CN105589458A - Guidance parameter display method and device - Google Patents

Abstract

The invention relates to a guidance parameter display method and a guidance parameter display device. The guidance parameter display method comprises the steps of: acquiring a current motion state of a mobile vehicle body, wherein the current motion state includes a front wheel steering angle, a current moving speed and a current moving acceleration of the mobile vehicle body; calculating a current guidance parameter of the mobile vehicle body within a preset time interval by taking a current moment as an initial moment according to the current motion state, wherein the current guidance parameter at least comprises a current moving trajectory and a current moving destination; acquiring an image in front of the mobile vehicle body along a moving direction of the mobile vehicle body; adding the current guidance parameter into the image; and displaying the image added with the current guidance parameter. Therefore, the accuracy of adjusting the motion state of an unmanned vehicle by a technician can be increased based on the moving trajectory and the moving destination.

Description

A kind of guiding method for displaying parameters and device

Technical field

The present invention relates to field of computer technology, relate in particular to a kind of guiding method for displaying parameters and device.

Background technology

Along with the develop rapidly of technology, increasing unmanned vehicle has progressed into people's the visual field. Existing unmanned vehicle is notOnly can carry out autokinetic movement according to the navigation system of self, the control signal that also can send according to control centre is transportedMoving.

For unmanned vehicle is monitored in real time, technical staff is provided with camera in advance on the headstock of unmanned vehicle, forTake the direction of moving along unmanned vehicle and the image that is positioned at unmanned vehicle front, then this image is sent to control centre;Control centre receives this image and shows. Like this, be positioned at the staff of control centre just passable according to this imageSolution is positioned at the traffic information in unmanned vehicle front, and can be to front-wheel steer angle, the motion of unmanned vehicle according to this traffic informationThe motion state such as speed and acceleration regulates in real time,

But technical staff only can understand according to this image the traffic information that is positioned at unmanned vehicle front, technical staff onlyThe degree of accuracy only according to this traffic information, the motion state of unmanned vehicle being regulated is lower.

Summary of the invention

For overcoming the problem existing in correlation technique, the invention provides a kind of guiding method for displaying parameters and device.

According to the first aspect of the embodiment of the present invention, a kind of guiding method for displaying parameters is provided, described method comprises:

Obtain the current motion state of motion car body; Current motion state comprises the current front-wheel of described motion car bodyThe current movement velocity of steering angle, described motion car body and the current acceleration of motion of described motion car body;

Calculate described motion car body at the Preset Time taking current time as initial time according to described current motion stateCurrent guiding parameter in section; Current guiding parameter at least comprises current movement locus and current motion destination;

Obtain the image that is positioned at the described car body front of moving along the direction of motion of the described car body that moves;

Described current guiding parameter is added in described image;

Show the described image that has added described current guiding parameter.

Wherein, describedly calculate described motion car body taking current time as initial time according to described current motion stateCurrent guiding parameter in Preset Time section, comprising:

Obtain the current location of described motion car body;

Calculating described motion car body according to described current motion state goes the same way mutually taking described current location as the every motion of starting pointThe target location when distance of Cheng Changdu;

Using the described current location of a distance target location farthest as current motion destination;

The multiple target locations that obtain are connected to the current movement locus that obtains described motion car body.

Further, described method also comprises:

Detect and whether receive the adjustment operation that the current motion state of described motion car body is regulated;

In the time receiving described adjustment operation, generate motion car body according to described adjustment operation and described current motion stateTarget state;

According to described target state calculate described motion car body in the moment to receive described adjustment operation as initialTarget guiding parameter in the Preset Time section in moment;

Described target guiding parameter is added in described image.

Wherein, described described current guiding parameter is added in described image, comprises:

Obtain each position of the image that is arranged in described motion car body front in the image coordinate of image coordinate system;

Obtain the image coordinate of each target location in described image coordinate system;

According to the each position of image that is arranged in described motion car body front in the image coordinate of described image coordinate systemWith the image coordinate of each target location in described image coordinate system, described current guiding parameter is added into described figureIn picture.

Wherein, described in obtain the image coordinate of each target location in described image coordinate system, comprising:

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

In described corresponding relation, calculate respectively the car body coordinate of each target location in bodywork reference frame at described imageThe image coordinate of correspondence in coordinate system.

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

The first acquisition module, for obtaining the current motion state of motion car body; Current motion state comprises described fortuneWorking as of the current movement velocity of the current front-wheel steer angle of motor vehicles bodies, described motion car body and described motion car bodyFront acceleration of motion;

The first computing module, for calculate according to described current motion state described motion car body taking current time as riseCurrent guiding parameter in the Preset Time section in moment beginning; Current guiding parameter at least comprise current movement locus andCurrent motion destination;

The second acquisition module, for obtaining the figure that is positioned at the described car body front of moving along the direction of motion of the described car body that movesPicture;

First adds module, for described current guiding parameter is added into described image;

Display module, for showing the described image that has added described current guiding parameter.

Wherein, described the first computing module comprises:

The first acquiring unit, for obtaining the current location of described motion car body;

Computing unit, for calculating described motion car body taking described current location as starting point according to described current motion stateThe target location when distance of the identical path length of every motion;

Determining unit, for using a target location farthest of the described current location of distance as current motion destination;

Linkage unit, for connecting the multiple target locations that obtain on the current motion rail that obtains described motion car bodyMark.

Further, described device also comprises:

Detection module, for detection of whether receiving the adjusting that the current motion state of described motion car body is regulatedOperation;

Generation module, in the time receiving described adjustment operation, according to described adjustment operation and described current motion shapeState generates the target state of motion car body;

The second computing module, for calculating described motion car body to receive described adjusting according to described target stateTarget guiding parameter in the Preset Time section that the moment of operation is initial time;

Second adds module, for described target guiding parameter is added into described image.

Wherein, described the first interpolation module comprises:

Second acquisition unit, for each position of obtaining the image that is positioned at described motion car body front at image coordinate systemIn image coordinate;

The 3rd acquiring unit, for obtaining the image coordinate of each target location at described image coordinate system;

Adding device, for according to the each position of image that is positioned at described motion car body front at described image coordinate systemIn image coordinate and the each target location image coordinate in described image coordinate system, by described current guiding parameterBe added in described image.

Wherein, described the 3rd acquiring unit comprises:

Obtain subelement, for obtaining between the car body coordinate in image coordinate and the bodywork reference frame of image coordinate systemCorresponding relation;

Computation subunit, at described corresponding relation, calculates respectively the car of each target location in bodywork reference frameThe image coordinate of body coordinate correspondence in described image coordinate system.

The technical scheme that embodiments of the invention provide can comprise following beneficial effect: in the present invention, obtain sport(s) carThe current motion state of body; Current motion state comprises current front-wheel steer angle, the motion car body of motion car bodyCurrent movement velocity and the current acceleration of motion of motion car body; Calculate sport(s) car according to current motion stateThe current guiding parameter of body in the Preset Time section taking current time as initial time; Current guiding parameter is at least wrappedDraw together current movement locus and current motion destination; Obtain to be positioned at along the direction of motion of the car body that moves and move before car bodyThe image of side; Current guiding parameter is added in image; Show the image that has added current guiding parameter.

Like this, technical staff according to the image that has added guiding parameter just can see motion car body taking current time asMovement locus in the Preset Time section in moment beginning and motion destination, can be clear according to this movement locus and motion destinationChu knows whether motion car body is that the route of expecting according to technical staff moves and whether can arrive technology easilyThe destination that personnel expect, and then can regulate in real time the motion state of motion car body, than only showing figureTraffic information in picture, the embodiment of the present invention has shown that after the image that has added guiding parameter, technical staff is according to this motionThe degree of accuracy that track and this motion destination regulate the motion state of unmanned vehicle is higher.

Should be understood that, it is only exemplary and explanatory that above general description and details are hereinafter described, can notRestriction the present invention.

Brief description of the drawings

Accompanying drawing is herein merged in description and forms the part of this description, shows enforcement according to the inventionExample, and be used from and explain principle of the present invention with description one.

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

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

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

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

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

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

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

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

Detailed description of the invention

Here will at length describe exemplary embodiment, its sample table shows in the accompanying drawings. Description below relates to attachedWhen figure, unless separately there is expression, the same numbers in different accompanying drawings represents same or analogous key element. Exemplary enforcement belowEmbodiment described in example does not represent all embodiments consistent with the present invention. On the contrary, they be only with asThe example of the consistent apparatus and method in some aspects that describe in detail in appended claims, of the present invention.

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

In step S101, obtain the current motion state of motion car body;

Wherein, current motion state comprises the current front-wheel steer angle of motion car body, the current fortune of motion car bodyThe current acceleration of motion of moving speed and motion car body;

Wherein, technical staff is arranged in remote control station, is provided with control platform in remote control station, on motion car body, is loaded with sensingDevice, for the motion state of Real-time Obtaining motion car body, therefore, controlling platform can be by being positioned at the biography on motion car bodySensor obtains the current motion state of motion car body.

Wherein, acceleration of motion can embody motion car body and carry out retarded motion, uniform motion or accelerated motion, whenAcceleration of motion is greater than at 0 o'clock, can determine that motion car body is carrying out accelerated motion, in the time that acceleration of motion equals 0,Can determine that motion car body is carrying out uniform motion, in the time that acceleration of motion is less than 0, can determine motion car bodyCarry out retarded motion.

Wherein, one skilled in the art will appreciate that the front-wheel steer angle of motion car body has determined the direction of motion of motion car body.In the time obtaining the current motion state of motion car body, referring to Fig. 2, set up bodywork reference frame, Fig. 2 comprises sport(s) carThe top view of body, wherein, A1 and A2 represent respectively the center of the near front wheel and the center of off-front wheel of motion car body, B1Represent respectively the center of left rear wheel and the center of off hind wheel of motion car body with B2, the initial point O of bodywork reference frame is motionThe mid point C of line between the center of the left rear wheel of car body and the center of off hind wheel, now the initial point O of bodywork reference frame withBetween the center of the left rear wheel of motion car body and the center of off hind wheel, the mid point C of line overlaps; In Fig. 2, car body coordinateTo the right, for motion car body, the positive direction of X-axis is the right-hand of motion car body to the positive direction level of the X-axis of system, Y-axisPositive direction straight up, for motion car body, the positive direction of Y-axis is the dead ahead of motion car body.

In step S102, calculate pre-taking current time as initial time of motion car body according to current motion stateIf the current guiding parameter in the time period;

Current guiding parameter comprises the current motion destination of current movement locus and the motion car body of motion car body;The time span that Preset Time section comprises can be 1 second, 5 seconds or 10 seconds etc., and the present invention is not limited this.

In step S103, obtain the image that is positioned at the car body front of moving along the current direction of motion of the car body that moves;

Wherein, on motion car body, be loaded with image collecting device, such as video camera etc., are positioned at before motion car body for gatheringThe image of side; Control platform and can receive this image collecting device collection image that send, that be positioned at motion car body front;

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

In step S105, show the image that has added current guiding parameter.

So, technical staff according to the image that has added guiding parameter just can see motion car body taking current time asMovement locus in the Preset Time section in moment beginning and motion destination.

In the embodiment shown in Fig. 1 of the present invention, obtain the current motion state of motion car body; Current motion stateComprise the current of the current movement velocity of current front-wheel steer angle, motion car body of motion car body and motion car bodyAcceleration of motion; Calculate motion car body at the Preset Time taking current time as initial time according to current motion stateCurrent guiding parameter in section; Current guiding parameter at least comprises current movement locus and current motion destination;Obtain the image that is positioned at the car body front of moving along the direction of motion of the car body that moves; Current guiding parameter is added into imageIn; Show the image that has added current guiding parameter.

Like this, technical staff according to the image that has added guiding parameter just can see motion car body taking current time asMovement locus in the Preset Time section in moment beginning and motion destination, can be clear according to this movement locus and motion destinationChu knows whether motion car body is that the route of expecting according to technical staff moves and whether can arrive technology easilyThe destination that personnel expect, and then can regulate in real time the motion state of motion car body, than only showing figureTraffic information in picture, the embodiment of the present invention has shown that after the image that has added guiding parameter, technical staff is according to this motionThe degree of accuracy that track and this motion destination regulate the motion state of unmanned vehicle is higher.

In another embodiment of the present invention, referring to Fig. 3, step S102 comprises:

In step S201, obtain the current location of motion car body;

The position of the center that the current location of the motion car body obtaining comprises motion car body in bodywork reference frame, motion car bodyPosition in bodywork reference frame, the center of the near front wheel, the position of the center of the off-front wheel of motion car body in bodywork reference framePut, the position of the center of the left rear wheel of motion car body in bodywork reference frame, the center of the off hind wheel of motion car body is at car bodyPosition in coordinate system.

Wherein, the center of motion car body be line between center and the center of off hind wheel of motion car body left rear wheel inPoint.

In step S202, according to current motion state calculate motion car body taking current location as the every motion of starting point identicalThe target location when distance of path length;

Particularly, this step can realize by following flow process, comprising:

(A-1), calculate motion car body in the Preset Time section taking current time as initial time according to current motion stateThe path length of the distance of interior motion;

Particularly, the current movement velocity comprising according to current motion state and current acceleration of motion, according to asThe distance of the distance that lower formula (1) calculating motion car body moves in the Preset Time section taking current time as initial time is longDegree S:

$S=\mathrm{vt}+\frac{1}{2}{\mathrm{at}}^2......\left(1\right);$

Wherein, in above-mentioned formula (1), v is the current movement velocity of motion car body; A is the current of motion car bodyAcceleration of motion; T is the time span that Preset Time section comprises.

Wherein, technical staff is provided with minimum path length Smin in advance in control platform, when calculating path length SAfterwards, judge whether path length S is less than or equal to minimum path length Smin, and S is less than or equal to when path lengthWhen little path length Smin, after step in utilize minimum path length Smin to carry out computing; Work as path lengthWhen S is greater than minimum path length Smin, after step in utilize path length S to carry out computing.

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

Concrete, can determine according to following flow process the direction of motion of motion car body: comprising:

11), judge the relation between current front-wheel steer angle and the first preset angles threshold value of motion car body, andJudge the relation between current front-wheel steer angle and the second preset angles threshold value of motion car body;

The first preset angles threshold value is less than the second preset angles threshold value;

The first preset angles threshold value can be :-0.1 ,-0.2 or-0.3 degree etc., the present invention is not limited this.

The second preset angles threshold value can be: 0.1,0.2 or 0.3 degree etc., the present invention is not limited this.

Wherein, because the direction of the trailing wheel of motion car body is constant with respect to the direction of car body, motion car body is left frontThe direction phase all the time of the direction of the line between the center of the left rear wheel of Lun center and motion car body and the trailing wheel of motion car bodyWith.

The direction of the front-wheel of motion car body is variable with respect to the direction of car body, the center of the near front wheel of motion car body andThe direction of the line between the center of the left rear wheel of motion car body may be identical with the direction of the front-wheel of motion car body, also mayDifferent; In the time that the two is identical, the front-wheel steer angle of determining motion car body is 0, that is, motion car body will carry out straight line fortuneMoving, in the time that the two is different, the front-wheel steer angle of determining motion car body is not 0, when the front-wheel direction of motion car body relativeIn the time that the direction of trailing wheel turns left, determine that the front-wheel steer angle of motion car body is less than 0; When the front-wheel side of motion car bodyWhen turning right with respect to the direction of trailing wheel, determine that the front-wheel steer angle of motion car body is greater than 0.

,, in Fig. 2, in the time that the direction of the front-wheel of motion car body is identical with Y-axis positive direction, the front-wheel of motion car body turnsBe 0 to angle, in the time of the positive direction skew along from Y-axis positive direction to X-axis of the direction of the front-wheel of motion car body, sport(s) carThe front-wheel steer angle of body is greater than 0, when the direction of the front-wheel of the motion car body negative direction along Y-axis positive direction to X-axis inclined to one sideWhile moving, the front-wheel steer angle of motion car body is less than 0.

12), in the time that the current front-wheel steer angle of motion car body is more than or equal to the first preset angles threshold value, and be less thanOr while equaling the second preset angles threshold value, determine that motion car body starts along current from current time with current motion stateThe direction of front-wheel steer angle carry out rectilinear motion;

13), in the time that the current front-wheel steer angle of motion car body is less than the first preset angles threshold value, determine motion car bodyStart from current time the motion of turning left with current motion state;

14), in the time that the current front-wheel steer angle of motion car body is greater than the second preset angles threshold value, determine motion car bodyWith current motion state from the current time motion that starts to turn right.

(A-3), the path length calculating is carried out to decile and obtain multistage path length;

Wherein, for arbitrary section of path length Sn, wherein, Sn may be path length S, also may be for path lengthSmin; In the time that Sn is path length S, path length Sn is carried out to decile and obtain multistage path length Δ S. In these public affairsOpen in embodiment, path length Sn and default value N can be carried out to division arithmetic, obtain the isometric distance of N section longDegree Δ S. N is more than or equal to 1 positive integer. For other every section path length Sn, all carry out aforesaid operations.

(A-4), calculate the coordinate of the journey's end of the distance that every section of path length is corresponding, and by it in bodywork reference framePosition as target location.

The first situation, start along current front wheel steering angle from current time with current motion state when motion car bodyWhen the direction of degree is carried out rectilinear motion, road corresponding to every section of path length that need to calculate respectively the central motion of motion car bodyThe coordinate of the journey's end of journey, the distance of the distance that every section of path length of the central motion of the left rear wheel of motion car body is correspondingThe coordinate of terminal, and the journey's end of distance corresponding to every section of path length of the central motion of the off hind wheel of motion car bodyCoordinate.

In motion process, the coordinate figure of the abscissa of the center of motion car body in bodywork reference frame is constant, and is always0, variation be only the coordinate figure of the ordinate of motion car body.

Wherein, between the center of the left rear wheel of motion car body and the center of off hind wheel, the length of line is designated as W, is movingCheng Zhong, the coordinate figure of the abscissa of the center of the left rear wheel of motion car body in bodywork reference frame remains unchanged, and is always-W/2, variation be only the coordinate figure of the ordinate at the center of the left rear wheel of motion car body; In motion process, motionThe coordinate figure of the abscissa of the center of the off hind wheel of car body in bodywork reference frame remains unchanged, and is W/2 always, changesBe only the coordinate figure of the ordinate at the center of the off hind wheel of motion car body.

Like this, can calculate according to following formula: in motion process, every motion one segment length in the center of motion car bodyFor the coordinate of the journey's end of the distance of Δ S;

(Xi＝0，Yi＝ΔS×i)；(i＝1，2，…N)；

Wherein, which section distance i represents, for example, when i=1, represents the 1st section of distance; When i=2, represent the 2nd section of wayJourney, when i=N, represents N section distance.

For example, in the time that complete the 1st segment length of motion body movement is the distance of Δ S, the coordinate at the center of motion car body be (0,Δ S); In the time that complete the 2nd segment length of motion body movement is the distance of Δ S, the coordinate at the center of motion car body is (0,2× Δ S); , in the time that the complete N segment length of motion body movement is the distance of Δ S, the coordinate at the center of motion car bodyFor (0, N × Δ S).

Position using the each coordinate calculating in bodywork reference frame is respectively as the target bit at the center of motion car bodyPut.

Wherein, can calculate according to following formula: in motion process, the every motion in the center of the left rear wheel of motion car bodyOne segment length is the coordinate of the journey's end of the distance of Δ S;

(Xi＝-W/2，Yi＝ΔS×i)；(i＝1，2，…N)；

Wherein, which section distance i represents, for example, when i=1, represents the 1st section of distance; When i=2, represent the 2nd section of wayJourney, when i=N, represents N section distance.

For example, in the time that complete the 1st segment length of motion body movement is the distance of Δ S, the center of the left rear wheel of motion car bodyCoordinate is (W/2, Δ S); In the time that complete the 2nd segment length of motion body movement is the distance of Δ S, motion car body left backThe coordinate at Lun center is (W/2,2 × Δ S); , when the road that the complete N segment length of motion body movement is Δ SCheng Shi, the coordinate at the center of the left rear wheel of motion car body is (W/2, N × Δ S).

Position using the each coordinate calculating in bodywork reference frame is respectively as the target of the left rear wheel of motion car bodyPosition.

And, can calculate according to following formula: in motion process, the every motion in the center of the off hind wheel of motion car bodyOne segment length is the coordinate of the journey's end of the distance of Δ S;

(Xi＝W/2，Yi＝ΔS×i)；(i＝1，2，…N)；

Wherein, which section distance i represents, for example, when i=1, represents the 1st section of distance; When i=2, represent the 2nd section of wayJourney, when i=N, represents N section distance.

For example, in the time that complete the 1st segment length of motion body movement is the distance of Δ S, the center of the off hind wheel of motion car bodyCoordinate is (W/2, Δ S); In the time that complete the 2nd segment length of motion body movement is the distance of Δ S, motion car body right backThe coordinate at Lun center is (W/2,2 × Δ S); , when the complete N segment length of the motion body movement distance that is Δ STime, the coordinate at the center of the off hind wheel of motion car body is (W/2, N × Δ S).

Position using the each coordinate calculating in bodywork reference frame is respectively as the target of the off hind wheel of motion car bodyPosition.

The second situation, start to turn right when motion from current time with current motion state when motion car body, ginsengSee Fig. 4, need to calculate respectively the coordinate of the journey's end that every section of path length of central motion of motion car body is corresponding, fortuneThe coordinate of the journey's end that every section of path length of the central motion of the near front wheel of motor vehicles bodies is corresponding, and the right side of motion car bodyThe coordinate of the journey's end that every section of path length of the central motion of trailing wheel is corresponding.

Therefore, obtain the distance L between the center of the near front wheel and the center of left rear wheel of motion car body, according to motion car bodyThe center of the near front wheel and the center of left rear wheel between distance L and current front-wheel steer angle α t, according to following formula(2) the radius of turn R of the center of calculating motion car body in the time turning right motion;

$R=\frac{L}{\tan {\mathrm{\α}}_t}......\left(2\right);$

Then according to the center of motion car body at the left rear wheel of the radius of turn R in when motion that turns right, motion car bodyBetween center and the center of off hind wheel the length W of line and the center of the near front wheel of motion car body and the center of left rear wheel itBetween distance L, the center of the near front wheel that calculates motion car body according to following formula (3) is in when motion of turning rightRadius of turn Rl,

$\mathrm{Rl}=\sqrt{L^2+{(R+\frac{W}{2})}^2}......\left(3\right);$

Then the radius of turn R in the time turning right motion and the left rear wheel of motion car body according to the center of motion car bodyCenter and the center of off hind wheel between the length W of line, calculate the right back of motion car body according to following formula (4)The radius of turn Rr of Lun center in the time turning right motion,

$\mathrm{Rr}=R-\frac{W}{2}......\left(4\right);$

Wherein, in the time that motion car body is turned right motion, the track of the distance that the central motion of motion car body is crossed is circular arc;The track of the distance that the central motion of the near front wheel of motion car body is crossed is circular arc; The central motion mistake of the off hind wheel of motion car bodyThe track of distance be circular arc.

Wherein, arbitrary length of crossing for the central motion of motion car body is the distance of Δ S, according to path length Δ S andThe radius of turn R of the center of motion car body in the time turning right motion, calculating this length according to following formula (5) is ΔCentral angle Δ θ corresponding to distance place circular arc of S;

$\mathrm{\Δ\θ}=\frac{\mathrm{\ΔS}}{R}......\left(5\right);$

In the time that motion car body starts to turn right motion with current motion state from current time, motion car body is in motionThe coordinate figure of the abscissa in process and the coordinate figure of ordinate all change.

Like this, can calculate according to following formula: in motion process, every motion one segment length in the center of motion car bodyFor the coordinate of the journey's end of the distance of Δ S;

(Xi＝R-Rcos(i×Δθ)，Yi＝Rsin(i×Δθ))，(i＝1，2，…N)；

Wherein, which section distance i represents, for example, when i=1, represents the 1st section of distance; When i=2, represent the 2nd section of wayJourney, when i=N, represents N section distance.

For example, in the time that complete the 1st segment length of motion body movement is the distance of Δ S, the coordinate at the center of motion car body is (R-Rcos Δ θ, Rsin Δ θ); In the time that complete the 2nd segment length of motion body movement is the distance of Δ S, the center of motion car bodyCoordinate be (R-Rcos (2 × Δ θ), Rsin (2 × Δ θ)); , as the complete N segment length of motion body movementWhen degree is the distance of Δ S, the coordinate at the center of motion car body is (R-Rcos (N × Δ θ), Rsin (N × Δ θ)).

Position using the each coordinate calculating in bodywork reference frame is respectively as the target bit at the center of motion car bodyPut.

Further, need calculating in the time that the path length of the distance of the central motion of motion car body is Δ S, motion car bodyThe path length Δ Sl of distance of central motion of the near front wheel, can calculate the left front of motion car body according to following formulaThe path length Δ Sl of the distance of the central motion of wheel;

ΔSl＝Δθ*Rl；

And, can calculate according to following formula: in motion process, the every motion in the center of the near front wheel of motion car bodyOne segment length is the coordinate of the journey's end of the distance of Δ Sl;

(X＝R-Rlcos(i×Δθ)，Y＝Rlsin(i×Δθ))，(i＝1，2，…N)；

Wherein, which section distance i represents, for example, when i=1, represents the 1st section of distance; When i=2, represent the 2nd section of wayJourney, when i=N, represents N section distance.

For example,, when the near front wheel of motion car body has moved the 1st segment length while being the distance of Δ Sl, the near front wheel of motion car bodyThe coordinate at center be (R-Rlcos Δ θ, Rlsin Δ θ); When the near front wheel of motion car body the 2nd segment length of having moved isWhen the distance of Δ Sl, the coordinate at the center of the near front wheel of motion car body is (R-Rlcos (2 × Δ θ), Rlsin (2 × Δθ)); , when the near front wheel of motion car body has moved N segment length while being the distance of Δ Sl, motion car body left frontThe coordinate at Lun center is (R-Rlcos (N × Δ θ), Rlsin (N × Δ θ)).

Position using the each coordinate calculating in bodywork reference frame is respectively as the center of the near front wheel of motion car bodyTarget location.

Further, need calculating in the time that the path length of the distance of the central motion of motion car body is Δ S, motion car bodyThe distance degree Δ Sr of distance of central motion of off hind wheel, can calculate the right back of motion car body according to following formulaThe path length Δ Sr of the distance of the central motion of wheel;

ΔSr＝Δθ*Rr；

And, can calculate according to following formula: in motion process, the every motion in the center of the off hind wheel of motion car bodyOne segment length is the coordinate of the journey's end of the distance of Δ Sr;

(X＝R-Rrcos(i×Δθ)，Y＝Rrsin(i×Δθ))，(i＝1，2，…N)；

Wherein, which section distance i represents, for example, when i=1, represents first paragraph distance; When i=2, represent second segment roadJourney, when i=N, represents N section distance.

For example,, when the off hind wheel of motion car body has moved the 1st segment length while being the distance of Δ Sr, the off hind wheel of motion car bodyThe coordinate at center be (R-Rrcos Δ θ, Rrsin Δ θ); When the off hind wheel of motion car body the 2nd segment length of having movedDuring for the distance of Δ Sr, the coordinate at the center of the off hind wheel of motion car body is (R-Rrcos (2 × Δ θ), Rrsin (2× Δ θ)); , when the off hind wheel of motion car body has moved N segment length while being the distance of Δ Sr, motion car bodyThe coordinate at the center of off hind wheel is (R-Rrcos (N × Δ θ), Rrsin (N × Δ θ)).

Position using the each coordinate calculating in bodywork reference frame is respectively as the center of the off hind wheel of motion car bodyTarget location.

The third situation, start from current time when motion of turning left with current motion state, ginseng when motion car bodySee Fig. 5, need to calculate respectively the coordinate of the journey's end that every section of path length of central motion of motion car body is corresponding, fortuneThe coordinate of the journey's end that every section of path length of the central motion of the left rear wheel of motor vehicles bodies is corresponding, and the right side of motion car bodyThe coordinate of the journey's end that every section of path length of the central motion of front-wheel is corresponding.

Therefore, obtain the distance L between the center of the near front wheel and the center of left rear wheel of motion car body, according to motion car bodyThe center of the near front wheel and the center of left rear wheel between distance L and current front-wheel steer angle α t, according to following formula(8) the radius of turn R of the center of calculating motion car body in the time turning left motion;

$R=\frac{L}{\tan {\mathrm{\α}}_t}......\left(8\right);$

Then the radius of turn R in the time turning left motion and the left rear wheel of motion car body according to the center of motion car bodyCenter and the center of off hind wheel between the length W of line, calculate the left back of motion car body according to following formula (9)The radius of turn Rl of Lun center in the time turning left motion,

$\mathrm{Rl}=R-\frac{W}{2}......\left(9\right);$

Then according to the center of motion car body at the left rear wheel of the radius of turn R in when motion that turns left, motion car bodyBetween center and the center of off hind wheel the length W of line and the center of the near front wheel of motion car body and the center of left rear wheel itBetween distance L, calculate the center of off-front wheel of motion car body according to following formula (10) turning left when motionRadius of turn Rr,

$\mathrm{Rr}=\sqrt{L^2+{(R+\frac{W}{2})}^2}......\left(10\right);$

Wherein, in the time that motion car body turns left motion, the track of the distance that the central motion of motion car body is crossed is circular arc;The track of the distance that the central motion of the left rear wheel of motion car body is crossed is circular arc; The central motion mistake of the off-front wheel of motion car bodyThe track of distance be circular arc.

Wherein, arbitrary length of crossing for the central motion of motion car body is the distance of Δ S, according to path length Δ S andThe center of motion car body is at the radius of turn R in when motion that turns left, and calculates this length to be according to following formula (11)Central angle Δ θ corresponding to distance place circular arc of Δ S;

$\mathrm{\Δ\θ}=\frac{\mathrm{\ΔS}}{R}......\left(11\right);$

In the time that motion car body starts to turn left motion with current motion state from current time, motion car body is in motionThe coordinate figure of the abscissa in process and the coordinate figure of ordinate all change.

Like this, can calculate according to following formula: in motion process, every motion one segment length in the center of motion car bodyFor the coordinate of the journey's end of the distance of Δ S;

(Xi＝Rcos(i×Δθ)-R，Yi＝Rsin(i×Δθ))，(i＝1，2，…N)；

Wherein, which section distance i represents, for example, when i=1, represents the 1st section of distance; When i=2, represent the 2nd section of wayJourney, when i=N, represents N section distance.

For example, in the time that complete the 1st segment length of motion body movement is the distance of Δ S, the coordinate at the center of motion car body is(Rcos Δ θ-R, Rsin Δ θ); In the time that complete the 2nd segment length of motion body movement is the distance of Δ S, motion car bodyThe coordinate at center is (Rcos (2 × Δ θ)-R, Rsin (2 × Δ θ)); , as the complete N of motion body movementWhen segment length is the distance of Δ S, the coordinate at the center of motion car body is (Rcos (N × Δ θ)-R, Rsin (N × Δθ))。

Position using the each coordinate calculating in bodywork reference frame is respectively as the target bit at the center of motion car bodyPut.

Further, need calculating in the time that the path length of the distance of the central motion of motion car body is Δ S, motion car bodyThe path length Δ Sl of distance of central motion of left rear wheel, can calculate the left back of motion car body according to following formulaThe path length Δ Sl of the distance of the central motion of wheel;

ΔSl＝Δθ*Rl；

And, can calculate according to following formula: in motion process, the every motion in the center of the left rear wheel of motion car bodyOne segment length is the coordinate of the journey's end of the distance of Δ Sl;

(X＝Rlcos(i×Δθ)-R，Y＝Rlsin(i×Δθ))，(i＝1，2，…N)；

Wherein, which section distance i represents, for example, when i=1, represents the 1st section of distance; When i=2, represent the 2nd section of wayJourney, when i=N, represents N section distance.

For example,, when the left rear wheel of motion car body has moved the 1st segment length while being the distance of Δ Sl, the left rear wheel of motion car bodyThe coordinate at center be (Rlcos Δ θ-R, Rlsin Δ θ); When the left rear wheel of motion car body the 2nd segment length of having moved isWhen the distance of Δ Sl, the coordinate at the center of the left rear wheel of motion car body be (Rlcos (2 × Δ θ)-R, Rlsin (2 ×Δ θ)); , when the left rear wheel of motion car body has moved N segment length while being the distance of Δ Sl, a left side for motion car bodyThe coordinate at the center of trailing wheel is (Rlcos (N × Δ θ)-R, Rlsin (N × Δ θ)).

Position using the each coordinate calculating in bodywork reference frame is respectively as the center of the left rear wheel of motion car bodyTarget location.

Further, need calculating in the time that the path length of the distance of the central motion of motion car body is Δ S, motion car bodyThe distance degree Δ Sr of distance of central motion of off-front wheel, can calculate the right front of motion car body according to following formulaThe path length Δ Sr of the distance of the central motion of trailing wheel;

ΔSr＝Δθ*Rr；

And, can calculate according to following formula: in motion process, the every motion in the center of the off-front wheel of motion car bodyOne segment length is the coordinate of the journey's end of the distance of Δ Sr;

(X＝Rrcos(i×Δθ)-R，Y＝Rrsin(i×Δθ))，(i＝1，2，…N)；

Wherein, which section distance i represents, for example, when i=1, represents the 1st section of distance; When i=2, represent the 2nd section of wayJourney, when i=N, represents N section distance.

For example,, when the off-front wheel of motion car body has moved the 1st segment length while being the distance of Δ Sr, the off-front wheel of motion car bodyThe coordinate at center be (Rrcos Δ θ-R, Rrsin Δ θ); When the off-front wheel of motion car body the 2nd segment length of having moved isWhen the distance of Δ Sr, the coordinate at the center of the off-front wheel of motion car body be (Rrcos (2 × Δ θ)-R, Rrsin (2 ×Δ θ)); , when the off-front wheel of motion car body has moved N segment length while being the distance of Δ Sr, the right side of motion car bodyThe coordinate at the center of front-wheel is (Rrcos (N × Δ θ)-R, Rrsin (N × Δ θ)).

Position using the each coordinate calculating in bodywork reference frame is respectively as the center of the off-front wheel of motion car bodyTarget location.

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

When motion car body starts to enter along the direction of current front-wheel steer angle from current time with current motion stateWhen row rectilinear motion, behind the target location at center that obtains multiple motion car bodies, at the order at the center of multiple motion car bodiesIn cursor position, using the motion destination as the center of motion car body apart from a current location target location farthest. ?Obtain behind the target location at center of the left rear wheel of multiple motion car bodies, at the order at the center of the left rear wheel of multiple motion car bodiesIn cursor position, using the motion order as the center of the left rear wheel of motion car body apart from a current location target location farthestGround. Behind the target location at center of off hind wheel that obtains multiple motion car bodies, at the off hind wheel of multiple motion car bodiesIn the target location at center, using the center as the off hind wheel of motion car body apart from a current location target location farthestMotion destination.

When motion car body starts along the direction right side of current front-wheel steer angle from current time with current motion stateWhen turning motion, behind the target location at center that obtains multiple motion car bodies, in the target at the center of multiple motion car bodiesIn position, using the motion destination as the center of motion car body apart from a current location target location farthest. ?Behind the target location at the center of the near front wheels of multiple motion car bodies, in the target at the center of the near front wheels of multiple motion car bodiesIn position, using the motion object as the center of the near front wheel of motion car body apart from a current location target location farthestGround. Behind the target location at center of off hind wheel that obtains multiple motion car bodies, in the off hind wheel of multiple motion car bodiesIn the target location of the heart, using apart from a current location target location farthest as the center of the off hind wheel of motion car bodyMotion destination.

When motion car body starts along a direction left side for current front-wheel steer angle from current time with current motion stateWhen turning motion, behind the target location at center that obtains multiple motion car bodies, in the target at the center of multiple motion car bodiesIn position, using the motion destination as the center of motion car body apart from a current location target location farthest. ?Behind the target location at the center of the left rear wheel of multiple motion car bodies, in the target at the center of the left rear wheel of multiple motion car bodiesIn position, using the motion object as the center of the left rear wheel of motion car body apart from a current location target location farthestGround. Behind the target location at center of off-front wheel that obtains multiple motion car bodies, in the off-front wheel of multiple motion car bodiesIn the target location of the heart, using apart from a current location target location farthest as the center of the off-front wheel of motion car bodyMotion destination.

In step S204, the multiple target locations that obtain are connected to the current movement locus that obtains motion car body.

When motion car body starts to enter along the direction of current front-wheel steer angle from current time with current motion stateWhen row rectilinear motion, behind the target location at center that obtains multiple motion car bodies, by the order at the center of multiple motion car bodiesCursor position is carried out smooth connection and obtains the movement locus at the center of motion car body according to time sequencing. Obtaining multiple sport(s) carsBehind the target location at the center of the left rear wheel of body, by the target location at the center of the left rear wheel of multiple motion car bodies according to the timeOrder is carried out smooth connection and obtains the movement locus at the center of the left rear wheel of motion car body. On the right side that obtains multiple motion car bodiesBehind the target location at the center of trailing wheel, the target location at the center of the off hind wheel of multiple motion car bodies is entered according to time sequencingRow smooth connection obtains the central motion track of the off hind wheel of motion car body.

When motion car body starts to enter along the direction of current front-wheel steer angle from current time with current motion stateRow is turned right when motion, behind the target location at center that obtains multiple motion car bodies, by the center of multiple motion car bodiesSmooth connection is carried out and obtains the movement locus at the center of motion car body in target location according to time sequencing. Obtaining multiple motionsBehind the target location at the center of the near front wheel of car body, by the target location at the center of the near front wheel of multiple motion car bodies according to timeBetween order carry out smooth connection and obtain the movement locus at the center of the near front wheel of motion car body. Obtaining multiple motion car bodiesBehind the target location at the center of off hind wheel, by the target location at the center of the off hind wheel of multiple motion car bodies according to time sequencingCarry out smooth connection and obtain the central motion track of the off hind wheel of motion car body.

When motion car body starts to enter along the direction of current front-wheel steer angle from current time with current motion stateRow turns left when motion, behind the target location at center that obtains multiple motion car bodies, by the center of multiple motion car bodiesSmooth connection is carried out and obtains the movement locus at the center of motion car body in target location according to time sequencing. Obtaining multiple motionsBehind the target location at the center of the left rear wheel of car body, by the target location at the center of the left rear wheel of multiple motion car bodies according to timeBetween order carry out smooth connection and obtain the movement locus at the center of the left rear wheel of motion car body. Obtaining multiple motion car bodiesBehind the target location at the center of off-front wheel, by the target location at the center of the off-front wheel of multiple motion car bodies according to time sequencingCarry out smooth connection and obtain the central motion track of the off-front wheel of motion car body.

In further embodiment of this invention, referring to Fig. 6, step S104 comprises:

In step S301, obtain each position of the image that is arranged in motion car body front at the figure of image coordinate systemPicture coordinate;

In step S302, obtain the image coordinate of each target location in image coordinate system;

Concrete, obtain the corresponding pass between image coordinate in image coordinate system and car body coordinate in bodywork reference frameSystem; In above-mentioned corresponding relation, calculate respectively the car body coordinate of each target location in bodywork reference frame in image coordinateThe image coordinate of correspondence in system.

Wherein, after the image in image capture device collection motion car body front, can set up image coordinate according to the image gatheringSystem; And set up the corresponding relation between the car body coordinate in image coordinate and the bodywork reference frame in image coordinate system.

In step S303, according to the each position of image that is arranged in motion car body front at the figure of image coordinate systemPicture coordinate and the image coordinate of each target location in image coordinate system, be added into guiding parameter in image.

In further embodiment of this invention, referring to Fig. 7, the method also comprises:

In step S401, detect and whether receive the adjusting behaviour that the current motion state of motion car body is regulatedDo;

Technical staff is arranged in remote control station, is provided with control platform in remote control station, controls on platform and has loaded analog manipulation dressPut, analog manipulation device comprises for the steering wheel of the direction of motion of adjustment movement car body, for increasing the fortune of motion car bodyThe gas pedal of moving acceleration and for reducing the brake pedal of the acceleration of motion of motion car body. Technical staff is flat in controlIn platform, can carry out Long-distance Control to motion car body by analog manipulation device.

Can steering wheel rotation in the time that technical staff needs the direction of motion of adjustment movement car body, control platform and just can receiveTo the steering operation of technical staff to steering wheel;

In the time that technical staff need to improve the movement velocity of motion car body, technical staff can press gas pedal and improve fortuneThe acceleration of motion of motor vehicles bodies, and then the movement velocity of raising motion car body; Control platform and just can receive technical staffTo the pressing operation of gas pedal;

In the time that technical staff need to reduce the movement velocity of motion car body, technical staff can press brake pedal and reduce fortuneThe acceleration of motion of motor vehicles bodies, and then the movement velocity of reduction motion car body; Control platform and just can receive technical staffTo the pressing operation of brake pedal.

In the time receiving adjustment operation, in step S402, generate motion according to adjustment operation and current motion stateThe target state of car body;

Wherein, the current motion state of motion car body comprises current front-wheel steer angle, the motion car body of motion car bodyCurrent movement velocity and the current acceleration of motion of motion car body.

When receive steering wheel steering operation time, control platform and obtain the side after technical staff turns to steering wheelTo the steering angle of dish, then obtain the first couple between steering angle and the front-wheel steer angle of steering wheel of local storageShould be related to; Then from the first corresponding relation, obtain front-wheel steer angle corresponding to steering angle of back track to dish; RootObtaining target front-wheel according to back track to the front-wheel steer angle corresponding to steering angle of dish and current front-wheel steer angle turnsTo angle.

When receive gas pedal pressing operation time, obtain the pressing force that technical staff presses gas pedalDegree, then obtains the second corresponding relation between the local dynamics of pressing and acceleration of motion of storing; Then from the second correspondenceIn relation, obtain acceleration of motion corresponding to the dynamics of pressing that gas pedal is pressed; To press gas pedalAcceleration of motion corresponding to the dynamics of pressing and current acceleration of motion be added and obtain target travel acceleration.

When receive brake pedal pressing operation time, obtain the pressing force that technical staff presses brake pedalDegree, then obtains the 3rd corresponding relation between the local dynamics of pressing and acceleration of motion of storing; Then from the 3rd correspondenceIn relation, obtain acceleration of motion corresponding to the dynamics of pressing that brake pedal is pressed; By current acceleration of motion withAcceleration of motion corresponding to the dynamics of pressing that gas pedal is pressed subtracted each other and obtained target travel acceleration.

Due to when technical staff's steering wheel rotation or when pressing gas pedal or pressing brake pedal, motion stateIn the instantaneous acceleration of motion of only having motion car body and the direction of motion changing, the movement velocity of motion car body can winkIn time, changes, and therefore, target state comprises target front-wheel steer angle, motion car body current of motion car bodyMovement velocity and the target travel acceleration of motion car body.

In step S403, calculate motion car body in the moment to receive described adjustment operation according to target stateFor the target guiding parameter in the Preset Time section of initial time;

Target state comprises target front-wheel steer angle, target travel acceleration and the current motion speed of motion car bodyDegree.

Target guiding parameter comprises target trajectory and target travel destination.

Calculate motion car body in the moment to receive adjustment operation during as initial time default according to target stateBetween the method for target guiding parameter in section can, referring to the method for calculating current guiding parameter, just not describe in detail at this.

In step S404, target guiding parameter is added in image.

The method that target guiding parameter is added in image specifically can be referring to current guiding parameter is added into this figureMethod in picture, does not just describe in detail at this.

In embodiments of the present invention, the guiding parameter that can superpose current in image and target guiding parameter, that is, and in imageNot only show the current movement locus of motion car body and current motion destination, can also show the target of motion car bodyMovement locus and target travel destination can make technical staff in image, see technical staff like this visual patternThe target trajectory of the motion car body after the motion state of motion car body is regulated and target travel destination, with regulate beforeCurrent movement locus and the current motion destination of motion car body between gap, facilitate technical staff to sport(s) carThe motion state of body is further adjusted.

Fig. 8 is according to a kind of block diagram of guiding parameter displaying device shown in an exemplary embodiment. With reference to Fig. 8, this dressPut and comprise:

The first acquisition module 11, for obtaining the current motion state of motion car body; Described in current motion state comprisesThe current movement velocity of the current front-wheel steer angle of motion car body, described motion car body and described motion car bodyCurrent acceleration of motion;

The first computing module 12, for calculate according to described current motion state described motion car body taking current time asCurrent guiding parameter in the Preset Time section of initial time; Current guiding parameter at least comprises current movement locusWith current motion destination;

The second acquisition module 13, is positioned at the described car body front of moving for obtaining along the direction of motion of the described car body that movesImage;

First adds module 14, for described current guiding parameter is added into described image;

Display module 15, for showing the described image that has added described current guiding parameter.

In the embodiment shown in Fig. 8 of the present invention, obtain the current motion state of motion car body; Current motion stateComprise the current of the current movement velocity of current front-wheel steer angle, motion car body of motion car body and motion car bodyAcceleration of motion; Calculate motion car body at the Preset Time taking current time as initial time according to current motion stateCurrent guiding parameter in section; Current guiding parameter at least comprises current movement locus and current motion destination;Obtain the image that is positioned at the car body front of moving along the direction of motion of the car body that moves; Current guiding parameter is added into imageIn; Show the image that has added current guiding parameter.

Like this, technical staff according to the image that has added guiding parameter just can see motion car body taking current time asMovement locus in the Preset Time section in moment beginning and motion destination, can be clear according to this movement locus and motion destinationChu knows whether motion car body is that the route of expecting according to technical staff moves and whether can arrive technology easilyThe destination that personnel expect, and then can regulate in real time the motion state of motion car body, than only showing figureTraffic information in picture, the embodiment of the present invention has shown that after the image that has added guiding parameter, technical staff is according to this motionThe degree of accuracy that track and this motion destination regulate the motion state of unmanned vehicle is higher.

Wherein, described the first computing module 12 comprises:

The first acquiring unit, for obtaining the current location of described motion car body;

Computing unit, for calculating described motion car body taking described current location as starting point according to described current motion stateThe target location when distance of the identical path length of every motion;

Determining unit, for using a target location farthest of the described current location of distance as current motion destination;

Linkage unit, for connecting the multiple target locations that obtain on the current motion rail that obtains described motion car bodyMark.

Further, described device also comprises:

Detection module, for detection of whether receiving the adjusting that the current motion state of described motion car body is regulatedOperation;

Generation module, in the time receiving described adjustment operation, according to described adjustment operation and described current motion shapeState generates the target state of motion car body;

The second computing module, for calculating described motion car body to receive described adjusting according to described target stateTarget guiding parameter in the Preset Time section that the moment of operation is initial time;

Second adds module, for described target guiding parameter is added into described image.

Wherein, described the first interpolation module 14 comprises:

Second acquisition unit, for each position of obtaining the image that is positioned at described motion car body front at image coordinate systemIn image coordinate;

The 3rd acquiring unit, for obtaining the image coordinate of each target location at described image coordinate system;

Adding device, for according to the each position of image that is positioned at described motion car body front at described image coordinate systemIn image coordinate and the each target location image coordinate in described image coordinate system, by described current guiding parameterBe added in described image.

Wherein, described the 3rd acquiring unit comprises:

Obtain subelement, for obtaining between the car body coordinate in image coordinate and the bodywork reference frame of image coordinate systemCorresponding relation;

Computation subunit, at described corresponding relation, calculates respectively the car of each target location in bodywork reference frameThe image coordinate of body coordinate correspondence in described image coordinate system.

About the device in above-described embodiment, wherein the concrete mode of modules executable operations is in relevant the methodIn embodiment, have been described in detail, will not elaborate explanation herein.

Those skilled in the art are considering description and putting into practice after invention disclosed herein, will easily expect of the present invention otherEmbodiment. The application is intended to contain any modification of the present invention, purposes or adaptations, these modification, purposesOr adaptations is followed general principle of the present invention and is comprised undocumented in the art known normal of the present inventionKnow or conventional techniques means.

Should be understood that, the present invention is not limited to precision architecture described above and illustrated in the accompanying drawings, andCan carry out various amendments and change not departing from its scope. Scope of the present invention is only limited by appended claim.

Claims (10)

1. a guiding method for displaying parameters, is characterized in that, described method comprises:

Obtain the current motion state of motion car body; Current motion state comprises the current front-wheel of described motion car bodyThe current movement velocity of steering angle, described motion car body and the current acceleration of motion of described motion car body;

Calculate described motion car body in the Preset Time section taking current time as initial time according to described current motion stateInterior current guiding parameter; Current guiding parameter at least comprises current movement locus and current motion destination;

Obtain the image that is positioned at the described car body front of moving along the direction of motion of the described car body that moves;

Described current guiding parameter is added in described image;

Show the described image that has added described current guiding parameter.

2. method according to claim 1, is characterized in that, describedly calculates institute according to described current motion stateState the current guiding parameter of motion car body in the Preset Time section taking current time as initial time, comprising:

Obtain the current location of described motion car body;

Calculate described motion car body taking described current location as the identical distance of the every motion of starting point according to described current motion stateThe target location when distance of length;

Using the described current location of a distance target location farthest as current motion destination;

The multiple target locations that obtain are connected to the current movement locus that obtains described motion car body.

3. method according to claim 2, is characterized in that, described method also comprises:

Detect and whether receive the adjustment operation that the current motion state of described motion car body is regulated;

In the time receiving described adjustment operation, generate motion car body according to described adjustment operation and described current motion stateTarget state;

According to described target state calculate described motion car body in the moment to receive described adjustment operation when initialTarget guiding parameter in the Preset Time section of carving;

Described target guiding parameter is added in described image.

4. method according to claim 2, is characterized in that, described described current guiding parameter is added into instituteState in image, comprising:

Obtain each position of the image that is arranged in described motion car body front in the image coordinate of image coordinate system;

Obtain the image coordinate of each target location in described image coordinate system;

According to the each position of image that is arranged in described motion car body front in the image coordinate of described image coordinate system andThe image coordinate of each target location in described image coordinate system, is added into described image by described current guiding parameterIn.

5. method according to claim 4, is characterized in that, described in obtain each target location and sit at described imageImage coordinate in mark system, comprising:

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

In described corresponding relation, calculate respectively the car body coordinate of each target location in bodywork reference frame at described imageThe image coordinate of correspondence in coordinate system.

6. a guiding parameter displaying device, is characterized in that, described device comprises:

The first acquisition module, for obtaining the current motion state of motion car body; Current motion state comprises described fortuneWorking as of the current movement velocity of the current front-wheel steer angle of motor vehicles bodies, described motion car body and described motion car bodyFront acceleration of motion;

The first computing module, for calculate according to described current motion state described motion car body taking current time as riseCurrent guiding parameter in the Preset Time section in moment beginning; Current guiding parameter at least comprise current movement locus andCurrent motion destination;

The second acquisition module, for obtaining the figure that is positioned at the described car body front of moving along the direction of motion of the described car body that movesPicture;

First adds module, for described current guiding parameter is added into described image;

Display module, for showing the described image that has added described current guiding parameter.

7. device according to claim 6, is characterized in that, described the first computing module comprises:

The first acquiring unit, for obtaining the current location of described motion car body;

Computing unit, for calculating described motion car body taking described current location as starting point according to described current motion stateThe target location when distance of the identical path length of every motion;

Determining unit, for using a target location farthest of the described current location of distance as current motion destination;

Linkage unit, for connecting the multiple target locations that obtain on the current motion rail that obtains described motion car bodyMark.

8. device according to claim 7, is characterized in that, described device also comprises:

Detection module, for detection of whether receiving the adjusting that the current motion state of described motion car body is regulatedOperation;

Generation module, in the time receiving described adjustment operation, according to described adjustment operation and described current motion shapeState generates the target state of motion car body;

The second computing module, for calculating described motion car body to receive described adjusting according to described target stateTarget guiding parameter in the Preset Time section that the moment of operation is initial time;

Second adds module, for described target guiding parameter is added into described image.

9. device according to claim 7, is characterized in that, described first adds module comprises:

Second acquisition unit, for each position of obtaining the image that is positioned at described motion car body front at image coordinate systemIn image coordinate;

The 3rd acquiring unit, for obtaining the image coordinate of each target location at described image coordinate system;

Adding device, for according to the each position of image that is positioned at described motion car body front at described image coordinate systemIn image coordinate and the each target location image coordinate in described image coordinate system, by described current guiding parameterBe added in described image.

10. device according to claim 9, is characterized in that, described the 3rd acquiring unit comprises:

Obtain subelement, for obtaining between the car body coordinate in image coordinate and the bodywork reference frame of image coordinate systemCorresponding relation;

Computation subunit, at described corresponding relation, calculates respectively the car of each target location in bodywork reference frameThe image coordinate of body coordinate correspondence in described image coordinate system.