CN107719234A - A kind of dynamic reverse track video system and its application - Google Patents
A kind of dynamic reverse track video system and its application Download PDFInfo
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- CN107719234A CN107719234A CN201710863749.2A CN201710863749A CN107719234A CN 107719234 A CN107719234 A CN 107719234A CN 201710863749 A CN201710863749 A CN 201710863749A CN 107719234 A CN107719234 A CN 107719234A
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Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- 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
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
-
- 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
Abstract
The invention discloses a kind of dynamic reverse track video system and its application, and the generation of vehicle-backing track viewing is realized by following steps：Prestore vehicle backing track line chart piece；The vehicle body change in location information of vehicle is obtained, wherein, the vehicle body change in location information comes from the inertial sensor for being fixedly installed on vehicle body, and the inertial sensor includes three axis accelerometer, three-axis gyroscope and three axle magnetometer；Transfer the vehicle backing track line chart piece that prestores corresponding with the vehicle body change in location information, and by its Overlapping display on display, wherein, the image that the display is shown is the image information for the camera collection for being arranged at rear view of vehicle.Integrated the dynamic reverse track video generation method and system are easy for installation, the software carried independent of vehicle body, suitable for all vehicles.
Description
Technical field
The present invention relates to vehicle backing track field of auxiliary, specifically provides a kind of dynamic reverse track video system.
Background technology
In society now, citizen's car ownership is more and more, by reversing trigger security incident problem also in
Existing increasing trend, reversing safety problem are also increasingly paid close attention to by society.Reversing aid system, can be intuitively by car rear
Situation with visual pattern staining effect to driver, while and can dynamically shows backing track line in real time, to aid in driving
Member's safety reversing.But the reversing parking assistance system on existing market is to need to use OBD decoder box and camera common
It is mutually auxiliary and realization, in use, OBD decoder box needs to communicate with former car to read corner of vehicle steering wheel information, and then obtain
Backing track, the defects of it is present are the circuits for needing to reequip former car, because former circuit is relatively more and complicated, if arbitrarily repacking
Circuit can allow former car potential safety hazard to be present；And need professional to install OBD decoder box, its installation difficulty it is larger and spend into
This is higher；In addition, OBD decoder box is only suitable to the vehicle with ESP/VSC systems, other vehicles can not use OBD systems
Reversing parking assistance system.
Therefore, a kind of vehicle-backing track viewing system for being adapted to all vehicles how is researched and developed, it is urgently to be resolved hurrily to turn into people
Problem.
The content of the invention
In consideration of it, it is an object of the invention to provide a kind of dynamic reverse track video system, it is existing at least to solve
Vehicle-backing track viewing system relies only on the software that vehicle body carries, it is necessary to reequip the circuit of former car, the problems such as autgmentability difference.
A kind of dynamic reverse track video system, the system include range laser radar, and the range laser radar is set
The tail end provided in vehicle-backing track viewing is provided, in four, the upper and lower, left and right of range laser radar position, is respectively arranged with
Four cameras altogether, the position of the camera is equal with the distance at the center of the range radar, the scope of the distance
For 10-20cm, the internal system is provided with central control module, the central control module be connected with image processing module,
Memory module and transmitter, the one kind of the transmitter in bluetooth, wifi or infrared are corresponding with transmitter to receive
Device is arranged on Automobile operation chamber interior, and the receiver is connected with display.
The range radar is provided with a main body and four probes, and the probe is connected by data wire and radar main body
Connect, radar main body is connected with the camera；
The system is additionally provided with three axis accelerometer（21）, three-axis gyroscope（22）, three axle magnetometer（23）, it is described center control
Molding block respectively with three axis accelerometer（21）, three-axis gyroscope（22）, three axle magnetometer（23）It is connected, the memory module is used
In storage vehicle backing track line chart piece；
Also include data processing unit（6）, the data processing unit（6）It is connected with central control module；
Also include the second memory cell of storage vehicle body change in location trigger value（7）With for storing current vehicle body positional information
3rd memory cell（8）, when detecting that vehicle body change in location value is equal to the second memory cell（7）In preset value when, center control
Molding block will vehicle backing track line chart piece Overlapping display corresponding with the vehicle body change in location value in display, meanwhile, will
Current vehicle body positional information is stored into the 3rd memory cell（8）；
Vehicle body position corresponding to every immediate vehicle backing track line chart piece of two track curvatures of a curve in the memory module
Changing value is certain value, and the system also includes the input block being connected with the central control module（9）, the input block
（5）For updating second memory cell（7）The vehicle body change in location trigger value of middle storage, wherein, the triggering of the input
It is worth for vehicle body position corresponding to the immediate any two vehicle backing tracks line chart piece of track curvature of a curve in the memory module
Put the integral multiple of changing value.
The applying step is as follows：
S1：Prestore vehicle backing track line chart piece；
S2：The vehicle body change in location information of vehicle is obtained, wherein, the vehicle body change in location information, which comes from, is fixedly installed on car
The inertial sensor of body, the inertial sensor include three axis accelerometer, three-axis gyroscope and three axle magnetometer；
S3：Transfer the vehicle backing track line chart piece that prestores corresponding with the vehicle body change in location information, and by its Overlapping display
In on display, wherein, the image that the display is shown is the image information for the camera collection for being arranged at rear view of vehicle.
The step S2 specifically comprises the following steps：
S201：3-axis acceleration information, three axles of vehicle are obtained by three axis accelerometer, three-axis gyroscope and three axle magnetometer
Angular velocity information and three axle Geomagnetism Informations；
S202：The position of vehicle is calculated according to the 3-axis acceleration information, three axis angular rate information and three axle Geomagnetism Informations
Change information.
The step S3 specifically comprises the following steps：
S301：Default vehicle body change in location trigger value；
S302：Whether detection vehicle body location variation is equal to default vehicle body change in location trigger value, if so, will be with vehicle body position
Vehicle backing track line chart piece Overlapping display is prestored corresponding to variable quantity on display, and vehicle body positional information now is made
For the reference value of the change of car body running orbit next time, this step is repeated, until terminating generation video.
In the vehicle backing track line chart piece to prestore, every immediate vehicle backing track line chart of two track curvatures of a curve
Vehicle body change in location value corresponding to piece is certain value, and the vehicle body change in location trigger value can be updated by input block, and defeated
The value entered is vehicle body corresponding to immediate any two vehicle backing track line chart pieces to prestore of track curvature of a curve thereon
The integral multiple of change in location value；The vehicle backing track line chart piece to prestore can be updated by serial ports.
Beneficial effect
1st, Highgrade integration of the present invention, it is not necessary to independent OBD decoding apparatus, it is not necessary to the circuit of former car is reequiped, therefore
To automobile communication circuit without any loss, lossless installation can be achieved；
2nd, the present invention is realized the independence detecting to driving states, is applicable by the positional information of inertial sensor collection vehicle
It is portable strong in all vehicles, it is easy to popularize；
3rd, the present invention is by detecting vehicle location change information, and the picture that real-time update is shown, reverse image is more directly perceived, to driver
Carry out guiding in real time.
Brief description of the drawings
Fig. 1 is the applying step flow chart of patent of the present invention；
Fig. 2 is patent S2 of the present invention applying step flow chart.
Embodiment
A kind of dynamic reverse track video system, the system include range laser radar, and the range laser radar is set
The tail end provided in vehicle-backing track viewing is provided, in four, the upper and lower, left and right of range laser radar position, is respectively arranged with
Four cameras altogether, the position of the camera is equal with the distance at the center of the range radar, the scope of the distance
For 10-20cm, the internal system is provided with central control module, the central control module be connected with image processing module,
Memory module and transmitter, the one kind of the transmitter in bluetooth, wifi or infrared are corresponding with transmitter to receive
Device is arranged on Automobile operation chamber interior, and the receiver is connected with display.
The range radar is provided with a main body and four probes, and the probe is connected by data wire and radar main body
Connect, radar main body is connected with the camera；
The system is additionally provided with three axis accelerometer（21）, three-axis gyroscope（22）, three axle magnetometer（23）, it is described center control
Molding block respectively with three axis accelerometer（21）, three-axis gyroscope（22）, three axle magnetometer（23）It is connected, the memory module is used
In storage vehicle backing track line chart piece；
Also include data processing unit（6）, the data processing unit（6）It is connected with central control module；
Also include the second memory cell of storage vehicle body change in location trigger value（7）With for storing current vehicle body positional information
3rd memory cell（8）, when detecting that vehicle body change in location value is equal to the second memory cell（7）In preset value when, center control
Molding block will vehicle backing track line chart piece Overlapping display corresponding with the vehicle body change in location value in display, meanwhile, will
Current vehicle body positional information is stored into the 3rd memory cell（8）；
Vehicle body position corresponding to every immediate vehicle backing track line chart piece of two track curvatures of a curve in the memory module
Changing value is certain value, and the system also includes the input block being connected with the central control module（9）, the input block
（5）For updating second memory cell（7）The vehicle body change in location trigger value of middle storage, wherein, the triggering of the input
It is worth for vehicle body position corresponding to the immediate any two vehicle backing tracks line chart piece of track curvature of a curve in the memory module
Put the integral multiple of changing value.
The applying step is as follows：
S1：Prestore vehicle backing track line chart piece；
S2：The vehicle body change in location information of vehicle is obtained, wherein, the vehicle body change in location information, which comes from, is fixedly installed on car
The inertial sensor of body, the inertial sensor include three axis accelerometer, three-axis gyroscope and three axle magnetometer；
S3：Transfer the vehicle backing track line chart piece that prestores corresponding with the vehicle body change in location information, and by its Overlapping display
In on display, wherein, the image that the display is shown is the image information for the camera collection for being arranged at rear view of vehicle.
The step S2 specifically comprises the following steps：
S201：3-axis acceleration information, three axles of vehicle are obtained by three axis accelerometer, three-axis gyroscope and three axle magnetometer
Angular velocity information and three axle Geomagnetism Informations；
S202：The position of vehicle is calculated according to the 3-axis acceleration information, three axis angular rate information and three axle Geomagnetism Informations
Change information.
The step S3 specifically comprises the following steps：
S301：Default vehicle body change in location trigger value；
S302：Whether detection vehicle body location variation is equal to default vehicle body change in location trigger value, if so, will be with vehicle body position
Vehicle backing track line chart piece Overlapping display is prestored corresponding to variable quantity on display, and vehicle body positional information now is made
For the reference value of the change of car body running orbit next time, this step is repeated, until terminating generation video.
Finally it should be noted that：Obviously, above-described embodiment is only intended to clearly illustrate the application example, and is not pair
The restriction of embodiment.For those of ordinary skill in the field, it can also be made on the basis of the above description
Its various forms of changes or variation.There is no necessity and possibility to exhaust all the enbodiments.And thus amplify out
Obvious changes or variations still in the protection domain of the application type among.
Claims (6)
1. a kind of dynamic reverse track video system, it is characterised in that the system includes range laser radar, the Laser Measuring
The tail end of vehicle-backing track viewing offer is provided away from radar, in four, the upper and lower, left and right of range laser radar position, divided
Be not provided with four cameras altogether, the position of the camera is equal with the distance at the center of the range radar, it is described away from
From scope be 10-20cm, the internal system is provided with central control module, and the central control module is connected with image
It is corresponding with transmitter to manage module, memory module and transmitter, the one kind of the transmitter in bluetooth, wifi or infrared
Receiver be arranged on Automobile operation chamber interior, the receiver is connected with display.
2. system according to claim 1, it is characterised in that the range radar is provided with a main body and four spies
Head, the probe are connected by data wire with radar main body, and radar main body is connected with the camera；
The system is additionally provided with three axis accelerometer（21）, three-axis gyroscope（22）, three axle magnetometer（23）, it is described center control
Molding block respectively with three axis accelerometer（21）, three-axis gyroscope（22）, three axle magnetometer（23）It is connected, the memory module is used
In storage vehicle backing track line chart piece；
Also include data processing unit（6）, the data processing unit（6）It is connected with central control module；
Also include the second memory cell of storage vehicle body change in location trigger value（7）With for storing current vehicle body positional information
3rd memory cell（8）, when detecting that vehicle body change in location value is equal to the second memory cell（7）In preset value when, center control
Molding block will vehicle backing track line chart piece Overlapping display corresponding with the vehicle body change in location value in display, meanwhile, will
Current vehicle body positional information is stored into the 3rd memory cell（8）；
Vehicle body position corresponding to every immediate vehicle backing track line chart piece of two track curvatures of a curve in the memory module
Changing value is certain value, and the system also includes the input block being connected with the central control module（9）, the input block
（5）For updating second memory cell（7）The vehicle body change in location trigger value of middle storage, wherein, the triggering of the input
It is worth for vehicle body position corresponding to the immediate any two vehicle backing tracks line chart piece of track curvature of a curve in the memory module
Put the integral multiple of changing value.
3. systematic difference described in a kind of claim 1, it is characterised in that the applying step is as follows：
S1：Prestore vehicle backing track line chart piece；
S2：The vehicle body change in location information of vehicle is obtained, wherein, the vehicle body change in location information, which comes from, is fixedly installed on car
The inertial sensor of body, the inertial sensor include three axis accelerometer, three-axis gyroscope and three axle magnetometer；
S3：Transfer the vehicle backing track line chart piece that prestores corresponding with the vehicle body change in location information, and by its Overlapping display
In on display, wherein, the image that the display is shown is the image information for the camera collection for being arranged at rear view of vehicle.
4. applied according to described in claim 3, it is characterised in that：The step S2 specifically comprises the following steps：
S201：3-axis acceleration information, three axles of vehicle are obtained by three axis accelerometer, three-axis gyroscope and three axle magnetometer
Angular velocity information and three axle Geomagnetism Informations；
S202：The position of vehicle is calculated according to the 3-axis acceleration information, three axis angular rate information and three axle Geomagnetism Informations
Change information.
5. applied according to described in claim 4, it is characterised in that：The step S3 specifically comprises the following steps：
S301：Default vehicle body change in location trigger value；
S302：Whether detection vehicle body location variation is equal to default vehicle body change in location trigger value, if so, will be with vehicle body position
Vehicle backing track line chart piece Overlapping display is prestored corresponding to variable quantity on display, and vehicle body positional information now is made
For the reference value of the change of car body running orbit next time, this step is repeated, until terminating generation video.
6. applied according to described in claim 5, it is characterised in that：In the vehicle backing track line chart piece to prestore, every two tracks
Vehicle body change in location value corresponding to the immediate vehicle backing track line chart piece of curvature of a curve is certain value, and the vehicle body position becomes
Changing trigger value can be updated by input block, and the value inputted prestores for immediate any two of track curvature of a curve thereon
Vehicle backing track line chart piece corresponding to vehicle body change in location value integral multiple；The vehicle backing track line chart piece to prestore
It can be updated by serial ports.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710863749.2A CN107719234A (en) | 2017-09-22 | 2017-09-22 | A kind of dynamic reverse track video system and its application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710863749.2A CN107719234A (en) | 2017-09-22 | 2017-09-22 | A kind of dynamic reverse track video system and its application |
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| Publication Number | Publication Date |
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| CN107719234A true CN107719234A (en) | 2018-02-23 |
Family
ID=61207455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710863749.2A Pending CN107719234A (en) | 2017-09-22 | 2017-09-22 | A kind of dynamic reverse track video system and its application |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110297325A (en) * | 2018-03-22 | 2019-10-01 | 蔚来汽车有限公司 | The method that augmented reality glasses and system and augmented reality glasses show information on vehicle |
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Application publication date: 20180223 |