CN101059351A - Vehicle backing track assistant method - Google Patents
Vehicle backing track assistant method Download PDFInfo
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- CN101059351A CN101059351A CN 200610076610 CN200610076610A CN101059351A CN 101059351 A CN101059351 A CN 101059351A CN 200610076610 CN200610076610 CN 200610076610 CN 200610076610 A CN200610076610 A CN 200610076610A CN 101059351 A CN101059351 A CN 101059351A
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Abstract
The invention relates to a vehicle reverse track auxiliary method, for providing reverse track to driver, used in reverse drive. The invention uses image technique to calculate a steering signal of steering wheel via a track database or math equation, and displays the calculated result on a display, uses the distance with obstacle obtained by an ultrasonic ranging radar as a reference of internal image process, to provide a vehicle reverse track auxiliary method with instant quick reaction, high adaptability and simple installment, to reduce cost.
Description
Technical field
The present invention relates to a kind of track assistant method of technical field of vehicle, particularly relate to the vehicle backing track assistant method that a kind of mode by image processing is assisted vehicle backing.
Background technology
Early stage vehicle is being moveed backward when parking or turning round, need mostly to move backward by the mode of experience and range estimation or other people's assistance, therefore in the use of vehicle, cause many inconvenience, therefore existing vehicle is to install a radar for backing car on the car body rear bumper arm, it mainly is the principle by ultrasonic radar inductor transmitting-receiving signal, responds to the distance of reflection wave interlude and barrier;
Yet, though existing vehicle backing radar generally cooperate be provided with hummer remind the driver and arround the personage note, use and bump against article or the personnel that are positioned at the automobile rear when avoiding moveing backward accidentally, but still need by rearview mirror and experience, can be with vehicle parking to the desired position, therefore quite inconvenience for new hand; Though moreover have the dealer that video camera is installed in to use the image of watching rear view of vehicle on the rear bumper arm, park or turn round to assist to drive, but still need by experience accumulation for a long time and get for the prediction of vehicle driving trace.
This shows that above-mentioned existing vehicle backing householder method obviously still has inconvenience and defective, and demands urgently further being improved in structure and use.In order to solve the problem that the vehicle backing householder method exists, relevant manufacturer there's no one who doesn't or isn't seeks solution painstakingly, but do not see always that for a long time suitable design finished by development, and common product does not have appropriate structure to address the above problem, and this obviously is the problem that the anxious desire of relevant dealer solves.
Because the defective that above-mentioned existing vehicle backing householder method exists, the design people is based on being engaged in this type of product design manufacturing abundant for many years practical experience and professional knowledge, and the utilization of cooperation scientific principle, actively studied innovation, in the hope of founding a kind of vehicle backing track assistant method of new structure, can improve general existing vehicle backing householder method, make it have more practicality.Through constantly research, design, and after studying sample and improvement repeatedly, create the present invention who has practical value finally.
Summary of the invention
Fundamental purpose of the present invention is, overcome inconvenience and defective that above-mentioned existing vehicle backing householder method exists, and provide a kind of vehicle backing track assistant method of new structure, technical matters to be solved is to make it can use the vehicle backing track path of being predicted, assisting driving to move backward parks or rotating utilization, reach the security and the Practical Benefit that promote vehicle, thereby be suitable for practicality more.
The object of the invention to solve the technical problems is to adopt following technical scheme to realize.According to a kind of vehicle backing track assistant method that the present invention proposes, it may further comprise the steps: one is installed in the reversing inductor of vehicle gear bar, and it mainly is the TouchSensor that is used for when driving the execution reverse action; One with the steering wheel angle meter interface that is connected of reversing inductor, it is that the angle value that bearing circle is rotated transmits; One with the image acquisition unit that is connected of reversing inductor, it is to be one in order to take the image acquisition unit of rear view of vehicle image; The one ultrasonic reversing range radar that is connected with the reversing inductor begins start and obtains the data of a radar and obstacle distance when vehicle enters reverse gear; The auxiliary footprint processor of one reversing, it is to be connected with steering wheel angle meter interface, the instant signal of its transmission is carried out the computing of backing track; The one image output display device that is connected with image acquisition unit, footprint processor and ultrasonic reversing range radar simultaneously, its mainly be with the image of image acquisition unit with after the backing track of footprint processor computing is superimposed, the results are shown on the image output display device; An and correction method of adjustment that is arranged between footprint processor and ultrasonic reversing range radar, it mainly is that ultrasonic is moveed backward after range radar detecting and the calibrated method of adjustment of the distance of barrier, numerical value is transferred in the footprint processor, for the reference of footprint processor as accurate computing.
The object of the invention to solve the technical problems can also be further achieved by the following technical measures.
Aforesaid vehicle backing track assistant method, wherein said steering wheel angle interface is to include a steering wheel angle to take into account an interface processor, this steering wheel angle meter is to link with wheel steering column or power direction machine, an instant signal can be provided when making bearing circle carry out start and be sent to the interface processor.
Aforesaid vehicle backing track assistant method, wherein said image acquisition unit are to include a reversing video camera and a picture reverser that is installed in the car body rear, carry out picture and are inverted by will the move backward image of video camera of this picture reverser.
Aforesaid vehicle backing track assistant method; wherein said footprint processor is a data bank; and formed by an angle data bank and an angle backing track picture; this angle data bank is to include to have direction to face left/the corner data of right different angles; and visual each dead point, car type bearing circle left and right sides total angle value of the corner density of this data bank (angular interval of every scale); the ability of human eye vision identification and image data storehouse processor and deciding; and angle backing track picture is the corresponding backing track picture of each scale corner in the angle data bank to be subdivided into several Zhang Jinhang store; when data bank receives the signal that the steering wheel angle meter transmitted, can have access to the track picture that wherein conforms to steering wheel angle.
Aforesaid vehicle backing track assistant method, wherein said footprint processor is a mathematical equation, be that the signal that the steering wheel angle meter transmits is exported and the corresponding track of vehicle of this steering wheel angle so that mathematical way is instant, it is characteristic such as the wheelbase that utilizes the hardware of vehicle own, wheelspan, turning angle of steering wheel, data such as reversing video camera setting height(from bottom) and angle calculate the backing track of vehicle, it includes one in order to calculate angle and the mathematical equation counter of wheel geometric locus and the mathematical equation counter of coordinate conversion and perspective projection, the signal of steering wheel angle meter interface is carried out computing via the mathematical equation counter that calculates geometric locus, calculate and be resent to behind the backing track curve of vehicle reality in coordinate conversion and the perspective projection mathematical equation counter, the actual path curve is converted to the image coordinate geometric locus of a wide-angle curved surface camera lens.
Aforesaid vehicle backing track assistant method; wherein said image output display device is to include screen display device in an image processor and the car; by image processor footprint processor being compiled the captured rear view of vehicle of the backing track picture finished and the image acquisition unit picture that is inverted is superimposed; and picture sent in the car on the screen display device; to predict when it carries out reverse action the backing track of the different corners of steering wheel rotation.
Aforesaid vehicle backing track assistant method is wherein established one the 5th and is taken turns the angle gauge interface between steering wheel angle meter interface and footprint processor, it is to do binding with towing trol(l)ey the 5th wheel seat, and the signal of its rotational angle is sent to footprint processor.
Aforesaid vehicle backing track assistant method; wherein said footprint processor is a data bank; and formed by an angle data bank and an angle backing track picture; this angle data bank is to include to have direction to face left/the corner data of right different angles; and visual each dead point, car type bearing circle left and right sides total angle value of the corner density of this data bank (angular interval of every scale); the ability of human eye vision identification and image data storehouse processor and deciding; and angle backing track picture is the corresponding backing track picture of each scale corner in the angle data bank to be subdivided into several Zhang Jinhang store; when data bank receives the signal that the steering wheel angle meter transmitted, can have access to the track picture that wherein conforms to steering wheel angle.
Aforesaid vehicle backing track assistant method, wherein said footprint processor is a mathematical equation, be that the signal that the steering wheel angle meter transmits is exported and the corresponding track of vehicle of this steering wheel angle so that mathematical way is instant, it is characteristic such as the wheelbase that utilizes the hardware of vehicle own, wheelspan, turning angle of steering wheel, data such as reversing video camera setting height(from bottom) and angle calculate the backing track of vehicle, it includes one in order to calculate angle and the mathematical equation counter of wheel geometric locus and the mathematical equation counter of coordinate conversion and perspective projection, the signal of steering wheel angle meter interface is carried out computing via the mathematical equation counter that calculates geometric locus, calculate and be resent to behind the backing track curve of vehicle reality in coordinate conversion and the perspective projection mathematical equation counter, the actual path curve is converted to the image coordinate geometric locus of a wide-angle curved surface camera lens.
Aforesaid vehicle backing track assistant method; wherein said image output display device is to include screen display device in an image processor and the car; by image processor footprint processor being compiled the captured rear view of vehicle of the backing track picture finished and the image acquisition unit picture that is inverted is superimposed; and picture sent in the car on the screen display device; to predict when it carries out reverse action; the backing track of the different corners of steering wheel rotation; establishing one the 5th between steering wheel angle meter interface and footprint processor takes turns the angle gauge interface in addition; it is to do binding with towing trol(l)ey the 5th wheel seat, and the signal of its rotational angle is sent to footprint processor.
The present invention compared with prior art has tangible advantage and beneficial effect.By above technical scheme as can be known, in order to reach aforementioned goal of the invention, the technological means that the present invention used is to provide a kind of vehicle backing track assistant method, it comprises: one is installed in the reversing inductor of vehicle gear bar, and it mainly is the TouchSensor that is used for when driving the execution reverse action; One with the steering wheel angle meter interface that is connected of reversing inductor, it is that the angle value that bearing circle is rotated transmits; One with the image acquisition unit that is connected of reversing inductor, it is to be one in order to take the image acquisition unit of rear view of vehicle image; The one ultrasonic reversing range radar that is connected with the reversing inductor begins start and obtains the data of a radar and obstacle distance when vehicle enters reverse gear; The auxiliary footprint processor of one reversing, it is to be connected with steering wheel angle meter interface, the instant signal of its transmission is carried out the computing of backing track; The one image output display device that is connected with image acquisition unit, footprint processor and ultrasonic reversing range radar simultaneously, its mainly be with the image of image acquisition unit with after the backing track of footprint processor computing is superimposed, the results are shown on the image output display device; An and correction method of adjustment that is arranged between footprint processor and ultrasonic reversing range radar, it mainly is that ultrasonic is moveed backward after range radar detecting and the calibrated method of adjustment of the distance of barrier, numerical value is transferred in the footprint processor, for the reference of footprint processor as accurate computing.
The invention relates to a kind of vehicle backing track assistant method, so that the driver to be provided the backing track in vehicle backing time precognition vehicle, it mainly is to carry out computing by the application of an image technology and with the signal of steering wheel angle via track data bank or mathematical equation, and operation result is affixed on the picture of image output display device, and utilize ultrasonic range radar gained and obstacle distance, come calibration reference for inner image processing, using provides a rapid reaction immediately, the high vehicle backing track assistant method easy with installing of applicability effectively reduces fabricator and consumer's cost burden.
By technique scheme, vehicle backing track assistant method of the present invention has following advantage at least:
1, immediate reaction: vehicle backing track assistant method of the present invention can be when steering wheel rotation, immediately and apace by after image technology and the backing track calculation process, its predicted path is shown on the screen display device in the car, make the user can know and clearly learn the relation of bearing circle rotational angle, backing track and actual image, to revise and to adjust, effectively reach the operation of auxiliary user's reversing, promote security and practical usefulness that vehicle uses relatively.
2, applied range: vehicle backing track assistant method of the present invention is applicable to dissimilar vehicles such as general car, Recreational Vehicle, truck or binding car, promotes its value of the product and variability relatively.
3, installing is easy: vehicle backing track assistant method of the present invention is to combine with vehicle by easy related elements, and does not need complicated circuit or equipment can reach the effect of precognition backing track, reduces fabricator and consumer's cost burden relatively.
In sum, the vehicle backing track assistant method of special construction of the present invention, it can use the vehicle backing track path of being predicted, assists driving to move backward and parks or rotating utilization, can promote the security and the Practical Benefit of vehicle.It has above-mentioned many advantages and practical value, and in like product, do not see have similar structural design to publish or use and really genus innovation, no matter it structurally or bigger improvement all arranged on the function, have large improvement technically, and produced handy and practical effect, and more existing vehicle backing householder method has the multinomial effect of enhancement, thus be suitable for practicality more, and have the extensive value of industry, really be a new and innovative, progressive, practical new design.
Above-mentioned explanation only is the general introduction of technical solution of the present invention, for can clearer understanding technological means of the present invention, and can be implemented according to the content of instructions, below with preferred embodiment of the present invention and conjunction with figs. describe in detail as after.
The specific embodiment of the present invention is provided in detail by following examples and accompanying drawing thereof.
Description of drawings
Fig. 1 is the process flow diagram of vehicle backing track assistant method of the present invention.
Fig. 2 is the synoptic diagram of steering wheel angle meter interface of the present invention.
Fig. 3 is the synoptic diagram of image acquisition unit of the present invention.
Fig. 4 is the synoptic diagram of ultrasonic reversing range radar of the present invention.
Fig. 5 is the synoptic diagram of footprint processor of the present invention.
Fig. 6 is the synoptic diagram of data bank of the present invention.
Fig. 7 is the synoptic diagram of mathematical equation of the present invention.
Fig. 8 is the synoptic diagram of image output display device of the present invention.
Fig. 9 is another vehicle backing track assistant method process flow diagram of the present invention.
Figure 10 is the present invention's the 5th horn ring angle gauge interface synoptic diagram.
1: the reversing inductor
2: steering wheel angle meter interface
21: the steering wheel angle meter
22: the interface processor
Take turns angle gauge interface at the 2 ': the 5th
21 ': the 5th takes turns angle gauge
Take turns interface processor at the 22 ': the 5th
3: image acquisition unit
31: the reversing video camera
32: the picture reverser
4: ultrasonic reversing range radar
5: the auxiliary footprint processor of reversing
6: data bank
61: the angle data bank
62: angle backing track picture
7: mathematical equation
71: the mathematical equation counter of wheel geometric locus
72: coordinate conversion and perspective projection mathematical equation counter
8: the image output display device
81: image processor
82: screen display device in the car
9: proofread and correct method of adjustment
Embodiment
Reach technological means and the effect that predetermined goal of the invention is taked for further setting forth the present invention, below in conjunction with accompanying drawing and preferred embodiment, to its embodiment of vehicle backing track assistant method, structure, feature and the effect thereof that foundation the present invention proposes, describe in detail as after.
The present invention is a kind of vehicle backing track assistant method, and please referring to Fig. 1-Fig. 8, it is provided with:
One is installed in the reversing inductor 1 of vehicle gear bar, and it mainly is the inductor 1 that is used for when driving the execution reverse action, as triggering the start that starts following apparatus;
One with the steering wheel angle meter interface 2 that is connected of reversing inductor 1, it is that the angle that bearing circle is rotated transmits with numerical digit or analogical pattern, and include a steering wheel angle meter 21 and an interface processor 22, when entering the reverse gear action and can drive steering wheel angle meter 21 behind the priming inductor 1, driver's execution carry out start, and this steering wheel angle meter 21 is and wheel steering column or power direction machine link, and an instant numerical digit or an analog signal can be provided when making bearing circle carry out start and be sent to interface processor 22;
One with the image acquisition unit 3 that is connected of reversing inductor 1, it is to be an image acquisition unit 3 in order to shooting rear view of vehicle image, it is to include a reversing video camera 31 and a picture reverser 32 that is installed in the car body rear, carries out picture and is inverted by will the move backward image of video camera 31 of this picture reverser 32;
The one ultrasonic reversing range radar 4 that is connected with reversing inductor 1, it begins start when vehicle is entered reverse gear, when range radar detects barrier, just can calculate and obtain the data of a radar and obstacle distance;
The auxiliary footprint processor 5 of one reversing, it is to be connected with steering wheel angle meter interface 2, the instant numerical digit or the analog signal that are sent to interface processor 22 are carried out computing, wherein this footprint processor 5 is to carry out calculation process by a data bank 6 or a mathematical equation 7, wherein this data bank 6 is made up of an angle data bank 61 and an angle backing track picture 62, this angle data bank 61 is to include direction and face left/the corner data of right different angles, and visual each dead point, car type bearing circle left and right sides total angle value of the corner density of this data bank 6 (angular interval of every scale), the human eye vision identification, decide with the ability of footprint processor 5 in image data storehouse 6, and angle backing track picture 62 is the corresponding backing track picture of each scale corner in the angle data bank 61 to be subdivided into several Zhang Jinhang store, therefore when as long as data bank receives the signal that steering wheel angle meter 2 transmitted, can have access to the track picture 62 that wherein conforms to steering wheel angle, when making the driver carry out reversing, auxiliary by the track picture of having access to out 62, the angle modification of instant travel direction dish;
And mathematical equation 7, be that the signal that steering wheel angle meter 2 transmits is exported the pairing track of vehicle of this steering wheel angle immediately with mathematical way, it is characteristic such as the wheelbase that utilizes the hardware of vehicle own, wheelspan, turning angle of steering wheel, data such as reversing video camera 31 setting height(from bottom)s and angle calculate the backing track of vehicle, it includes one in order to calculate angle and the mathematical equation counter 71 of taking turns geometric locus and coordinate conversion and perspective projection mathematical equation counter 72, the signal of steering wheel angle meter interface 2 is carried out computing via the mathematical equation counter 71 that calculates geometric locus, calculate and be resent to behind the backing track curve of vehicle reality in coordinate conversion and the perspective projection mathematical equation counter 72, the actual path curve is converted to the image coordinate geometric locus of a wide-angle curved surface camera lens;
One while and image acquisition unit 3, the image output display device 8 that footprint processor 5 and ultrasonic reversing range radar 4 are connected, it mainly is that rear view of vehicle with image acquisition unit 3 image that is inverted is superimposed with backing track through footprint processor 5 computings and is shown on the image output display device 8, predict the actual backing track of vehicle for the driver, it includes screen display device 82 in an image processor 81 and the car, by image processor 81 data bank 6 or mathematical equation 7 being compiled the backing track picture finished and the image acquisition unit 3 captured rear view of vehicle picture that is inverted is superimposed, and picture sent in the car on the screen display device 82, the driver can be indicated by the track on the screen, be able to correctly also carry out reverse action easily, and do not need to stop or turn round vehicle via rearview mirror or experience again; And
One is arranged at the correction method of adjustment 9 of 4 of footprint processor 5 and ultrasonic reversing range radars, it mainly is that ultrasonic is moveed backward after the calibrated method of adjustment 9 of distance of 4 detectings of range radar and barrier, numerical value is transferred in the footprint processor 5, for the reference of footprint processor 5 as accurate computing.
In addition, install vehicle backing track assistant method of the present invention on the car if desire in the towing trol(l)ey semitrailer or link, then can and shown in Figure 10ly take turns angle gauge interface 2 ' as Fig. 9 in 5 installings one the 5th of steering wheel angle meter interface 2 and footprint processor, it is to do binding with towing trol(l)ey the 5th wheel seat, its corner is sent to footprint processor 5 with numerical digit or analog signal, it includes one the 5th and takes turns angle gauge 21 ' and the 5th and take turns interface processor 22 ', when the driver carries out reverse action, after the signal input of bearing circle, the 5th takes turns angle gauge 21 ' promptly begins start, take turns angle gauge and can produce an instant numerical digit or an analog signal this moment the different the 5th, and take turns interface processor 22 ' via the 5th this signal is sent to footprint processor 5, do follow-up processing.
The above, it only is preferred embodiment of the present invention, be not that the present invention is done any pro forma restriction, though the present invention discloses as above with preferred embodiment, yet be not in order to limit the present invention, any those skilled in the art, in the scope that does not break away from technical solution of the present invention, when the technology contents that can utilize above-mentioned announcement is made a little change or is modified to the equivalent embodiment of equivalent variations, in every case be not break away from the technical solution of the present invention content, foundation technical spirit of the present invention is to above any simple modification that embodiment did, equivalent variations and modification all still belong in the scope of technical solution of the present invention.
Claims (10)
1. vehicle backing track assistant method is characterized in that it may further comprise the steps:
One is installed in the reversing inductor of vehicle gear bar, and it mainly is the TouchSensor that is used for when driving the execution reverse action;
One with the steering wheel angle meter interface that is connected of reversing inductor, it is that the angle value that bearing circle is rotated transmits;
One with the image acquisition unit that is connected of reversing inductor, it is to be one in order to take the image acquisition unit of rear view of vehicle image;
The one ultrasonic reversing range radar that is connected with the reversing inductor begins start and obtains the data of a radar and obstacle distance when vehicle enters reverse gear;
The auxiliary footprint processor of one reversing, it is to be connected with steering wheel angle meter interface, the instant signal of its transmission is carried out the computing of backing track;
The one image output display device that is connected with image acquisition unit, footprint processor and ultrasonic reversing range radar simultaneously, its mainly be with the image of image acquisition unit with after the backing track of footprint processor computing is superimposed, the results are shown on the image output display device; And
One is arranged at the correction method of adjustment between footprint processor and ultrasonic reversing range radar, it mainly is that ultrasonic is moveed backward after range radar detecting and the calibrated method of adjustment of the distance of barrier, numerical value is transferred in the footprint processor, for the reference of footprint processor as accurate computing.
2, vehicle backing track assistant method according to claim 1, it is characterized in that wherein said steering wheel angle interface is to include a steering wheel angle to take into account an interface processor, this steering wheel angle meter is to link with wheel steering column or power direction machine, an instant signal can be provided when making bearing circle carry out start and be sent to the interface processor.
3, vehicle backing track assistant method according to claim 1 and 2, it is characterized in that wherein said image acquisition unit is to include a reversing video camera and a picture reverser that is installed in the car body rear, carry out picture and be inverted by will the move backward image of video camera of this picture reverser.
4; vehicle backing track assistant method according to claim 3; it is characterized in that wherein said footprint processor is a data bank; and formed by an angle data bank and an angle backing track picture; this angle data bank is to include to have direction to face left/the corner data of right different angles; and visual each dead point, car type bearing circle left and right sides total angle value of the corner density of this data bank (angular interval of every scale); the ability of human eye vision identification and image data storehouse processor and deciding; and angle backing track picture is the corresponding backing track picture of each scale corner in the angle data bank to be subdivided into several Zhang Jinhang store; when data bank receives the signal that the steering wheel angle meter transmitted, can have access to the track picture that wherein conforms to steering wheel angle.
5, vehicle backing track assistant method according to claim 3, it is characterized in that wherein said footprint processor is a mathematical equation, be that the signal that the steering wheel angle meter transmits is exported and the corresponding track of vehicle of this steering wheel angle so that mathematical way is instant, it is characteristic such as the wheelbase that utilizes the hardware of vehicle own, wheelspan, turning angle of steering wheel, data such as reversing video camera setting height(from bottom) and angle calculate the backing track of vehicle, it includes one in order to calculate angle and the mathematical equation counter of wheel geometric locus and the mathematical equation counter of coordinate conversion and perspective projection, the signal of steering wheel angle meter interface is carried out computing via the mathematical equation counter that calculates geometric locus, calculate and be resent to behind the backing track curve of vehicle reality in coordinate conversion and the perspective projection mathematical equation counter, the actual path curve is converted to the image coordinate geometric locus of a wide-angle curved surface camera lens.
6, according to claim 4 or 5 described vehicle backing track assistant methods; it is characterized in that wherein said image output display device is to include screen display device in an image processor and the car; by image processor footprint processor being compiled the captured rear view of vehicle of the backing track picture finished and the image acquisition unit picture that is inverted is superimposed; and picture sent in the car on the screen display device; to predict when it carries out reverse action the backing track of the different corners of steering wheel rotation.
7, vehicle backing track assistant method according to claim 6, it is characterized in that wherein establishing one the 5th between steering wheel angle meter interface and footprint processor takes turns the angle gauge interface, it is to do binding with towing trol(l)ey the 5th wheel seat, and the signal of its rotational angle is sent to footprint processor.
8; vehicle backing track assistant method according to claim 1; it is characterized in that wherein said footprint processor is a data bank; and formed by an angle data bank and an angle backing track picture; this angle data bank is to include to have direction to face left/the corner data of right different angles; and visual each dead point, car type bearing circle left and right sides total angle value of the corner density of this data bank (angular interval of every scale); the ability of human eye vision identification and image data storehouse processor and deciding; and angle backing track picture is the corresponding backing track picture of each scale corner in the angle data bank to be subdivided into several Zhang Jinhang store; when data bank receives the signal that the steering wheel angle meter transmitted, can have access to the track picture that wherein conforms to steering wheel angle.
9, vehicle backing track assistant method according to claim 1, it is characterized in that wherein said footprint processor is a mathematical equation, be that the signal that the steering wheel angle meter transmits is exported and the corresponding track of vehicle of this steering wheel angle so that mathematical way is instant, it is characteristic such as the wheelbase that utilizes the hardware of vehicle own, wheelspan, turning angle of steering wheel, data such as reversing video camera setting height(from bottom) and angle calculate the backing track of vehicle, it includes one in order to calculate angle and the mathematical equation counter of wheel geometric locus and the mathematical equation counter of coordinate conversion and perspective projection, the signal of steering wheel angle meter interface is carried out computing via the mathematical equation counter that calculates geometric locus, calculate and be resent to behind the backing track curve of vehicle reality in coordinate conversion and the perspective projection mathematical equation counter, the actual path curve is converted to the image coordinate geometric locus of a wide-angle curved surface camera lens.
10; vehicle backing track assistant method according to claim 1; it is characterized in that wherein said image output display device is to include screen display device in an image processor and the car; by image processor footprint processor being compiled the captured rear view of vehicle of the backing track picture finished and the image acquisition unit picture that is inverted is superimposed; and picture sent in the car on the screen display device; to predict when it carries out reverse action; the backing track of the different corners of steering wheel rotation; establishing one the 5th between steering wheel angle meter interface and footprint processor takes turns the angle gauge interface in addition; it is to do binding with towing trol(l)ey the 5th wheel seat, and the signal of its rotational angle is sent to footprint processor.
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| CN2006100766105A CN101059351B (en) | 2006-04-19 | 2006-04-19 | Vehicle backing track assistant device |
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| CN101753827B (en) * | 2008-12-04 | 2012-05-23 | 财团法人工业技术研究院 | Image capturing device angle deciding method and vehicle collision warning system thereof |
| CN101582164B (en) * | 2009-06-24 | 2012-07-18 | 北京万得嘉瑞汽车技术有限公司 | Image processing method of parking assist system |
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| CN112721803A (en) * | 2020-12-28 | 2021-04-30 | 深圳市路畅科技股份有限公司 | Rapid display system and method for dynamic reversing track and application thereof |
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