CN106864369A - Parking auxiliary ring field image system - Google Patents
Parking auxiliary ring field image system Download PDFInfo
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- CN106864369A CN106864369A CN201610395773.3A CN201610395773A CN106864369A CN 106864369 A CN106864369 A CN 106864369A CN 201610395773 A CN201610395773 A CN 201610395773A CN 106864369 A CN106864369 A CN 106864369A
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- 230000015572 biosynthetic process Effects 0.000 claims abstract description 32
- 238000003786 synthesis reaction Methods 0.000 claims abstract description 32
- 238000004088 simulation Methods 0.000 claims description 19
- 238000012360 testing method Methods 0.000 claims description 4
- VMXUWOKSQNHOCA-UKTHLTGXSA-N ranitidine Chemical compound [O-][N+](=O)\C=C(/NC)NCCSCC1=CC=C(CN(C)C)O1 VMXUWOKSQNHOCA-UKTHLTGXSA-N 0.000 description 19
- 238000010586 diagram Methods 0.000 description 11
- 230000000007 visual effect Effects 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000002604 ultrasonography Methods 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 1
- 241001062009 Indigofera Species 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- 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
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—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
- B60R2300/305—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 merging camera image with lines or icons
-
- 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
-
- 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
- B60R2300/8086—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 vehicle path indication
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- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a parking auxiliary ring field image system which comprises a lens group, a three-dimensional image synthesis module, a guiding operation module and a display module. The lens group comprises a plurality of lenses which are respectively arranged at different positions around the vehicle so as to respectively shoot a plurality of external images around the vehicle. The three-dimensional image synthesis module is electrically connected with the lens group and receives the external images and synthesizes the external images into a three-dimensional annular projection image. The guiding operation module is electrically connected with the three-dimensional image synthesis module and receives the three-dimensional ring field projection image, detects and analyzes the relative position of the virtual vehicle body and the parking space image in the three-dimensional ring field projection image, and calculates a parking guiding track according to the relative position, wherein the parking guiding track refers to a simulated route track along which the virtual vehicle body can simulate to drive into the parking space image. The display module receives and displays at least a partial three-dimensional ring field projection image and a parking guide track.
Description
Technical field
The present invention is, on a kind of ring image system, to particularly relate to a kind of parking subring image system.
Background technology
Parking assistance system on the market is mostly, by image system collocation supersonic detector, to be visited by ultrasonic at present
Survey device to launch ultrasonic to vehicle's surroundings and receive the ultrasonic of feedback, the range-azimuth for measuring barrier is used, so as to examine
The space that survey can stop.
So, the parking skill for being limited to driver is different, the detection range and sensitivity for supersonic detector
Demand is also different.If the detection range of ultrasound sensors is too big, easily all objects by the range of are judged to barrier
And cause driver to need frequency to look back image system and acted in order to avoid judging parking by accident.But if the detection range of ultrasound sensors is too small,
Then needing grade vehicle to be moved to can just make the presence of ultrasound sensors detection barrier quite close to barrier.Therefore, existing skill
The parking assistance system of art can be detected can parking space precision quite be limited.Additionally, it is super only to be arranged in pairs or groups by image system
Sound wave detector simultaneously cannot further know parking route and step guiding, so, use the parking assistance system of prior art
When, driver can still worry vehicle dynamic and need to judge can parking space.
The content of the invention
The present invention proposes a kind of parking subring image system, it is adaptable to a vehicle.The parking subring image
System includes camera lens group, 3-dimensional image synthesis module, guiding computing module and display module.Camera lens group includes multiple mirrors
Head, these camera lenses are respectively arranged at the diverse location of vehicle periphery, to shoot multiple external images of vehicle periphery respectively.It is three-dimensional
Image compounding module is electrically connected with camera lens group and receives these external images and synthesize three-dimensional ring projection image, wherein,
Three-dimensional ring projection image includes virtual vehicle body and parking stall image.Guiding computing module is electrically connected with 3-dimensional image synthesis
Module simultaneously receives three-dimensional ring projection image.Guiding computing module tests and analyzes the relative position of virtual vehicle body and parking stall image
Put and calculate a parking lead track according to this, wherein, parking lead track refers to that virtual vehicle body can be simulated along it and sails parking into
The simulated route track of position image.Display module is electrically connected with 3-dimensional image synthesis module and guiding computing module, wherein showing
Module is received and shows at least partial 3 d Huan Chang projection images and parking lead track.
Above-mentioned parking subring image system, wherein, the guiding computing module more calculate the virtual vehicle body along
The parking lead track and simulating sails a simulation dynamic image of the parking stall image into, and the display module can more show the simulation
Dynamic image.
Above-mentioned parking subring image system, wherein, further include an automatic stopping module, the automatic stopping module with
The guiding computing module is electrically connected with, and at least one party with correspondence is calculated to disk turn signal according to the parking lead track and
An at least speed control signal is simultaneously exported.
Above-mentioned parking subring image system, wherein, further include a prompt message module, the prompt message module with
The guiding computing module is electrically connected with, and is calculated at least one guiding operation indicating and added with corresponding according to the parking lead track
To export.
Above-mentioned parking subring image system, wherein, the guiding operation indicating is a voice message, a word is carried
Show, a cresset is pointed out or its combination.
Above-mentioned parking subring image system, wherein, a GPS module is further included, the GPS module and the guiding computing
Module is electrically connected with, and detects and export a vehicle real time position, and the guiding computing module compares the vehicle real time position and is somebody's turn to do
Parking lead track, when the vehicle real time position deviates the parking lead track more than a threshold values, the guiding computing module weight
New computing parking lead track.
Above-mentioned parking subring image system, wherein, an input module is further included, the input module is transported with the guiding
Calculation module is electrically connected with, and the input module can correct data for input one, and the guiding computing module is according to the amendment data and is somebody's turn to do
Parking lead track and computing output one correct parking trajectory.
Above-mentioned parking subring image system, wherein, the guiding computing module more calculate the virtual vehicle body along
The amendment parking trajectory and simulating sails a simulation dynamic image of the parking stall image into, and the display module can more show the simulation
Dynamic image.
Above-mentioned parking subring image system, wherein, a start unit is further included, the start unit is transported with the guiding
Calculate module to be electrically connected with, the start unit exports an enabling signal and led to drive the guiding computing module to start to calculate the parking
Approach rail mark.
Above-mentioned parking subring image system, wherein, the camera lens group includes：
One left side camera lens, is arranged at the left side of the vehicle, the shadow of the surrounding environment of the left side lens shooting vehicle left side
Picture simultaneously exports into a left side image；
One right side camera lens, is arranged at the right side of the vehicle, the shadow of the surrounding environment of the right side lens shooting vehicle right side
Picture simultaneously exports into a right side image；
One front side camera lens, is arranged at the front side of the vehicle, the shadow of the surrounding environment of the front side lens shooting vehicle front side
As simultaneously exporting into a front side image, wherein the front side image overlaps at least partially with left side image, the front side image and this
Right side image at least a portion overlaps；And
One rear side camera lens, is arranged at the rear side of the vehicle, the shadow of the surrounding environment of the rear side lens shooting vehicle rear-side
As simultaneously exporting into a rear side image, wherein the rear side image overlaps at least partially with left side image, the rear side image and this
Right side image at least a portion overlaps.
In sum, the present invention is set up three-dimensional ring projection image by 3-dimensional image synthesis module and judges parking
Position position.The phase of virtual vehicle body and parking stall image in three-dimensional ring projection image is tested and analyzed by guiding computing module again
To position to calculate parking lead track, and at least partial 3 d Huan Chang projection images are shown by display module and is stopped
Car lead track.Accordingly, driver can simulate the mould for sailing parking stall image into reference to virtual vehicle body along parking lead track
Intend route track simulation dynamic image, also can operate steering wheel simultaneously Ji/Huo Brake cars system according to parking lead track with
The real time running route of the driven vehicle of adjustment.
Brief description of the drawings
Fig. 1 is the functional block diagram of the parking subring image system of first embodiment of the invention.
Fig. 2 is the schematic diagram of the vehicle for being equiped with parking subring image system of first embodiment of the invention.
Fig. 3 is the signal of the three-dimensional ring projection image of the parking subring image system of first embodiment of the invention
Figure.
Fig. 4 judges the schematic diagram of the image on parking stall for the 3-dimensional image synthesis module of first embodiment of the invention.
Fig. 5 illustrates for the use state of the display module of the parking subring image system of first embodiment of the invention
Figure.
Fig. 6 is the functional block diagram of the parking subring image system of second embodiment of the invention.
Fig. 7 is the schematic diagram of the parking spot of second embodiment of the invention.
Wherein, reference
100 parking subring image system 110 camera lens groups
112 camera lens 112L left sides camera lens
112R right sides camera lens 112F front sides camera lens
The 112B rear side 3-dimensional image synthesis modules of camera lens 120
The 130 guiding start units of computing module 132
The left screen picture of 140 display module 142
The automatic stopping module of 144 right screen picture 150
The GPS module of 160 prompt message module 170
180 input modules
AC1 virtual vehicle body AP1 parking stalls image
C1 vehicles IL left sides image
IR right sides image IF front sides image
IB rear side image IS three-dimensional rings projection image
The mark atural object images of M1 first M2 second marks atural object image
P1 parking stalls T1 parking lead tracks
T1a amendment parking trajectory S1 spaces
Specific embodiment
Fig. 1 is the functional block diagram of the parking subring image system of first embodiment of the invention.Fig. 2 is the present invention the
The schematic diagram of the vehicle for being equiped with parking subring image system of one embodiment.Fig. 3 stops for first embodiment of the invention
The schematic diagram of the three-dimensional ring projection image of car subring image system.In first embodiment, parking subring image system
System 100 is applied on vehicle C1, is used to aid in guiding user to travel into parking stall P1 the vehicle C1.Parking subring
Image system 100 includes camera lens group 110,3-dimensional image synthesis module 120, guiding computing module 130 and display module
140.3-dimensional image synthesis module 120 is electrically connected with camera lens group 110 and guiding computing module 130.Guiding computing module 130
And 3-dimensional image synthesis module 120 is all electrically connected with display module 140.
Camera lens group 110 includes multiple camera lenses 112, the angle for setting up the diverse location on vehicle C1 separately and shooting it is different with
Shoot the multiple external images around vehicle C1.What deserves to be explained is, the visual angle captured by adjacent camera lens 112 partly overlaps,
So that the multiple external images for being captured can show different visual angles and the ring image around the vehicle C1 that can piece together out.Yu Ben
In embodiment, camera lens group 110 includes four camera lenses 112, and the quantity and shooting angle of these camera lenses 112 can be according to actual need
Ask and be adjusted, quantity of the present invention not to camera lens 112 is any limitation as.
Foregoing four camera lenses 112 are respectively with left side camera lens 112L, right side camera lens 112R, front side camera lens 112F and rear side mirror
Head 112B is referred to as.Specifically, camera lens 112L in left side is arranged at the left side of vehicle C1, for example, be provided in a left side for vehicle C1 lefts
On rearview mirror, left side image IL is turned into shoot the image of the surrounding environment of vehicle C1 outer left sides and capture.Right side camera lens
112R is arranged at the right side of vehicle C1, for example, be provided on the right rear view mirror of vehicle C1 rights, to shoot vehicle C1 external rights
The image of the surrounding environment of side simultaneously captures right side image IR.Front side camera lens 112F is arranged at the front side of vehicle C1, e.g., with
Shoot the image of the surrounding environment on front side of vehicle C1 outside and capture as front side image IF.Rear side camera lens 112B is arranged at vehicle
The rear side of C1, e.g., rear side image IB is turned into shoot the image of the surrounding environment of vehicle C1 external posterior sides and capture.
In in practice, these camera lenses 112 can be wide-angle lens or fish eye lens.Due to these camera lenses 112 phase each other
Visual angle that is adjacent and shooting partly overlaps, so that the front side image IF for being captured, left side image IL, rear side image IB and right side image
IR shows that at least a portion can overlap with complete around the vehicle C1 that pieces together out between different visual angles, and adjacent image
A ring image.
3-dimensional image synthesis module 120 is electrically connected with and receives foregoing front side image IF, left side image with these camera lenses 112
IL, rear side image IB and right side image IR, to synthesize three-dimensional ring projection image IS.Particularly, 3-dimensional image synthesis module
120 can be micro computer, processor or the spy's chip that can be installed on vehicle C1.Three-dimensional ring projection image IS includes
The virtual vehicle body AC1 of simulating vehicle C1, and virtual vehicle body AC1 is located substantially on the center of three-dimensional ring projection image IS, presents
The three-dimensional surrounding ring environment gone out centered on vehicle C1.User intuitively can be picked out by three-dimensional ring projection image IS
Scenery, object around vehicle C1.Substantially, the specification of virtual vehicle body AC1 is length of wagon, the car body according to vehicle C1
Highly, tire wheel sets away from equal-specification data, therefore, it is relative between virtual vehicle body AC1 and three-dimensional ring projection image IS
The relative position and ratio of the surrounding environment in position and size correspondence vehicle C1 and these distances captured by camera lens 112,
And then be easy between judgment object or the relativeness such as the size between vehicle C1 and object, height, distance.Additionally, virtual
Car body AC1 can be a fluoroscopic image, consequently facilitating driver observes what is covered by virtual vehicle body AC1 by virtual vehicle body AC1
Three-dimensional ring projection image IS.
Fig. 4 judges the schematic diagram of the image on parking stall for the 3-dimensional image synthesis module of first embodiment of the invention.Please join
Read Fig. 4 and coordinate refering to Fig. 2.Parking stall P1 is looked for when driving human desires stop fashionable (that is, corresponding to by sailed vehicle C1
Three-dimensional ring field projection image IS, as virtual vehicle body AC1 are intended to accordingly stop into a parking stall image AP1), 3-dimensional image synthesis mould
Whether whether the analyzing three-dimensional Huan Chang projection image IS of block 120 there is the parking stall image AP1 to possess understanding surrounding environment is stopped
Car space.
Specifically, 3-dimensional image synthesis module 120 can detect the first mark atural object image of three-dimensional ring projection image IS
Relative position between the mark atural object images of M1 and second M2, and analysis is by the first mark atural object image M1 and the second mark atural object image M2
The size of the space S 1 for being generally comprised.Because three-dimensional ring projection image IS can be specifically presented between object or vehicle C1
Size, height, far and near equal proportion relation between object, so that 3-dimensional image synthesis module 120 can be analyzed by calculating
The big small distance of space S 1 between the first mark atural object image M1 of three-dimensional ring projection image IS and the second mark atural object image M2 is
It is no to accommodate vehicle C1.If space S 1 can accommodate vehicle C1, be set as the space S 1 by 3-dimensional image synthesis module 120
The parking stall image AP1.For example, as shown in figure 4, the space S 1 is substantially presented rectangle, and first marks atural object image
The marks of M1 and second atural object image M2 is respectively defined as two relative short side sides of the space S 1.
Further, 3-dimensional image synthesis module 120 can more analyze the mark atural object images of the first mark atural object image M1 and second
The obstacle species of M2.In practice, the first mark atural object image M1 and the second mark atural object image M2 can be the barrier of entity, example
Wall, trees, vehicle, traffic sign lamppost etc. in this way.By taking Fig. 4 as an example, the first mark atural object image M1 and second marks atural object image
M2 is all automobile image.But, the first mark atural object image M1 and the second mark atural object image M2 can also be the mark atural object of non-physical,
E.g. traffic marking, e.g. white line, yellow line or parking grid lines.But, the present invention is limited not to this.
Guiding computing module 130 is electrically connected with 3-dimensional image synthesis module 120 and receives three-dimensional ring projection image IS.By
In the specification of virtual vehicle body AC1 set away from equal-specification data according to the length of wagon of vehicle C1, height of the carbody, tire wheel
It is fixed, so as to guide computing module 130 can test and analyze corresponding to the relative position of virtual vehicle body AC1 and parking stall image AP1
Image coordinate and the factor such as speed, the steering angle of the specification data according to virtual vehicle body AC1 and vehicle C1 and computing
Go out to stop lead track T1.Specifically, guiding computing module 130 can be a micro computer being installed on vehicle C1, treatment
Device or spy's chip.What deserves to be explained is, parking lead track T1 synthesizes in three-dimensional ring projection image IS, with as driving
Sail people and vehicle C1 is travelled into auxiliary direction foundation into parking stall P1, it refers to that virtual vehicle body AC1 can be simulated along it and sails parking into
The simulated route track of position image AP1.Further, because virtual vehicle body AC1 is fluoroscopic image, consequently facilitating driver passes through
Three-dimensional ring projection image IS and parking lead track T1 that virtual vehicle body AC1 observations are covered by virtual vehicle body AC1, and profit
In with reference to parking lead track T1.
Fig. 5 is the signal of the display image of the display module of the parking subring image system of first embodiment of the invention
Figure.Refer to Fig. 5 and coordinate refering to Fig. 1 and Fig. 3.Display module 140 and 3-dimensional image synthesis module 120 and guiding computing module
130 are electrically connected with, and receive three-dimensional ring projection image IS and parking lead track T1.Display module 140 concretely shows
Display screen curtain, the e.g. automobile-used screen of external hanging type, the embedded screen for being integrated in multi-media sound system etc..
By taking Fig. 5 as an example, the left screen picture 142 of display module 140 shows real-time three-dimensional Huan Chang projection image IS's
Picture.Display module 140 can show at least local real-time three-dimensional ring projection shadow at visual angle needed for correspondence by selection
As the picture of IS, the picture or its combination shadow of e.g. front side image IF, left side image IL, rear side image IB and right side image IR
The synthesis picture of picture, so that driver understands the surrounding environment of different visual angles.Additionally, the right screen picture of display module 140
144 show that synthesis has the analog picture of the three-dimensional ring projection image IS of parking lead track T1.Display module 140 can be according to
Show that synthesis has the picture of at least partial 3 d Huan Chang projection image IS of parking lead track T1 according to visual angle needed for correspondence, with
The image shown by display module 140 can be referred to for driver and vehicle C1 is docked at according to parking lead track T1
In the P1 of parking stall.The picture that display module 140 can show can regard driver's demand and come same with divided frame or PIP
When show.But, in other embodiment, the picture that above-mentioned display module 140 can show can also be by switching display
It is shown in same picture.
Further, guiding computing module 130 can more calculate virtual vehicle body AC1 and be simulated along parking lead track T1
Sail a simulation dynamic image of parking stall image AP1 into, and display module 140 can more show the simulation dynamic image.It is described
Simulation dynamic image is a real-time moving-picture, and virtual vehicle body AC1 is to represent vehicle C1 that driver driven and can be real-time
Change according to the direct of travel and path of vehicle C1.What deserves to be explained is, simulation dynamic image can be used as the religion of shut-down operation
Image is learned, driver can simulate and sail into reference to simulation dynamic image demonstration virtual vehicle body AC1 according to parking lead track T1
The image of parking stall image AP1, then stops into parking stall P1 from being about to vehicle C1.But, according to actual demand, driver also can
It is enough when with reference to simulation dynamic image, while operate steering wheel Ji/Huo Brake cars systems are stopped manually, therefore, drive
People can adjust the real time running route of driven vehicle C1 according to parking lead track T1.
Fig. 6 is the functional block diagram of the parking subring image system of second embodiment of the invention.In the present embodiment,
Parking subring image system 100 further includes automatic stopping module 150.Automatic stopping module 150 and guiding computing module 130
It is electrically connected with, and at least one party is calculated with correspondence according to parking lead track T1 and is controlled to disk turn signal and an at least speed
Signal.Specifically, automatic stopping module 150 can be a micro computer being installed on vehicle C1, processor or spy's chip.
Wheel steering signal and speed control signal are separately input into steering wheel and corresponding wheel by automatic stopping module 150
Tire, with the steering angle or the number of turns of control direction disk and the angle and speed of tire so that vehicle C1 be able to automatically according to
Parking lead track T1 and stop into parking stall P1.
As shown in fig. 6, in second embodiment, parking subring image system 100 further includes prompt message module
160.Prompt message module 160 is electrically connected with guiding computing module 130, and according to parking lead track T1 correspondence calculate to
Few guiding operation indicating.The guiding operation indicating is used to instruct driver to operate vehicle C1 along parking lead track T1
Stop the instruction into parking stall P1.In practice, prompt message module 160 can one be integrated in display module 140 or be installed in
The micro computer of vehicle C1, processor or spy's chip, its internal reservoir have guiding operation indicating.Guiding operation indicating can be behaviour
Make the prompting of step, it can one dial the voice message put by loudspeaker, or it can be one by display module
The text prompt of 140 displays.Or, it can also be pointed out by cresset.Further, guiding operation indicating more can be with
It is the combinations such as voice message, text prompt, the combination of cresset prompting, or other equivalent acousto-optic images.
As shown in fig. 6, in second embodiment, parking subring image system 100 further includes GPS module 170, its use
To detect and export vehicle real time position, that is, vehicle C1 real-time global positioning information at that time.In practice, GPS module 170
Can be using additional individual chips with the gps signal of omniselector inside GPS module on feed-in gps signal, or reference car.
GPS module 170 is electrically connected with guiding computing module 130, and when driver drives vehicle C1, guiding computing module 130 compares
Vehicle real time position and parking lead track T1 to vehicle C1.If between vehicle real time position and parking lead track T1
When offset differences are more than a threshold values, then it represents that the real time running route of vehicle C1 deviates parking lead track T1 and exceedes the valve
Value, guiding computing module 130 will rerun parking lead track T1.What deserves to be explained is, the threshold values can be one advance
It is stored in the internal data of guiding computing module 130 or is set according to the driving habit of driver.
Fig. 7 is the schematic diagram of the parking spot of second embodiment of the invention.Refer to Fig. 7 and coordinate refering to Fig. 6, in second
In embodiment, parking subring image system 100 further includes input module 180, and it electrically connects with guiding computing module 130
Connect.Input module 180 can supply Introduced Malaria data according to the driving habit of different drivers or hobby, by vehicle C1
Amendment is adjusted in the stand in the P1 of parking stall with respect to hobby.For example, be parked in for vehicle C1 by some drivers hobby
The front of parking stall P1 is partial to, and vehicle C1 is parked in some drivers hobby the rear of deflection parking stall P1, just can be thereby
Input module 180 pre-adjusts amendment.In practice, input module 180 can be an input keyboard, touch pad, acoustic control module, indigo plant
Tooth receiver or other equivalent wireless modules etc., and the amendment data of stand hobby can be input into.Guiding computing module 130
The parking lead track T1 for calculating in advance is corrected according to the amendment data, to export an amendment parking trajectory T1a.According to
This, display module 140 can also show that synthesis has the picture of at least partial 3 d Huan Chang projection image IS of amendment parking trajectory T1a
Face, stops vehicle C1 according to amendment parking trajectory T1a so that driver can refer to the image shown by display module 140
It is put in the P1 of parking stall.
Further, guiding computing module 130 can more calculate virtual vehicle body AC1 along amendment parking trajectory T1a and mould
Plan sails a simulation dynamic image of parking stall image AP1 into, and display module 140 can more show the simulation dynamic image.According to
This, driver can simulate and sail parking into reference to simulation dynamic image demonstration virtual vehicle body AC1 according to amendment parking trajectory T1a
The image of position image AP1, then stops into parking stall P1 from being about to vehicle C1.
In second embodiment, parking subring image system 100 further includes start unit 132, itself and guiding computing
Module 130 is electrically connected with.In practice, start unit 132 can be used as triggering and opened by file position signal or GES
Dynamic source.For example, when driver operates is less than a preset critical to reverse gear (R grades) or speed of operation, i.e.,
It is considered as driver and triggers start unit to export enabling signal.Additionally, start unit 132 can also be one for driver open lead
Draw the physical switches module of computing module 130, driver can directly triggering start unit with defeated by by way of compressing switch
Go out enabling signal.When driver triggers start unit to export enabling signal, so that Driving guide computing module 130 starts it
Calculate parking lead track T1.
In sum, the present invention carries out the treatment and synthesis of external image by 3-dimensional image synthesis module, to set up three
Wei Huanchang projection images and judge parking stall position.In testing and analyzing three-dimensional ring projection image by guiding computing module again
Virtual vehicle body and parking stall image relative position to calculate parking lead track, and shown at least by display module
Partial 3 d Huan Chang projection images and parking lead track.Accordingly, driver can be with reference to virtual vehicle body along parking guide rail
Mark and simulate the simulation dynamic image of the simulated route track for sailing parking stall image into, can also operate simultaneously steering wheel and/or
Brake cars system foundation stops lead track to adjust the real time running route of driven vehicle.
Although technology contents of the invention are disclosed above with preferred embodiment, so it is not limited to the present invention,
Any those skilled in the relevant technical field, a little change and retouching, but these are made spirit of the invention is not departed from
Change the protection domain that appended claims of the present invention should be all contained in retouching.
Claims (10)
1. a kind of parking subring image system a, it is adaptable to vehicle, it is characterised in that the parking subring image system
Including：
One camera lens group, including multiple camera lenses, those camera lenses are respectively arranged at the diverse location of the vehicle periphery, to shoot respectively
Multiple external images of the vehicle periphery；
One 3-dimensional image synthesis module, is electrically connected with the camera lens group, and the 3-dimensional image synthesis module receives those external images
And a three-dimensional ring projection image is synthesized, the wherein three-dimensional ring projection image includes a virtual vehicle body and a parking stall
Image；
One guiding computing module, is electrically connected with the 3-dimensional image synthesis module, and receive the three-dimensional ring projection image, the guiding
Computing module tests and analyzes the relative position of the virtual vehicle body and the parking stall image and calculates a parking guide rail according to this
Mark, wherein, the parking lead track refers to that the virtual vehicle body can simulate the simulated route track for sailing the parking stall image into along it；
And
One display module, is electrically connected with the 3-dimensional image synthesis module and the guiding computing module, and the wherein display module is received
And show at least local three-dimensional ring projection image and the parking lead track.
2. stopped subring image system as claimed in claim 1, it is characterised in that the guiding computing module is more calculated
The virtual vehicle body simulates the simulation dynamic image for sailing the parking stall image into, the display module along the parking lead track
The simulation dynamic image can more be shown.
3. stop subring image system as claimed in claim 1, it is characterised in that further includes an automatic stopping module,
The automatic stopping module is electrically connected with the guiding computing module, and calculates at least one with correspondence according to the parking lead track
Wheel steering signal and at least a speed control signal are simultaneously exported.
4. stop subring image system as claimed in claim 1, it is characterised in that further includes a prompt message module,
The prompt message module is electrically connected with the guiding computing module, and calculates at least one with correspondence according to the parking lead track
Guiding operation indicating is simultaneously exported.
5. stop subring image system as claimed in claim 4, it is characterised in that the guiding operation indicating is a voice
Prompting, the prompting of a text prompt, a cresset or its combination.
6. stop subring image system as claimed in claim 1, it is characterised in that further includes a GPS module, the GPS
Module is electrically connected with the guiding computing module, and detects and export a vehicle real time position, and the guiding computing module is compared should
Vehicle real time position and the parking lead track, when the vehicle real time position deviates the parking lead track more than a threshold values,
The guiding computing module is rerun the parking lead track.
7. stop subring image system as claimed in claim 1, it is characterised in that further includes an input module, this is defeated
Enter module and the guiding computing module to be electrically connected with, the input module can correct data for input one, the guiding computing module according to
According to the amendment data and the parking lead track, parking trajectory is corrected in computing output one.
8. stopped subring image system as claimed in claim 7, it is characterised in that the guiding computing module is more calculated
The virtual vehicle body simulates the simulation dynamic image for sailing the parking stall image into, the display module along the amendment parking trajectory
The simulation dynamic image can more be shown.
9. stop subring image system as claimed in claim 1, it is characterised in that further includes a start unit, this is opened
Moving cell is electrically connected with the guiding computing module, and the start unit exports an enabling signal to drive the guiding computing module to open
Beginning calculates the parking lead track.
10. stop subring image system as claimed in claim 1, it is characterised in that the camera lens group includes：
One left side camera lens, is arranged at the left side of the vehicle, and the image of the surrounding environment of the left side lens shooting vehicle left side is simultaneously
Export into a left side image；
One right side camera lens, is arranged at the right side of the vehicle, and the image of the surrounding environment of the right side lens shooting vehicle right side is simultaneously
Export into a right side image；
One front side camera lens, is arranged at the front side of the vehicle, and the image of the surrounding environment of the front side lens shooting vehicle front side is simultaneously
A front side image is exported into, wherein the front side image overlaps with left side image at least a portion, the front side image and the right side
Image at least a portion overlaps；And
One rear side camera lens, is arranged at the rear side of the vehicle, and the image of the surrounding environment of the rear side lens shooting vehicle rear-side is simultaneously
A rear side image is exported into, wherein the rear side image overlaps with left side image at least a portion, the rear side image and the right side
Image at least a portion overlaps.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW104219990 | 2015-12-11 | ||
| CN201521033402 | 2015-12-11 | ||
| TW104219990U TWM519088U (en) | 2015-12-11 | 2015-12-11 | Parking-assistive panorama system |
| CN2015210334028 | 2015-12-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106864369A true CN106864369A (en) | 2017-06-20 |
Family
ID=59239337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610395773.3A Withdrawn CN106864369A (en) | 2015-12-11 | 2016-06-06 | Parking auxiliary ring field image system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106864369A (en) |
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Application publication date: 20170620 |