CN105083124A - Integrated dynamic backing track video generation method and system - Google Patents
Integrated dynamic backing track video generation method and system Download PDFInfo
- Publication number
- CN105083124A CN105083124A CN201510592264.5A CN201510592264A CN105083124A CN 105083124 A CN105083124 A CN 105083124A CN 201510592264 A CN201510592264 A CN 201510592264A CN 105083124 A CN105083124 A CN 105083124A
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- vehicle body
- vehicle
- location
- video generation
- memory cell
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
Abstract
The invention discloses an integrated dynamic backing track video generation method and system. The backing track video generation method comprises the following steps that car backing track line pictures are prestored; car body location change information of a car is acquired, wherein the car body location change information is from an inertial sensor fixedly arranged on a car body, and the inertial sensor comprises a triaxial accelerometer, a triaxial gyroscope and a triaxial magnetometer; the prestored car backing track line picture corresponding to the car body location change information is called and displayed on a display in a superposition mode, and images displayed on the display are image information collected by a camera arranged behind the car. The integrated dynamic backing track video generation method and system are convenient to install, do not rely on software mounted on the car body and are suitable for all car types.
Description
Technical field
The present invention relates to vehicle backing track field of auxiliary, specifically provide a kind of integrated dynamic reverse track video and generate method and system.
Background technology
In society now, citizen's automobile pollution gets more and more, and the safety misadventure problem caused by reversing is also presenting increasing trend, and reversing safety problem also more and more receives the concern of society.Reversing aid system, can intuitively by the situation at car rear with visual pattern staining effect to chaufeur, simultaneously can show backing track line dynamically in real time again, move backward safely with driver assistance.But the reversing parking assistance system on existing market all needs adopt OBD decoder box and camera common mutually auxiliary and realize, during use, OBD decoder box needs to read corner of vehicle steering wheel information with former car communication, and then obtain backing track, its defect existed is the circuit needing to reequip former car, because former circuit is many and complicated, if arbitrarily repacking circuit can allow former car there is potential safety hazard; And needing professional to install OBD decoder box, its installation difficulty is comparatively large and cost cost is higher; In addition, OBD decoder box is only suitable for the vehicle with ESP/VSC system, and other vehicles cannot use the reversing parking assistance system of OBD system.
Therefore, how to research and develop a kind of vehicle-backing track viewing system being applicable to all vehicles, become people's problem demanding prompt solution.
Summary of the invention
Given this, a kind of integrated dynamic reverse track video is the object of the present invention is to provide to generate method and system, can only depend at least to solve existing vehicle-backing track viewing system the software that vehicle body carries, need the circuit of reequiping former car, the problems such as extendability difference.
For solving the problem, one aspect of the present invention provides a kind of integrated dynamic reverse track video generation method, comprises the steps:
S1: prestore vehicle backing track line chart sheet;
S2: the vehicle body change in location information obtaining vehicle, wherein, described vehicle body change in location information comes from the inertial sensor being fixedly installed on vehicle body, and described inertial sensor comprises triaxial accelerometer, three-axis gyroscope and three axle magnetometers;
S3: transfer the prestore vehicle backing track line chart sheet corresponding with described vehicle body change in location information, and by its Overlapping display on telltale, wherein, the image of described telltale display is the graphicinformation of the camera collection being arranged at rear view of vehicle.
Wherein, described step S2 specifically comprises the steps:
S201: obtain the 3-axis acceleration information of vehicle, three axis angular rate information and three axle Geomagnetism Informations by triaxial accelerometer, three-axis gyroscope and three axle magnetometers;
S202: the change in location information calculating vehicle according to described 3-axis acceleration information, three axis angular rate information and three axle Geomagnetism Informations.
Wherein, described step S3 specifically comprises the steps:
S301: preset vehicle body change in location trigger value;
S302: detect vehicle body location variation and whether equal default vehicle body change in location trigger value, if, corresponding with vehicle body location variation is prestored vehicle backing track line chart sheet Overlapping display on telltale, and using the reference value of vehicle body location information now as car body running orbit change next time, repeat this step, until terminate to generate video.
Preferably, in the vehicle backing track line chart sheet prestored, the vehicle body change in location value that every two track curvature of a curve immediate vehicle backing track line chart sheets are corresponding is certain value, described vehicle body change in location trigger value upgrades by input block, and the integral multiple of the value of the input vehicle body change in location value that to be immediate any two vehicle backing track line chart sheets prestored of track curvature of a curve on it corresponding.
Further preferably, the vehicle backing track line chart sheet prestored described in upgrades by serial ports.
The present invention provides a kind of integrated dynamic reverse track video generation system on the other hand, comprise: camera, triaxial accelerometer, three-axis gyroscope, three axle magnetometers, the first memory cell, telltale and controller, wherein, described controller is connected with telltale with described camera, triaxial accelerometer, three-axis gyroscope, three axle magnetometers, the first memory cell respectively, and described first memory cell is used for store car backing track line chart sheet.
Preferably, described integrated dynamic reverse track video generation system also comprises data processing unit, and described data processing unit is connected with controller.
Further preferably, described integrated dynamic reverse track video generation system also comprises the second memory cell of storage vehicle body change in location trigger value and the 3rd memory cell for storing current vehicle body location information, when detecting that vehicle body change in location value equals the preset value in the second memory cell, controller by the vehicle backing track line chart sheet Overlapping display corresponding with described vehicle body change in location value in telltale, meanwhile, current vehicle body location information is stored in the 3rd memory cell.
Further preferably, the vehicle body change in location value that in described first memory cell, every two track curvature of a curve immediate vehicle backing track line chart sheets are corresponding is certain value, described integrated dynamic reverse track video generation system also comprises the input block be connected with described controller, described input block is for upgrading the vehicle body change in location trigger value stored in described second memory cell, wherein, the trigger value of described input is the integral multiple of the vehicle body change in location value that in described first memory cell, immediate any two the vehicle backing track line chart sheets of track curvature of a curve are corresponding.
Further preferably, described integrated dynamic reverse track video generation system also comprises the picture update unit be connected with described controller, for upgrading the vehicle backing track line chart sheet stored in described first memory cell.
Compared with prior art, tool of the present invention has the following advantages:
1, Highgrade integration of the present invention, does not need independently OBD decoding device, does not need to reequip the circuit of former car, therefore to automobile communication circuit without any loss, can realize harmless installation;
2, the present invention is by the location information of inertial sensor collection vehicle, achieves and detects the independence of driving states, be applicable to all vehicles, portable strong, is convenient to popularize;
3, the present invention is by detecting vehicle change in location information, the picture of real-time update display, and reverse image is more directly perceived, carries out guiding in real time to driver.
Accompanying drawing explanation
Below in conjunction with drawings and the embodiments, the present invention is further detailed explanation:
Fig. 1 is that the present invention's integration dynamic reverse track video generates method flow diagram;
Fig. 2 is the diagram of circuit of step S2 in the present invention's integration dynamic reverse track video generation method;
Fig. 3 is the diagram of circuit of step S3 in the present invention's integration dynamic reverse track video generation method;
Fig. 4 is the present invention's integration dynamic reverse track video generation system schematic diagram.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is further explained, but does not limit to the present invention.
As shown in Figure 1, the invention provides a kind of integrated dynamic reverse track video generation method to comprise the steps:
S1: prestore vehicle backing track line chart sheet;
S2: the vehicle body change in location information obtaining vehicle, wherein, described vehicle body change in location information comes from the inertial sensor being fixedly installed on vehicle body, and described inertial sensor comprises triaxial accelerometer, three-axis gyroscope and three axle magnetometers;
S3: transfer the prestore vehicle backing track line chart sheet corresponding with described vehicle body change in location information, and by its Overlapping display on telltale, wherein, the image of described telltale display is the graphicinformation of the camera collection being arranged at rear view of vehicle.
This integrated dynamic reverse track video generation method, first the inertial sensor (triaxial accelerometer, three-axis gyroscope and three axle magnetometers) by being arranged at vehicle body obtains the vehicle body change in location information of vehicle, then the vehicle backing track line chart sheet that prestores corresponding is with it transferred according to the vehicle body change in location information of the vehicle obtained, afterwards by the picture Overlapping display transferred on the telltale showing the graphicinformation that the camera that is positioned at rear view of vehicle sends in real time, realize the generation of dynamic reverse track video.
Wherein, as shown in Figure 2, described step S2 specifically comprises the steps:
S201: obtain the 3-axis acceleration information of vehicle, three axis angular rate information and three axle Geomagnetism Informations by triaxial accelerometer, three-axis gyroscope and three axle magnetometers;
S202: the change in location information calculating vehicle according to described 3-axis acceleration information, three axis angular rate information and three axle Geomagnetism Informations.
In order to ensure the accuracy that vehicle body change in location information calculates, as the improvement of technical scheme, described step S2 can also comprise the 3-axis acceleration information to the vehicle gathered, and the filtering process of three axis angular rate information and three axle Geomagnetism Informations, for screening the data received.
Wherein, as shown in Figure 3, described step S3 specifically comprises the steps:
S301: preset vehicle body change in location trigger value;
S302: detect vehicle body location variation and whether equal default vehicle body change in location trigger value, if, corresponding with vehicle body location variation is prestored vehicle backing track line chart sheet Overlapping display on telltale, and using the reference value of vehicle body location information now as car body running orbit change next time, repeat this step, until terminate to generate video.
Wherein, the switching mode of the vehicle backing track line chart sheet prestored can have a variety of, such as: exchange-column shift or allocation variable quantity switch, this method adopts the second switching mode, when after system electrification, the reference value that the start position information of vehicle body that the data detected according to inertial sensor are resolved out changes as car body running orbit, when the vehicle body location variation corresponding with between above-mentioned reference value when the real-time vehicle body location information resolving out is afterwards equal with the vehicle body change in location trigger value preset, corresponding with vehicle body location variation is prestored vehicle backing track line chart sheet Overlapping display on telltale, and using the reference value of vehicle body location information now as car body running orbit change next time, the relation of vehicle body location variation corresponding between the real-time vehicle body of cycle criterion afterwards position with the reference value that the car body running orbit that the last time is arranged changes and default vehicle body change in location trigger value, when both are equal, switch the vehicle backing track line chart sheet of display and upgrade the reference value of the change of car body running orbit next time, until terminate to generate video.
As the improvement of technical scheme, in the vehicle backing track line chart sheet prestored, the vehicle body change in location value that every two track curvature of a curve immediate vehicle backing track line chart sheets are corresponding is certain value, described vehicle body change in location trigger value upgrades by input block, and the integral multiple of the value of the input vehicle body change in location value that to be immediate any two vehicle backing track line chart sheets prestored of track curvature of a curve on it corresponding.
In order to make different vehicles that the method can be used to generate vehicle-backing track viewing, as the improvement of technical scheme, described in the vehicle backing track line chart sheet that prestores upgrade by serial ports.
As shown in Figure 4, another aspect provides a kind of integrated dynamic reverse track video generation system, comprise: camera 1, triaxial accelerometer 21, three-axis gyroscope 22, three axle magnetometer 23, first memory cell 3, telltale 4 and controller 5, wherein, described controller 5 is connected with telltale 4 with described camera 1, triaxial accelerometer 21, three-axis gyroscope 22, three axle magnetometer 23, first memory cell 3 respectively, and described first memory cell 3 is for store car backing track line chart sheet.
This integrated dynamic reverse track video generation system, first the inertial sensor (triaxial accelerometer, three-axis gyroscope and three axle magnetometers) by being arranged at vehicle body obtains the vehicle body change in location information of vehicle, then from the first memory cell, the vehicle backing track line chart sheet that prestores corresponding is with it transferred according to the vehicle body change in location information of the vehicle obtained, afterwards by the picture Overlapping display transferred on the telltale showing the graphicinformation that the camera that is positioned at rear view of vehicle sends in real time, realize the generation of dynamic reverse track video.
As the improvement of technical scheme, as shown in Figure 4, described integrated dynamic reverse track video generation system also comprises data processing unit 6, and described data processing unit 6 is connected with controller 5, for resolving the vehicle body change in location information of vehicle.
In order to ensure the accuracy that course angle calculates, as the improvement of technical scheme, described data processing unit 6 can comprise the filter unit for screening the data received.
As the improvement of technical scheme, as shown in Figure 4, described integrated dynamic reverse track video generation system also comprises the second memory cell 7 of storage vehicle body change in location trigger value and the 3rd memory cell 8 for storing current vehicle body location information, when the preset value that vehicle body change in location value equals in the second memory cell 7 being detected, controller 5 by the vehicle backing track line chart sheet Overlapping display corresponding with described vehicle body change in location value in telltale 4, meanwhile, current vehicle body location information to be stored in the 3rd memory cell 8.
Wherein, the switching mode of the vehicle backing track line chart sheet prestored can have a variety of, such as: exchange-column shift or allocation variable quantity switch, native system adopts the second switching mode, when after system electrification, the start position information of vehicle body that the data detected according to inertial sensor are resolved out is stored in the 3rd memory cell as the reference value that car body running orbit changes, when vehicle body location variation corresponding between the real-time vehicle body location information resolving out afterwards with the reference value stored in the 3rd memory cell is equal with the vehicle body change in location trigger value stored in the second memory cell, controller prestores vehicle backing track line chart sheet Overlapping display on telltale by be stored in the first memory cell corresponding with vehicle body location variation, and vehicle body location information is now updated in the 3rd memory cell as the reference value that car body running orbit changes next time, circulate according to this, the reference value stored in the real-time vehicle body position circulation of resolving out and the 3rd memory cell contrasts, to obtain vehicle body location variation, when described vehicle body location variation is equal with the vehicle body change in location trigger value stored in the second memory cell, switch the vehicle backing track line chart sheet the reference value upgraded in the 3rd memory cell that show, until terminate to generate video.
As the improvement of technical scheme, the vehicle body change in location value that in described first memory cell 3, every two track curvature of a curve immediate vehicle backing track line chart sheets are corresponding is certain value, described integrated dynamic reverse track video generation system also comprises the input block 9 be connected with described controller 5, described input block 5 is for upgrading the vehicle body change in location trigger value stored in described second memory cell 7, wherein, the trigger value of described input is the integral multiple of the vehicle body change in location value that in described first memory cell 3, immediate any two the vehicle backing track line chart sheets of track curvature of a curve are corresponding.
This vehicle-backing track viewing generation system can be used to make different vehicles, as the improvement of technical scheme, as shown in Figure 4, described integrated dynamic reverse track video generation system also comprises the picture update unit 10 be connected with described controller 4, for upgrading the vehicle backing track line chart sheet stored in described first memory cell 3.
The specific embodiment of the present invention carries out writing according to the mode of going forward one by one, and highlight the difference of each embodiment, its similar portion can cross-reference.
By reference to the accompanying drawings embodiments of the present invention are elaborated above, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, various change can also be made under the prerequisite not departing from present inventive concept.
Claims (10)
1. change dynamic reverse track video generation method for one kind, comprise the steps:
S1: prestore vehicle backing track line chart sheet;
S2: the vehicle body change in location information obtaining vehicle, wherein, described vehicle body change in location information comes from the inertial sensor being fixedly installed on vehicle body, and described inertial sensor comprises triaxial accelerometer, three-axis gyroscope and three axle magnetometers;
S3: transfer the prestore vehicle backing track line chart sheet corresponding with described vehicle body change in location information, and by its Overlapping display on telltale, wherein, the image of described telltale display is the graphicinformation of the camera collection being arranged at rear view of vehicle.
2., according to dynamic reverse track video generation method integrated described in claim 1, it is characterized in that: described step S2 specifically comprises the steps:
S201: obtain the 3-axis acceleration information of vehicle, three axis angular rate information and three axle Geomagnetism Informations by triaxial accelerometer, three-axis gyroscope and three axle magnetometers;
S202: the change in location information calculating vehicle according to described 3-axis acceleration information, three axis angular rate information and three axle Geomagnetism Informations.
3., according to dynamic reverse track video generation method integrated described in claim 2, it is characterized in that: described step S3 specifically comprises the steps:
S301: preset vehicle body change in location trigger value;
S302: detect vehicle body location variation and whether equal default vehicle body change in location trigger value, if, corresponding with vehicle body location variation is prestored vehicle backing track line chart sheet Overlapping display on telltale, and using the reference value of vehicle body location information now as car body running orbit change next time, repeat this step, until terminate to generate video.
4. according to dynamic reverse track video generation method integrated described in claim 3, it is characterized in that: in the vehicle backing track line chart sheet prestored, the vehicle body change in location value that every two track curvature of a curve immediate vehicle backing track line chart sheets are corresponding is certain value, described vehicle body change in location trigger value upgrades by input block, and the integral multiple of the value of the input vehicle body change in location value that to be immediate any two vehicle backing track line chart sheets prestored of track curvature of a curve on it corresponding.
5., according to dynamic reverse track video generation method integrated according to any one of Claims 1-4, it is characterized in that: described in the vehicle backing track line chart sheet that prestores upgrade by serial ports.
6. an integrated dynamic reverse track video generation system, it is characterized in that, comprise: camera (1), triaxial accelerometer (21), three-axis gyroscope (22), three axle magnetometers (23), first memory cell (3), telltale (4) and controller (5), wherein, described controller (5) respectively with described camera (1), triaxial accelerometer (21), three-axis gyroscope (22), three axle magnetometers (23), first memory cell (3) is connected with telltale (4), described first memory cell (3) is for store car backing track line chart sheet.
7., according to dynamic reverse track video generation system integrated described in claim 6, it is characterized in that: also comprise data processing unit (6), described data processing unit (6) is connected with controller (5).
8. according to dynamic reverse track video generation system integrated described in claim 6, it is characterized in that: also comprise and store second memory cell (7) of vehicle body change in location trigger value and the 3rd memory cell (8) for storing current vehicle body location information, when the preset value that vehicle body change in location value equals in the second memory cell (7) being detected, controller (5) by the vehicle backing track line chart sheet Overlapping display corresponding with described vehicle body change in location value in telltale (4), meanwhile, current vehicle body location information is stored in the 3rd memory cell (8).
9. according to dynamic reverse track video generation system integrated described in claim 8, it is characterized in that: the vehicle body change in location value that in described first memory cell (3), every two track curvature of a curve immediate vehicle backing track line chart sheets are corresponding is certain value, described integrated dynamic reverse track video generation system also comprises the input block (9) be connected with described controller (5), described input block (5) is for upgrading the vehicle body change in location trigger value stored in described second memory cell (7), wherein, the trigger value of described input is the integral multiple of the vehicle body change in location value that in described first memory cell (3), immediate any two the vehicle backing track line chart sheets of track curvature of a curve are corresponding.
10. according to dynamic reverse track video generation system integrated according to any one of claim 6 to 9, it is characterized in that: also comprise the picture update unit (10) be connected with described controller (4), for upgrading the vehicle backing track line chart sheet stored in described first memory cell (3).
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| CN107719234A (en) * | 2017-09-22 | 2018-02-23 | 郭金林 | A kind of dynamic reverse track video system and its application |
| CN108528339A (en) * | 2017-03-01 | 2018-09-14 | 京东方科技集团股份有限公司 | A kind of display system and its display methods and vehicle |
| CN109471142A (en) * | 2018-10-25 | 2019-03-15 | 国网福建省电力有限公司厦门供电公司 | A kind of working trajectory recognition methods based on RTK Differential positioning |
| CN109795555A (en) * | 2019-03-04 | 2019-05-24 | 宝能汽车有限公司 | The bearing calibration of reversing induction line and device |
| CN110588515A (en) * | 2019-09-04 | 2019-12-20 | 常州新途软件有限公司 | Vehicle-mounted reversing image display method |
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| Publication number | Publication date |
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| CN105083124B (en) | 2018-03-06 |
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