CN105083124B - A kind of integrated dynamic reverse track video generation method and system - Google Patents
A kind of integrated dynamic reverse track video generation method and system Download PDFInfo
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- CN105083124B CN105083124B CN201510592264.5A CN201510592264A CN105083124B CN 105083124 B CN105083124 B CN 105083124B CN 201510592264 A CN201510592264 A CN 201510592264A CN 105083124 B CN105083124 B CN 105083124B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000001133 acceleration Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 3
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000012857 repacking Methods 0.000 description 1
- 238000010186 staining Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- 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
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- 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
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Abstract
The invention discloses a kind of integrated dynamic reverse track video generation method and system, the generation of vehicle-backing track viewing is realized by following steps：Prestore vehicle backing track line chart piece；The vehicle body change in location information of vehicle is obtained, wherein, the vehicle body change in location information comes from the inertial sensor for being fixedly installed on vehicle body, and the inertial sensor includes three axis accelerometer, three-axis gyroscope and three axle magnetometer；Transfer the vehicle backing track line chart piece that prestores corresponding with the vehicle body change in location information, and by its Overlapping display on display, wherein, the image that the display is shown is the image information for the camera collection for being arranged at rear view of vehicle.Integrated the dynamic reverse track video generation method and system are easy for installation, the software carried independent of vehicle body, suitable for all vehicles.
Description
Technical field
The present invention relates to vehicle backing track field of auxiliary, specifically provides a kind of integrated dynamic reverse track video life
Into method and system.
Background technology
In society now, citizen's car ownership is more and more, by reversing trigger security incident problem also in
Existing increasing trend, reversing safety problem are also increasingly paid close attention to by society.Reversing aid system, can be intuitively by after car
The situation of side is with visual pattern staining effect to driver, while and can dynamically show backing track line in real time, to aid in driving
The person of sailing moves backward safely.But the reversing parking assistance system on existing market is to need to use OBD decoder box and camera
It is common mutually auxiliary and realization, in use, OBD decoder box needs to communicate with former car to read corner of vehicle steering wheel information, and then
Backing track is obtained, the defects of it is present is the circuit for needing to reequip former car, because former circuit is relatively more and complicated, if arbitrarily
Repacking circuit can allow former car potential safety hazard to be present；And professional is needed to install OBD decoder box, its installation difficulty is larger and spends
It is costly higher；In addition, OBD decoder box is only suitable to the vehicle with ESP/VSC systems, other vehicles can not use OBD systems
The reversing parking assistance system of system.
Therefore, a kind of vehicle-backing track viewing system for being adapted to all vehicles how is researched and developed, it is urgently to be resolved hurrily to turn into people
Problem.
The content of the invention
In consideration of it, it is an object of the invention to provide a kind of integrated dynamic reverse track video generation method and system,
Software that vehicle body carries is relied only on, it is necessary to reequip the circuit of former car at least to solve existing vehicle-backing track viewing system,
The problems such as autgmentability difference.
To solve the above problems, one aspect of the present invention provides a kind of integrated dynamic reverse track video generation method,
Comprise the following steps：
S1：Prestore vehicle backing track line chart piece；
S2：The vehicle body change in location information of vehicle is obtained, wherein, the vehicle body change in location information comes from fixed setting
In the inertial sensor of vehicle body, the inertial sensor includes three axis accelerometer, three-axis gyroscope and three axle magnetometer；
S3：The vehicle backing track line chart piece that prestores corresponding with the vehicle body change in location information is transferred, and is superimposed
It is shown on display, wherein, the image that the display is shown is the image letter for the camera collection for being arranged at rear view of vehicle
Breath.
Wherein, the step S2 specifically comprises the following steps：
S201：By three axis accelerometer, three-axis gyroscope and three axle magnetometer obtain vehicle 3-axis acceleration information,
Three axis angular rate information and three axle Geomagnetism Informations；
S202：Vehicle is calculated according to the 3-axis acceleration information, three axis angular rate information and three axle Geomagnetism Informations
Change in location information.
Wherein, the step S3 specifically comprises the following steps：
S301：Default vehicle body change in location trigger value；
S302：Whether detection vehicle body location variation is equal to default vehicle body change in location trigger value, if so, will be with vehicle body
Vehicle backing track line chart piece Overlapping display is prestored corresponding to location variation on display, and vehicle body position now is believed
The reference value as the change of car body running orbit next time is ceased, repeats this step, until terminating generation video.
It is preferred that in the vehicle backing track line chart piece to prestore, every immediate vehicle backing rail of two track curvatures of a curve
Vehicle body change in location value corresponding to trace picture is certain value, and the vehicle body change in location trigger value can be by input block more
Newly, and input value it is corresponding for the vehicle backing track line chart piece that immediate any two of track curvature of a curve thereon prestores
Vehicle body change in location value integral multiple.
Further preferably, the vehicle backing track line chart piece to prestore can be updated by serial ports.
Another aspect of the present invention provides a kind of integrated dynamic reverse track video generation system, including：Camera, three
Axis accelerometer, three-axis gyroscope, three axle magnetometer, the first memory cell, display and controller, wherein, the controller
It is connected respectively with the camera, three axis accelerometer, three-axis gyroscope, three axle magnetometer, the first memory cell and display,
First memory cell is used to store vehicle backing track line chart piece.
It is preferred that integrated dynamic reverse track video generation system also includes data processing unit, at the data
Reason unit is connected with controller.
Further preferably, the integrated dynamic reverse track video generation system is also touched including storage vehicle body change in location
Second memory cell of hair value and the 3rd memory cell for storing current vehicle body positional information, when detect vehicle body position become
When change value is equal to the preset value in the second memory cell, controller will vehicle backing rail corresponding with the vehicle body change in location value
Trace picture Overlapping display in display, meanwhile, current vehicle body positional information is stored into the 3rd memory cell.
Further preferably, every immediate vehicle backing track line of two track curvatures of a curve in first memory cell
Vehicle body change in location value corresponding to picture is certain value, and the integrated dynamic reverse track video generation system also includes and institute
The input block of controller connection is stated, the input block is used to update the vehicle body position change stored in second memory cell
Change trigger value, wherein, the trigger value of the input is track curvature of a curve immediate any two in first memory cell
Open the integral multiple of vehicle body change in location value corresponding to vehicle backing track line chart piece.
Further preferably, the integrated dynamic reverse track video generation system also includes what is be connected with the controller
Picture update unit, for updating the vehicle backing track line chart piece stored in first memory cell.
Compared with prior art, the invention has the advantages that：
1st, Highgrade integration of the present invention, it is not necessary to independent OBD decoding apparatus, it is not necessary to change to the circuit of former car
Dress, therefore lossless installation can be achieved without any loss to automobile communication circuit；
2nd, the positional information of the invention by inertial sensor collection vehicle, the independence detecting to driving states is realized,
It is portable strong suitable for all vehicles, it is easy to popularize；
3rd, the present invention is by detecting vehicle location change information, and the picture that real-time update is shown, reverse image is more directly perceived, right
Driver carries out guiding in real time.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the present invention is further detailed explanation：
Fig. 1 is the integrated dynamic reverse track video generation method flow chart of the present invention；
Fig. 2 is the flow chart of step S2 in the integrated dynamic reverse track video generation method of the present invention；
Fig. 3 is the flow chart of step S3 in the integrated dynamic reverse track video generation method of the present invention；
Fig. 4 is that integrated dynamic reverse track of the invention video generates system schematic.
Embodiment
The present invention is further explained below in conjunction with specific embodiment, but the not limitation present invention.
To comprise the following steps as shown in figure 1, the invention provides a kind of integrated dynamic reverse track video generation method：
S1：Prestore vehicle backing track line chart piece；
S2：The vehicle body change in location information of vehicle is obtained, wherein, the vehicle body change in location information comes from fixed setting
In the inertial sensor of vehicle body, the inertial sensor includes three axis accelerometer, three-axis gyroscope and three axle magnetometer；
S3：The vehicle backing track line chart piece that prestores corresponding with the vehicle body change in location information is transferred, and is superimposed
It is shown on display, wherein, the image that the display is shown is the image letter for the camera collection for being arranged at rear view of vehicle
Breath.
The integrated dynamic reverse track video generation method, the first inertial sensor by being arranged at vehicle body（Three axles
Accelerometer, three-axis gyroscope and three axle magnetometer）The vehicle body change in location information of vehicle is obtained, then according to the vehicle of acquisition
Vehicle body change in location information transfer the corresponding vehicle backing track line chart piece that prestores, the picture transferred is superimposed afterwards aobvious
It is shown in real-time display to be located on the display for the image information that the camera of rear view of vehicle is sent, realizes that dynamic reverse track regards
The generation of picture.
Wherein, as shown in Fig. 2 the step S2 specifically comprises the following steps：
S201：By three axis accelerometer, three-axis gyroscope and three axle magnetometer obtain vehicle 3-axis acceleration information,
Three axis angular rate information and three axle Geomagnetism Informations；
S202：Vehicle is calculated according to the 3-axis acceleration information, three axis angular rate information and three axle Geomagnetism Informations
Change in location information.
In order to ensure the accuracy of vehicle body change in location information calculating, as the improvement of technical scheme, the step S2 is also
The filtering process of the 3-axis acceleration information to the vehicle of collection, three axis angular rate information and three axle Geomagnetism Informations can be included,
For being screened to the data received.
Wherein, as shown in figure 3, the step S3 specifically comprises the following steps：
S301：Default vehicle body change in location trigger value；
S302：Whether detection vehicle body location variation is equal to default vehicle body change in location trigger value, if so, will be with vehicle body
Vehicle backing track line chart piece Overlapping display is prestored corresponding to location variation on display, and vehicle body position now is believed
The reference value as the change of car body running orbit next time is ceased, repeats this step, until terminating generation video.
Wherein, the switching mode of the vehicle backing track line chart piece to prestore can have many kinds, such as：Exchange-column shift is fixed
Location variation switches, and this method uses second of switching mode, after system electrification, according to the data of inertial sensor detection
The reference value that the start position information of the vehicle body resolved changes as car body running orbit, when after resolve it is real-time
Corresponding vehicle body location variation and default vehicle body change in location trigger value phase between vehicle body positional information and above-mentioned reference value
Deng when, the vehicle backing track line chart piece Overlapping display that corresponding with vehicle body location variation will prestore on display, and by this
When the reference value that changes as car body running orbit next time of vehicle body positional information, the real-time vehicle body position of cycle criterion afterwards with
Corresponding vehicle body location variation and default vehicle body position between the reference value for the car body running orbit change that last time is set
The relation of change triggers value, when both are equal, switch the vehicle backing track line chart piece of display and update car body next time and transport
The reference value of row trail change, until terminating generation video.
As the improvement of technical scheme, in the vehicle backing track line chart piece to prestore, every two track curvatures of a curve most connect
Vehicle body change in location value corresponding near vehicle backing track line chart piece is certain value, and the vehicle body change in location trigger value can lead to
Input block renewal is crossed, and the value inputted is the immediate any two vehicle backing rails to prestore of track curvature of a curve thereon
The integral multiple of vehicle body change in location value corresponding to trace picture.
In order that different vehicles can use this method generation vehicle-backing track viewing, as the improvement of technical scheme,
The vehicle backing track line chart piece to prestore can be updated by serial ports.
As shown in figure 4, another aspect provides a kind of integrated dynamic reverse track video to generate system, bag
Include：Camera 1, three axis accelerometer 21, three-axis gyroscope 22, three axle magnetometer 23, the first memory cell 3, display 4 and control
Device 5 processed, wherein, the controller 5 respectively with the camera 1, three axis accelerometer 21, three-axis gyroscope 22, three axle magnetic force
The 23, first memory cell 3 of meter is connected with display 4, and first memory cell 3 is used to store vehicle backing track line chart piece.
The integrated dynamic reverse track video generation system, the first inertial sensor by being arranged at vehicle body（Three axles
Accelerometer, three-axis gyroscope and three axle magnetometer）The vehicle body change in location information of vehicle is obtained, then according to the vehicle of acquisition
Vehicle body change in location information the corresponding vehicle backing track line chart piece that prestores is transferred from the first memory cell, afterwards will
The picture Overlapping display transferred is located on the display for the image information that the camera of rear view of vehicle is sent in real-time display, real
The generation of existing dynamic reverse track video.
As the improvement of technical scheme, as shown in figure 4, integrated dynamic reverse track video generation system also includes
Data processing unit 6, the data processing unit 6 are connected with controller 5, for resolving the vehicle body change in location information of vehicle.
In order to ensure the accuracy of course angle calculating, as the improvement of technical scheme, the data processing unit 6 can wrap
Include the filter unit for being screened to the data received.
As the improvement of technical scheme, as shown in figure 4, integrated dynamic reverse track video generation system also includes
Store the second memory cell 7 of vehicle body change in location trigger value and the 3rd memory cell for storing current vehicle body positional information
8, when detecting the preset value that vehicle body change in location value is equal in the second memory cell 7, controller 5 will be with the vehicle body position
Vehicle backing track line chart piece Overlapping display corresponding to changing value in display 4, meanwhile, current vehicle body positional information is stored
Into the 3rd memory cell 8.
Wherein, the switching mode of the vehicle backing track line chart piece to prestore can have many kinds, such as：Exchange-column shift is fixed
Location variation switches, and the system uses second of switching mode, after system electrification, according to the data of inertial sensor detection
The start position information of the vehicle body resolved is stored in the 3rd memory cell as the reference value that car body running orbit changes
In, when after the real-time vehicle body positional information that resolves and the reference value stored in the 3rd memory cell between corresponding vehicle body
When location variation is equal with the vehicle body change in location trigger value stored in the second memory cell, controller will be stored in first and deposit
Corresponding with vehicle body location variation in storage unit prestores vehicle backing track line chart piece Overlapping display on display, and will
Vehicle body positional information now is updated into the 3rd memory cell as the reference value that car body running orbit next time changes, according to this
Circulation, the real-time vehicle body position circulation resolved contrasts with the reference value stored in the 3rd memory cell, to obtain vehicle body position
Variable quantity is put, when the 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 piece of display and update the reference value in the 3rd memory cell, until terminating generation video.
As the improvement of technical scheme, the immediate vehicle of every two track curvatures of a curve in first memory cell 3
Vehicle body change in location value corresponding to backing track line chart piece is certain value, and the integrated dynamic reverse track video generates system
Also include the input block 9 being connected with the controller 5, the input block 5 is used to update to deposit in second memory cell 7
The vehicle body change in location trigger value of storage, wherein, the trigger value of the input is track curvature of a curve in first memory cell 3
The integral multiple of vehicle body change in location value corresponding to immediate any two vehicle backing tracks line chart piece.
In order that different vehicles can use vehicle-backing track viewing generation system, as the improvement of technical scheme, such as
Shown in Fig. 4, the picture renewal that the integrated dynamic reverse track video generation system also includes being connected with the controller 4 is single
Member 10, for updating the vehicle backing track line chart piece stored in first memory cell 3.
The embodiment of the present invention is write according to progressive mode, highlights each embodiment
Difference, its similar portion can be with cross-reference.
Embodiments of the present invention are elaborated above in conjunction with accompanying drawing, but the present invention is not limited to above-mentioned implementation
Mode, can also be on the premise of present inventive concept not be departed from those of ordinary skill in the art's possessed knowledge
Various changes can be made.
Claims (5)
1. integrated dynamic reverse track video generation method, it is characterised in that comprise the following steps：
S1：Prestore vehicle backing track line chart piece；
S2：The vehicle body change in location information of vehicle is obtained, wherein, the vehicle body change in location information, which comes from, is fixedly installed on car
The inertial sensor of body, the inertial sensor include three axis accelerometer, three-axis gyroscope and three axle magnetometer；Pass through three axles
Accelerometer, three-axis gyroscope and three axle magnetometer obtain 3-axis acceleration information, three axis angular rate information and three axles of vehicle
Geomagnetism Information, according to the 3-axis acceleration information, three axis angular rate information and three axle Geomagnetism Informations calculate vehicle
Vehicle body change in location information；
S3：Whether default vehicle body change in location trigger value, detection vehicle body location variation touch equal to default vehicle body change in location
Hair value, if so, the vehicle backing track line chart piece Overlapping display that corresponding with vehicle body location variation will prestore is on display, and
The reference value that vehicle body positional information now is changed as car body running orbit next time, this step is repeated, until terminating life
Into video, the vehicle backing track line chart piece that prestores corresponding with the vehicle body change in location information is transferred, and by its Overlapping display
In on display, wherein, the image that the display is shown is the image information for the camera collection for being arranged at rear view of vehicle；
In the vehicle backing track line chart piece to prestore, every immediate vehicle backing track line chart piece pair of two track curvatures of a curve
The vehicle body change in location value answered is certain value, and the vehicle body change in location trigger value can be updated by input block, and input
It is worth for vehicle body position corresponding to immediate any two vehicle backing track line chart pieces to prestore of track curvature of a curve thereon
The integral multiple of changing value.
2. according to integrated dynamic reverse track video generation method described in claim 1, it is characterised in that：The car to prestore
Backing track line chart piece can be updated by serial ports.
3. a kind of integrated dynamic reverse track video generates system, it is characterised in that including：Camera（1）, 3-axis acceleration
Meter（21）, three-axis gyroscope（22）, three axle magnetometer（23）, the first memory cell（3）, display（4）And controller（5）, its
In, the controller（5）Respectively with the camera（1）, three axis accelerometer（21）, three-axis gyroscope（22）, three axle magnetic force
Meter（23）, the first memory cell（3）And display（4）It is connected, first memory cell（3）For storing vehicle backing track
Line chart piece；
Store the second memory cell of vehicle body change in location trigger value（7）Deposited with the 3rd for storing current vehicle body positional information
Storage unit（8）, when detecting that vehicle body change in location value is equal to the second memory cell（7）In preset value when, controller（5）Will be with
Vehicle backing track line chart piece Overlapping display is in display corresponding to the vehicle body change in location value（4）, meanwhile, by current car
Body positional information is stored into the 3rd memory cell（8）；
First memory cell（3）In car corresponding to every immediate vehicle backing track line chart piece of two track curvatures of a curve
Body change in location value is certain value, and the integrated dynamic reverse track video generation system also includes and the controller（5）
The input block of connection（9）, the input block（5）For updating second memory cell（7）The vehicle body position of middle storage
Change triggers value, wherein, the trigger value of the input is first memory cell（3）Middle immediate of track curvature of a curve
The integral multiple for vehicle body change in location value corresponding to two vehicle backing track line chart pieces of anticipating.
4. generate system according to integrated dynamic reverse track video described in claim 3, it is characterised in that：Also include at data
Manage unit（6）, the data processing unit（6）With controller（5）Connection.
5. generate system according to the integrated dynamic reverse track video of claim 3 or 4, it is characterised in that：Also include with
The controller（4）The picture update unit of connection（10）, for updating first memory cell（3）The vehicle of middle storage falls
Track trace diagram piece.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105933680A (en) * | 2016-07-07 | 2016-09-07 | 广州勘帝德电子科技有限公司 | CAN_BUS free intelligent vehicle dynamic track line rearview image system |
| CN108528339B (en) * | 2017-03-01 | 2020-06-26 | 京东方科技集团股份有限公司 | Display system, display method thereof and vehicle |
| CN107719234A (en) * | 2017-09-22 | 2018-02-23 | 郭金林 | A kind of dynamic reverse track video system and its application |
| CN109471142B (en) * | 2018-10-25 | 2021-03-09 | 国网福建省电力有限公司厦门供电公司 | Working track identification method 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 |
| CN110588515B (en) * | 2019-09-04 | 2022-06-07 | 常州新途软件有限公司 | Vehicle-mounted reversing image display method |
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Effective date of registration: 20200617 Address after: A2-e14, No.29, beierxi Road, Tiexi District, Shenyang, Liaoning Province, 110000 Patentee after: Shenyang Huaguo Electronic Technology Co., Ltd Address before: 110000,, Liaoning province 36-2 Dadong street, Dadong District, Shenyang Patentee before: Guo Jinlin |