in image coordinate system In corresponding image coordinate.

Wherein, image coordinate can be established according to the image of acquisition after the image in front of image capture device acquisition movement car body System；And establish the corresponding relationship between the car body coordinate in image coordinate and bodywork reference frame in image coordinate system.

In step S303, according to figure of each position in the image being located in front of movement car body in image coordinate system As the image coordinate of coordinate and each target position in image coordinate system, guiding parameter is added in image.

In still another embodiment of the process, referring to Fig. 7, this method further include:

In step S401, detect whether to receive the adjusting behaviour that the current motion state of movement car body is adjusted Make；

Technical staff is located in remote control station, and control platform is provided in remote control station, is loaded with analog manipulation in control platform Device, analog manipulation device include the steering wheel for adjusting the direction of motion of movement car body, the fortune for increasing movement car body The brake pedal of the gas pedal of dynamic acceleration and the acceleration of motion for reducing movement car body.Technical staff is in control platform In by analog manipulation device can to movement car body remotely be controlled.

It can be connect with steering wheel rotation, control platform when technical staff needs to adjust the direction of motion of movement car body Technical staff is received to the steering operation of steering wheel；

When technical staff needs to improve the movement velocity of movement car body, technical staff can press gas pedal to improve The acceleration of motion of car body is moved, and then improves the movement velocity of movement car body；Control platform can receive technical staff To the pressing operation of gas pedal；

When technical staff needs to reduce the movement velocity of movement car body, technical staff can press brake pedal to reduce The acceleration of motion of car body is moved, and then reduces the movement velocity of movement car body；Control platform can receive technical staff To the pressing operation of brake pedal.

When receiving adjusting operation, in step S402, operated and the generation movement of current motion state according to adjusting The target state of car body；

Wherein, the current motion state for moving car body includes the current front-wheel steer angle for moving car body, sport(s) car The current movement velocity of body and the current acceleration of motion for moving car body.

When receiving the steering operation to steering wheel, after control platform acquiring technology personnel turn to steering wheel Then the steering angle of steering wheel obtains first pair between the steering angle for the steering wheel being locally stored and front-wheel steer angle It should be related to；Then the corresponding front-wheel steer angle of steering angle of back track to disk is obtained from the first corresponding relationship；According to The corresponding front-wheel steer angle of the steering angle of back track to disk and current front-wheel steer angle obtain target front wheel and turn to Angle.

When receiving the pressing operation to gas pedal, pressing force that acquiring technology personnel press gas pedal Degree, then obtains the second corresponding relationship between the pressing dynamics and acceleration of motion being locally stored；Then from the second corresponding pass The corresponding acceleration of motion of pressing dynamics pressed gas pedal is obtained in system；By to gas pedal press by The corresponding acceleration of motion of surging is added to obtain target acceleration of motion with current acceleration of motion.

When receiving the pressing operation to brake pedal, pressing force that acquiring technology personnel press brake pedal Degree, then obtains the third corresponding relationship between the pressing dynamics and acceleration of motion being locally stored；Then it is closed from third is corresponding The corresponding acceleration of motion of pressing dynamics pressed brake pedal is obtained in system；By current acceleration of motion and to oil The corresponding acceleration of motion of pressing dynamics that door pedal is pressed is subtracted each other to obtain target acceleration of motion.

Due to moving shape when technical staff's steering wheel rotation or pressing gas pedal or pressing brake pedal The instantaneous changed acceleration of motion and the direction of motion for only moving car body in state, the movement velocity for moving car body will not wink When change, therefore, target state include move car body target front wheel steer angle degree, move car body current fortune Dynamic speed and the target acceleration of motion for moving car body.

In step S403, movement car body is calculated at the time of to receive adjusting operation according to target state For the target guiding parameter in the preset time period of initial time；

Target state includes target front wheel steer angle degree, target acceleration of motion and the current movement for moving car body Speed.

Target guiding parameter includes target trajectory and target movement destination.

Movement car body is calculated at the time of adjusting operation to receive as the default of initial time according to target state The method of target guiding parameter in period may refer to the method for calculating current guiding parameter, just be not detailed herein.

In step s 404, target guiding parameter is added in image.

The method that target guiding parameter is added in image specifically may refer to current guiding parameter is added to this Method in image, is just not detailed herein.

In embodiments of the present invention, current guiding parameter and target guiding parameter can be superimposed in image, that is, in image It not only shows the current motion profile for moving car body and current movement destination, can also show the target fortune of movement car body Dynamic rail mark and target move destination, and technical staff can be made to see technical staff to fortune to visual pattern in the picture in this way The target trajectory of movement car body after the motion state adjusting of motor vehicles bodies and the movement before target movement destination and adjusting Gap between the current motion profile of car body and current movement destination, facilitates movement of the technical staff to movement car body The adjustment of state further progress.

Fig. 8 is a kind of block diagram for guiding parameter displaying device shown according to an exemplary embodiment.Referring to Fig. 8, the dress It sets and includes:

First obtains module 11, for obtaining the current motion state of movement car body；Current motion state includes institute State the current front-wheel steer angle of movement car body, the current movement velocity of the movement car body and the movement car body Current acceleration of motion；

First computing module 12, for calculating the movement car body with current time according to the current motion state For the current guiding parameter in the preset time period of initial time；Current guiding parameter includes at least current motion profile With current movement destination；

Second obtains module 13, is located at described move in front of car body for obtaining along the direction of motion for moving car body Image；

First adding module 14, for the current guiding parameter to be added in described image；

Display module 15, for showing the described image for being added to the current guiding parameter.

In present invention embodiment shown in Fig. 8, the current motion state of movement car body is obtained；Current motion state Including moving the current of the current front-wheel steer angle of car body, the current movement velocity for moving car body and movement car body Acceleration of motion；Movement car body is calculated in the preset time period using current time as initial time according to current motion state Current guiding parameter；Current guiding parameter includes at least current motion profile and current movement destination；Along The direction of motion for moving car body obtains the image being located in front of movement car body；Current guiding parameter is added in image；It is aobvious Show the image for being added to current guiding parameter.

Wherein, first computing module 12 includes:

Further, described device further include:

Wherein, first adding module 14 includes:

Wherein, the third acquiring unit includes:

About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method Embodiment in be described in detail, no detailed explanation will be given here.

Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention Or conventional techniques.

It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.

Claims

1. a kind of guiding method for displaying parameters, which is characterized in that the described method includes:

Obtain the current motion state of movement car body；Current motion state includes the current preceding rotation of the movement car body To the current acceleration of motion of angle, the current movement velocity of the movement car body and the movement car body；

The movement car body is calculated using current time as the preset time period of initial time according to the current motion state Interior current guiding parameter；Current guiding parameter includes at least current motion profile and current movement destination；

The current guiding parameter is added in described image；

Display is added to the described image of the current guiding parameter；

It is described according to the current motion state calculate it is described movement car body using current time as initial time it is default when Between current guiding parameter in section, comprising:

Obtain the current location of the movement car body；

The movement car body is calculated using the current location as the identical distance of the every movement of starting point according to the current motion state The target position when distance of length；

Obtained multiple target positions are attached to obtain the current motion profile of the movement car body；

Wherein, described that the movement car body is calculated using the current location as the every movement of starting point according to the current motion state The target position when distance of identical path length, comprising:

Calculate what movement car body moved in the preset time period using current time as initial time according to current motion state The path length S of distance；

The direction of motion of movement car body is determined according to the current front-wheel steer angle of movement car body；

Path length S progress equal part is obtained into multistage path length Δ S；

Calculate the coordinate of the journey's end of the corresponding distance of every section of path length Δ S, and by its position in bodywork reference frame As target position；

When movement car body is carried out since current time along the direction of current front-wheel steer angle with current motion state When linear motion: the coordinate of the journey's end for the distance that center one segment length of every movement for moving car body is Δ S is (Xi=0, Yi =Δ S × i)；The coordinate of journey's end for the distance that center one segment length of every movement for moving the left rear wheel of car body is Δ S is (Xi=-W/2, Yi=Δ S × i), wherein W is the length for moving line between the center of left rear wheel and the center of off hind wheel of car body Degree；Move car body off hind wheel center it is every movement one segment length be Δ S distance journey's end coordinate be (Xi=W/2, Yi=Δ S × i)；

When movement car body carries out turning right since current time movement with current motion state: the center for moving car body is every The coordinate for moving the journey's end for the distance that a segment length is Δ S is (Xi=R-Rcos (i × Δ θ), Yi=Rsin (i × Δ θ)), wherein R is to move the center of car body in the turning radius turn right when moving, and Δ θ is the distance institute that length is Δ S In the corresponding central angle of circular arc；When the path length for moving the distance of center movement of car body is Δ S, the left front of car body is moved The path length of the distance of the center movement of wheel is Δ Sl, and Δ Sl=Δ θ × Rl moves the every movement in center of the near front wheel of car body One segment length is that the coordinate of the journey's end of the distance of Δ Sl is (Xi=R-Rlcos (i × Δ θ), Yi=Rlsin (i × Δ θ)), wherein Rl is to move the center of the near front wheel of car body in the turning radius turn right when moving；When in movement car body When the path length of the distance of heart movement is Δ S, the path length for moving the distance of the center movement of the off hind wheel of car body is Δ Sr, Δ Sr=Δ θ × Rr, the journey's end for the distance that center one segment length of every movement for moving the off hind wheel of car body is Δ Sr Coordinate is (Xi=R-Rrcos (i × Δ θ), Yi=Rrsin (i × Δ θ)), and wherein Rr is the center for moving the off hind wheel of car body Turning radius when turn right movement；

When movement car body carries out since current time movement with current motion state: the center for moving car body is every The coordinate for moving the journey's end for the distance that a segment length is Δ S is (Xi=Rcos (i × Δ θ)-R, Yi=Rsin (i × Δ θ)), wherein R is to move the center of car body in the turning radius turn left when moving；When the center movement for moving car body When the path length of distance is Δ S, the path length for moving the distance of the center movement of the left rear wheel of car body is Δ Sl, Δ Sl= The coordinate that Δ θ * Rl moves the journey's end for the distance that center one segment length of every movement of the left rear wheel of car body is Δ Sl is (Xi= Rlcos (i × Δ θ)-R, Yi=Rlsin (i × Δ θ)), wherein Rl is that the center of the left rear wheel of movement car body is being turned left Turning radius when movement；When the path length for moving the distance of center movement of car body is Δ S, the off-front wheel of car body is moved Center movement distance distance degree be Δ Sr, Δ Sr=Δ θ * Rr, move the off-front wheel of car body center it is every movement one Segment length is that the coordinate of the journey's end of the distance of Δ Sr is (Xi=Rrcos (i × Δ θ)-R, Yi=Rrsin (i × Δ θ)), Wherein Rr is to move the center of the off-front wheel of car body in the turning radius turn left when moving；

Wherein i indicates which section distance, i=1,2 ... N.

2. the method according to claim 1, wherein the method also includes:

When receiving adjusting operation, movement car body is generated according to operation and the current motion state of adjusting Target state；

The movement car body is calculated when to receive at the time of the adjusting operates to originate according to the target state Target guiding parameter in the preset time period at quarter；

The target guiding parameter is added in described image.

3. the method according to claim 1, wherein described be added to the figure for the current guiding parameter As in, comprising:

According in the image being located in front of the movement car body image coordinate of each position in described image coordinate system and The current guiding parameter is added to described image by image coordinate of each target position in described image coordinate system In.

4. according to the method described in claim 3, it is characterized in that, described obtain each target position in described image coordinate system In image coordinate, comprising:

In the corresponding relationship, calculates separately car body coordinate of each target position in bodywork reference frame and sat in described image Corresponding image coordinate in mark system.

5. a kind of guiding parameter displaying device, which is characterized in that described device includes:

First obtains module, for obtaining the current motion state of movement car body；Current motion state includes the movement The current front-wheel steer angle of car body, the current movement velocity of the movement car body and the movement car body it is current Acceleration of motion；

First computing module is being starting with current time for calculating the movement car body according to the current motion state Current guiding parameter in the preset time period at moment；Current guiding parameter is including at least current motion profile and currently Movement destination；

Second obtains module, is located at the figure moved in front of car body for obtaining along the direction of motion for moving car body Picture；

Display module, for showing the described image for being added to the current guiding parameter；

First computing module includes:

Computing unit, it is every as starting point using the current location for calculating the movement car body according to the current motion state Move the target position when distance of identical path length；

Determination unit, for using a target position farthest apart from the current location as current movement destination；

Connection unit obtains the current movement rail of the movement car body for being attached obtained multiple target positions Mark；

Wherein, the computing unit, is also used to:

When movement car body carries out turning right since current time movement with current motion state: the center for moving car body is every The coordinate for moving the journey's end for the distance that a segment length is Δ S is (Xi=R-Rcos (i × Δ θ), Yi=Rsin (i × Δ θ)), wherein R is to move the center of car body in the turning radius turn right when moving, and Δ θ is the distance institute that length is Δ S In the corresponding central angle of circular arc；When the path length for moving the distance of center movement of car body is Δ S, the left front of car body is moved The path length of the distance of the center movement of wheel is Δ Sl, and Δ Sl=Δ θ × Rl moves the every movement in center of the near front wheel of car body One segment length is that the coordinate of the journey's end of the distance of Δ Sl is (Xi=R-Rlcos (i × Δ θ), Yi=Rlsin (i × Δ θ)), wherein Rl is to move the center of the near front wheel of car body in the turning radius turn right when moving；When in movement car body When the path length of the distance of heart movement is Δ S, the distance degree for moving the distance of the center movement of the off hind wheel of car body is Δ Sr, Δ Sr=Δ θ × Rr, the journey's end for the distance that center one segment length of every movement for moving the off hind wheel of car body is Δ Sr Coordinate is (Xi=R-Rrcos (i × Δ θ), Yi=Rrsin (i × Δ θ)), and wherein Rr is the center for moving the off hind wheel of car body Turning radius when turn right movement；

When movement car body carries out since current time movement with current motion state: the center for moving car body is every The coordinate for moving the journey's end for the distance that a segment length is Δ S is (Xi=Rcos (i × Δ θ)-R, Yi=Rsin (i × Δ θ)), wherein R is to move the center of car body in the turning radius turn left when moving；When the center movement for moving car body When the path length of distance is Δ S, the path length for moving the distance of the center movement of the left rear wheel of car body is Δ Sl, Δ Sl= The coordinate of Δ θ * Rl, the journey's end for the distance that center one segment length of every movement for moving the left rear wheel of car body is Δ Sl are (Xi =Rlcos (i × Δ θ)-R, Yi=Rlsin (i × Δ θ)), wherein Rl is that the center of the left rear wheel of movement car body is being turned left Turning radius when curved movement；When the path length for moving the distance of center movement of car body is Δ S, before the right side for moving car body The path length of the distance of the center movement of wheel is Δ Sr, and Δ Sr=Δ θ * Rr moves the every movement in center of the off-front wheel of car body One segment length is that the coordinate of the journey's end of the distance of Δ Sr is (Xi=Rrcos (i × Δ θ)-R, Yi=Rrsin (i × Δ θ)), wherein Rr is to move the center of the off-front wheel of car body in the turning radius turn left when moving；

Wherein i indicates which section distance, i=1,2 ... N.

6. device according to claim 5, which is characterized in that described device further include:

Detection module, for detecting whether receiving the adjusting behaviour that the current motion state of the movement car body is adjusted Make；

Generation module, for being operated and the current motion state according to the adjusting when receiving adjusting operation Generate the target state of movement car body；

Second computing module is grasped for calculating the movement car body according to the target state to receive the adjusting It is the target guiding parameter in the preset time period of initial time at the time of work；

7. device according to claim 5, which is characterized in that first adding module includes:

Second acquisition unit, for obtaining each position in the image being located in front of the movement car body in image coordinate system Image coordinate；

Adding unit is located at each position in the image in front of the movement car body for basis in described image coordinate system Image coordinate in described image coordinate system of image coordinate and each target position, the current guiding parameter is added Into described image.

8. device according to claim 7, which is characterized in that the third acquiring unit includes:

Subelement is obtained, for obtaining pair between the car body coordinate in image coordinate and bodywork reference frame in image coordinate system It should be related to；

Computation subunit, for calculating separately car body of each target position in bodywork reference frame in the corresponding relationship Coordinate corresponding image coordinate in described image coordinate system.