CN102795166A - Backing track guide method - Google Patents
Backing track guide method Download PDFInfo
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- CN102795166A CN102795166A CN201110136394XA CN201110136394A CN102795166A CN 102795166 A CN102795166 A CN 102795166A CN 201110136394X A CN201110136394X A CN 201110136394XA CN 201110136394 A CN201110136394 A CN 201110136394A CN 102795166 A CN102795166 A CN 102795166A
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- gyroscope
- backing track
- detecting device
- speed
- control setup
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Abstract
The invention relates to a backing track guide method. A system at least comprises a gyroscope, a monitor, a display, a speed detector and a control device. Parameters detected by the gyroscope and the speed detector, which serve as sensors, are supplied to the control device for operation; the control device marks a preset parking position in an image acquired by the monitor, acquires relative coordinates of the current position and the preset parking position and estimates a parking initial position; and the current position is displayed and a guide track between the parking initial position and the preset parking position is marked on the display, so that a driver is guided to safely park.
Description
Technical field
The present invention is relevant for a kind of backing track guidance method; The method utilizes gyroscope and speed detecting device to be the measured parameter of sensor; After offering the control setup computing, and on display screen, indicate the backing track that predetermined parking space is put, guide steerman by this and fast and safely move backward.
Background technology
The security needs of driving rely on highly wholwe-hearted and adaptability to changes, people Chang Yinwei drive divert one's attention, tired formation dangerous driving, the safety that endangers self and other people causes the loss of life and property.Therefore in recent years in the development of vehicle, the direction towards electronization, safe develops gradually, attempts to develop all kinds of electronics or the driver assistance people of mechanism driving.
Parking is that new hand drives and the women drives and often feels the problem of having a headache, owing to lack experience the awkward situation that often causes the car body damage and can't get into the parking lattice smoothly for direction operation, obstacle observation, garage's track and parking space judgement etc.; Even if drive the veteran, identical parking problem also takes place under unfamiliar parking environment easily, especially in crowded big city area, the problem of parking is especially to driver's test.Except parking space is judged, for bearing circle operation and vehicle dynamic reaction, also be important problem in stopping, the driver who lacks experience possibly must repeatable operation bearing circle, still fails the correct car that stopped.
The parking guide mode that the most often uses at present cooperates the caution audio unit for utilizing the distance sensing device, informs the rough distance of driver and obstacle with the length variation of sound.The meeting that has provides the driver picture of moveing backward increasing video camera and telltale, makes the driver can know the situation arround the car.If but driver technology is not enough or the place that said apparatus can't detect, the driver still can't be smoothly with car stops to preposition, also may with arround obstacle produce collision; Therefore there is the people to be directed against this problem and proposes parking assistance system (like tw Taiwan I229645 patent case); This case is utilized the cireular frequency of a yaw rate perceptron perception vehicle shift angle direction, and draws the track in a reversing forecast path, and steerman can stop according to this track; Though it can effectively guide parking; But still have its inconvenience, promptly when steerman will stop, all must comply with the present situation of " curb parking " or " reversing warehouse-in "; Select the switch of its guiding to be the former or the latter, so very inconvenient in operation.
In addition; More the someone utilizes the foundation (like tw Taiwan I1288718 patent case) of radius of rotation as guiding; But between the anglec of rotation of its anglec of rotation of bearing circle and inside and outside tire; But have the whether correct problem in location, so its parameter of estimating often loses the condition of agreeing to do a favour, so also nonideal guidance system.
Moreover, and for example shown in Figure 1, be tw Taiwan I315271 patent case; It utilizes a plurality of distance and images apart from detector 111,112,113,114, CIS 121,122 detecting car body both sides, and with diaxon rotary sensing unit and use gyroscope to judge the orientation of vehicle, therefore in reversing process; After must wait obtaining distance parameter, could plan and demonstrate lead track, a disappearance is greatly so arranged; Be exactly to be difficult for reaching before reversing gets into the parking lattice; Precisely whether anticipation reversing angle is correct, and when correct lead track occurs, and often has been too near the position of obstacle.In this case, steerman then must be compelled to readjust headstock and move backward for the sake of security, and is in fact strict, the backing system that this case neither be desirable.
Summary of the invention
In view of this; The purpose of this invention is to provide a kind of backing track guidance method; Mainly be to utilize gyroscope and speed detecting device to be the measured parameter of sensor; After offering the control setup computing, and on display screen, indicate the reversing lead track that predetermined parking space is put, guide steerman by this and fast and safely move backward.
For reaching above-mentioned purpose, the present invention is to be the backing track guidance system of sensor in that a kind of gyroscope capable of using and speed detecting device are provided, and it includes a gyroscope, a monitoring device, a telltale, a speed detecting device and a control setup, wherein:
This gyroscope, in order to detecting automobile rotational angular, this gyroscope is connected with this control setup to judge car orientation;
This monitoring device is installed in the automobile rear, with the image at acquisition automobile rear;
This telltale comprises display screen, and this telltale is installed in the interior front stall of car provides steerman to observe the lead track on the said display screen;
This speed detecting device is in order to capture GES so that road speed to be provided;
This control setup; Be connected with this gyroscope, this monitoring device, this telltale and this speed detecting device respectively, utilize this gyroscope and speed detecting device to be the measured parameter of sensor, utilize this parameter to calculate the numerical value of automobile rotational angular or angular acceleration, GES; After offering this control setup computing; This control setup sees through this monitoring device institute pick-up image picture, on this display screen, indicates a predetermined parking space and puts, to obtain the relational coordinate that present position and this predetermined parking space are put; And estimate a parking reference position; On this telltale, show present position, and indicate this parking reference position and the predetermined parking space lead track between putting, guide the steerman emergency by this.
The backing track guidance system of the invention described above, it more includes a Reverse Sensor.
The backing track guidance system of the invention described above, it more includes a loud speaker.
The backing track guidance system of the invention described above, wherein this telltale is a Liquid Crystal Display (LCD).
The backing track guidance system of the invention described above, wherein this telltale is a touch control display.
The speed detecting device of the invention described above, it is connected with automobile, and by this automobile acquisition GES.
For to reach above-mentioned purpose, the present invention more provides a kind of backing track guidance method again, and it comprises the steps:
A, provide a backing track guidance system, this backing track guidance system to include a gyroscope, a monitoring device, a display screen, a speed detecting device and a control setup;
B, this backing track guidance system of start utilize said gyroscope detecting automobile rotational angular, and by said speed detecting device road speed are provided;
C, said control setup are calculated radius of turn according to this cireular frequency and this road speed, calculate the lead track of reversing again according to this radius of turn;
D, the image that monitoring device is obtained and this lead track be superimposed to be shown in said display screen.
In this c step, this control setup is calculated angular velocity omega according to this gyroscope detecting, and captures GES so that road speed V to be provided by this speed detecting device, again according to mathematical equation V=ω * R, calculates the numerical value of radius of turn R.
In this b step, angular velocity omega is calculated in this gyroscope detecting, when this speed detecting device is an accelerometer; It records angular acceleration Yaw, according to mathematical way V=Yaw/ ω, calculates its road speed V earlier; And then, calculate the numerical value of this radius of turn R according to the mathematical equation V=ω * R in the c step.
Compared with prior art; Backing track guidance method of the present invention utilizes gyroscope and speed detecting device to be the measured parameter of sensor, offer the control setup computing after; And on display screen, indicate the backing track that predetermined parking space is put, guide steerman by this and fast and safely move backward.
Description of drawings
Fig. 1 is the scheme drawing of existing reversing guidance system detecting.
Fig. 2 is a system block diagrams of the present invention.
Fig. 3 is a reversing plan sketch of the present invention.
Fig. 4 is the another embodiment of the present invention system block diagrams.
Fig. 5 is the flow chart of steps of its method of the present invention.
Fig. 6 is diagram of work of the present invention (one).
Fig. 7 is diagram of work of the present invention (two).
Fig. 8 is diagram of work of the present invention (three).
111,112,113,114-is apart from detector description of reference numerals:; 121,122-CIS; 2-backing track guidance system; The 21-gyroscope; 22-monitoring device 23-telltale; The 230-display screen; 231-parking lattice; The 232-predetermined parking space is put; The 233-lead track; 24-speed detecting device; The 25-control setup; The 26-Reverse Sensor; The 27-loud speaker; 231 '-parking lattice; The 3-method; 31,32,33,34-step; The A-present position; B-parking reference position B; The C-automobile; The V-road speed; ω-cireular frequency; The R-radius of turn; The YAw-angular acceleration.
The specific embodiment
Shown in Figure 2, the block schematic diagram of backing track guidance system 2 of the present invention, this system includes a gyroscope 21, a monitoring device 22, a telltale 23, a speed detecting device 24 and a detection device 25 at least, wherein:
This gyroscope 21, in order to detecting automobile rotational angular ω, it is connected with this control setup 25, to judge the orientation (please consulting shown in Figure 3 simultaneously) of automobile C;
This monitoring device 22 is installed in automobile C rear, with the image at acquisition car rear;
This telltale 23, being installed in the interior front stall of car provides steerman to observe the lead track 233 (seeing also shown in Figure 6) on its display screen 230;
This speed detecting device 24 is in order to the acquisition GES;
This control setup 25; Connect this gyroscope 21, monitoring device 22 this telltale 23 and speed detecting devices 24, utilize this gyroscope 21 and speed detecting device 24 to be the measured parameter of sensor, utilize this parameter to calculate the numerical value of automobile rotational angular ω or angular acceleration Yaw, GES; After offering these control setup 25 computings; This control setup 25 sees through 22 pick-up image pictures of this monitoring device, on this display screen 230, indicates a predetermined parking space and puts 232, and cooperate this gyroscope 21 and speed detecting device 24 to obtain a present position A and this predetermined parking space to put 232 relational coordinate; Estimate a parking reference position B again; And on this telltale 23, show this present position, and indicate this parking reference position B and this predetermined parking space and put 232 lead track 233, the steerman emergency guided by this.
The telltale 23 of the invention described above, it is a Liquid Crystal Display (LCD).
The telltale 23 of the invention described above, it is a touch control screen.
The speed detecting device 24 of the invention described above is connected with automobile, and captures GES so that running speed V to be provided by this automobile.
The speed detecting device 24 of the invention described above is an accelerometer, and the angular acceleration Yaw that its detecting is calculated cooperates these gyroscope 21 detectings to calculate angular velocity omega, obtains running speed V.
As shown in Figure 4, backing track guidance system 2 of the present invention, it more includes a loud speaker 27, through being connected of this loud speaker 27 and control setup 25, can the reversing coherent signal be seen through this loud speaker 27 with sound equipment caution and guiding steerman.
The backing track guidance system 2 of the invention described above; It more includes a Reverse Sensor 26; With the obstacle of detecting on the reversing path, and detection signal is transferred to this control setup 25 through this Reverse Sensor 26, to see through this display screen 230 or loud speaker 27 with caution and guiding steerman.
The speed detecting device 24 of the invention described above, it is connected with automobile C, and by this automobile C acquisition GES.
See also shown in Figure 6; When steerman with automobile C reversing to the lattice 231 ' the place ahead of stopping (please consulting shown in Figure 3 simultaneously), and make this predetermined parking space put 232 pairs to go into the zone parking lattice 231 in this display screen 230, in the car rear image frame that this display screen 230 is shown at this moment; Also can demonstrate a lead track 233 simultaneously; When this lead track 233 and this predetermined parking space put 232 when overlapping, expression reversing in the right direction can be parked in the parking lattice 231 ' as long as fall back with straight line; If lead track 233 puts 232 and underlapped with predetermined parking space, steerman can judge whether this automobile C position aligns easily from the position of this lead track 233; When for example being partial to the right side (as shown in Figure 7); The bearing circle left-hand rotation angle of expression steerman is excessive, and this moment, steerman should be revised its astern direction and angle according to the guiding of this lead track 233; And along with the moving of automobile C, this lead track 233 also can correspondence become its position at random; If during lead track 233 deflection left sides (as shown in Figure 8), the bearing circle right turn angle of expression steerman is spent greatly, this moment, steerman should be revised its astern direction and angle according to the guiding of this lead track 233, by this with guiding steerman emergency.。
For reaching above-mentioned purpose, the present invention more provides a kind of backing track guidance method 3 under the basic framework of backing track guidance system 2, and it comprises the steps (as shown in Figure 5) at least:
One backing track guidance system 2 (step 31) is provided;
This backing track guidance system 2 of start utilizes gyroscope 21 detecting automobile rotational angular ω, and by speed detecting device 24 road speed V (step 32) is provided;
In the above-mentioned c step, this control setup 25 is calculated angular velocity omega according to these gyroscope 21 detectings, and captures GESs so that road speed V to be provided by this speed detecting device 24, again according to mathematical equation V=ω * R, calculates the numerical value of radius of turn R.
In the above-mentioned b step; Angular velocity omega is calculated in this gyroscope detecting, when this speed detecting device 24 is an accelerometer, and the angular acceleration Yaw that its detecting is calculated; According to mathematical way V=Yaw/ ω; Calculate its road speed V earlier, and then, calculate the numerical value of this radius of turn R according to the mathematical equation V=ω * R of c step.
In sum; Backing track guidance method of the present invention utilizes gyroscope and speed detecting device to be the measured parameter of sensor, offer the control setup computing after; And on display screen, indicate the backing track that a predetermined parking space is put, guide steerman by this and can fast and safely move backward.
The above is merely preferred embodiment of the present invention, when not limiting practical range of the present invention with this; The equalization of promptly being done according to its claim of the present invention generally changes and modifies, the scope that all belongs to patent of the present invention and contained.
Claims (3)
1. a backing track guidance method is characterized in that it comprises the steps:
A, provide a backing track guidance system, this backing track guidance system to include a gyroscope, a monitoring device, a display screen, a speed detecting device and a control setup;
B, this backing track guidance system of start utilize said gyroscope detecting automobile rotational angular, and by said speed detecting device road speed are provided;
C, said control setup are calculated radius of turn according to this cireular frequency and this road speed, calculate the lead track of reversing again according to this radius of turn;
D, the image that monitoring device is obtained and this lead track be superimposed to be shown in said display screen.
2. backing track guidance method as claimed in claim 1; It is characterized in that; In this c step, this control setup is calculated angular velocity omega according to this gyroscope detecting, and captures GES so that road speed V to be provided by this speed detecting device; According to mathematical equation V=ω * R, calculate the numerical value of radius of turn R again.
3. backing track guidance method as claimed in claim 2 is characterized in that, in this b step; Angular velocity omega is calculated in this gyroscope detecting, and when this speed detecting device was an accelerometer, it recorded angular acceleration Yaw; According to mathematical way V=Yaw/ ω; Calculate its road speed V earlier, and then, calculate the numerical value of this radius of turn R according to the mathematical equation V=ω * R in the c step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110136394XA CN102795166A (en) | 2011-05-25 | 2011-05-25 | Backing track guide method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110136394XA CN102795166A (en) | 2011-05-25 | 2011-05-25 | Backing track guide method |
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| CN102795166A true CN102795166A (en) | 2012-11-28 |
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| CN201110136394XA Pending CN102795166A (en) | 2011-05-25 | 2011-05-25 | Backing track guide method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103646298A (en) * | 2013-12-13 | 2014-03-19 | 中国科学院深圳先进技术研究院 | Automatic driving method and automatic driving system |
| CN108407784A (en) * | 2018-01-23 | 2018-08-17 | 内蒙古青杉汽车有限公司 | A kind of anticollision control method and device based on fuzzy control theory |
| CN108805075A (en) * | 2018-06-07 | 2018-11-13 | 宁夏大学 | Wheel trochoid acquisition methods, device and electronic equipment |
| CN109383517A (en) * | 2018-09-17 | 2019-02-26 | 深圳智游者科技有限公司 | Determine the method, apparatus and mobile unit of vehicle backing angle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103646298A (en) * | 2013-12-13 | 2014-03-19 | 中国科学院深圳先进技术研究院 | Automatic driving method and automatic driving system |
| CN108407784A (en) * | 2018-01-23 | 2018-08-17 | 内蒙古青杉汽车有限公司 | A kind of anticollision control method and device based on fuzzy control theory |
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| CN108805075A (en) * | 2018-06-07 | 2018-11-13 | 宁夏大学 | Wheel trochoid acquisition methods, device and electronic equipment |
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| CN109383517A (en) * | 2018-09-17 | 2019-02-26 | 深圳智游者科技有限公司 | Determine the method, apparatus and mobile unit of vehicle backing angle |
| CN109383517B (en) * | 2018-09-17 | 2021-07-23 | 深圳智游者科技有限公司 | Method and device for determining vehicle reversing angle and vehicle-mounted equipment |
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Application publication date: 20121128 |