CN108466649A - A kind of implementation method and device of towed vehicle dynamic trajectory rear camera - Google Patents
A kind of implementation method and device of towed vehicle dynamic trajectory rear camera Download PDFInfo
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- CN108466649A CN108466649A CN201810171822.4A CN201810171822A CN108466649A CN 108466649 A CN108466649 A CN 108466649A CN 201810171822 A CN201810171822 A CN 201810171822A CN 108466649 A CN108466649 A CN 108466649A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
- B62D15/0295—Steering assistants using warnings or proposing actions to the driver without influencing the steering system by overlaying a vehicle path based on present steering angle over an image without processing that image
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Abstract
The invention discloses a kind of implementation methods of towed vehicle dynamic trajectory rear camera, specifically comprise the following steps：Step (1)：It obtains steering wheel angle and the tractor nose wheel angle based on steering wheel angle calculates；Step (2)：The acquisition and calculating of adjacent compartment main shaft angle；The adjacent compartment includes：Tractor and trailer, trailer and trailer；Step (3)：The center of circle of movement locus line is determined by the steering wheel angle and the tractor nose wheel angle and the adjacent compartment main shaft angle, further obtains the operation state path line of vehicle body corresponding site；Step (4)：Drafting of the dynamic trajectory rear camera in User.The present invention provides a kind of implementation methods and device of towed vehicle dynamic trajectory rear camera, can calculate and show trailer car body dynamic trajectory rear camera, further provide effective auxiliary for driver driving.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of implementation method of towed vehicle dynamic trajectory rear camera
And device.
Background technology
Automobile dynamic trajectory rear camera refer to automobile in the process of moving, each position of body of a motor car is by the line of position, and vehicle
Each position of body will by position, it is related with the corner of current vehicle front, that is, obtain any moment vehicle front and turn
In the case of angle, can be calculated under front hook, any position of vehicle body will by path line.By the way that the world is sat
Path line under mark system carries out coordinate conversion and mapping, then real space path line can be depicted in different installation sites and angle
In camera picture in the camera picture of degree, and by processing fusion, to show vehicle body spy in display picture
Determine the position that position will be passed through, help driver from display picture intuitive judgment vehicle body will by position and surrounding ring
The position relationship in border.This method carries out application in the reverse image system of part passenger car and 360 degree of panorama systems.It is right
In towed vehicle, since the operation logic of vehicle especially trailer is different, existing method can only calculate vehicle head part
Dynamic trajectory rear camera, and cannot be used directly for calculating the dynamic trajectory rear camera of trailer portion.And the usual vehicle body of vehicle with trailer is total
Length is longer, and body movement track is increasingly complex, and driver needs very abundant experience that can control the movement locus of trailer, institute
Dynamic trajectory rear camera to calculate trailer privileged site has the help of bigger for driver.
Trailer refers to by vehicle traction and the vehicle of unpowered driving device itself.It is typically required for the headstock of tractive force
(lorry or tractor, fork truck) is drawn.Cargo vehicle and the driving vehicle section that towing motorcar is truck combination, referred to as main vehicle；It is led
The slave motor-car section of vehicle traction is known as trailer.One driving vehicle section can drive one or one or more trailer.
The existing method for calculating automobile dynamic trajectory rear camera the case where to be usually applicable only to vehicle body integrally be a rigid objects,
For vehicle front-wheel with steering wheel rotation direction, axletree of rear wheel remains vertical with car body main shaft.On the basis of this model, calculates and appoint
Under one nose wheel angle, during vehicle moves forward or back, path line that vehicle body corresponding site is passed through.For fixed front-wheel angle
Degree, the track at any position of vehicle body is fixed.And for the vehicle with trailer, trailer portion usually passes through interconnecting piece
Part is connected with front truck car body, causes there are one angle between trailer and the car body main shaft of front truck, and the rail at trailer body position
For trace other than related with head vehicle nose wheel angle, the angle also between trailer and front truck car body main shaft is related.
Therefore, how to provide it is a kind of calculating and display trailer car body dynamic trajectory rear camera, for driver driving provide effectively it is auxiliary
The problem of implementation method and device of the towed vehicle dynamic trajectory rear camera helped are those skilled in the art's urgent need to resolve.
Invention content
In view of this, the present invention provides a kind of implementation method and device of towed vehicle dynamic trajectory rear camera, can calculate and
It shows trailer car body dynamic trajectory rear camera, further provides effective auxiliary for driver driving.
To achieve the goals above, the present invention provides the following technical solutions：
A kind of implementation method of towed vehicle dynamic trajectory rear camera, which is characterized in that specifically comprise the following steps：
Step (1)：It obtains steering wheel angle and the tractor nose wheel angle based on steering wheel angle calculates；
Step (2)：The acquisition and calculating of adjacent compartment main shaft angle；The adjacent compartment includes：Tractor and trailer, extension
Vehicle and trailer；
Step (3)：It is pressed from both sides by the steering wheel angle and the tractor nose wheel angle and the adjacent compartment main shaft
Angle determines the center of circle of corresponding body movement path line, further obtains operation state path line；
Step (4)：Drafting of the dynamic trajectory rear camera in User.
Through the above technical solutions, the technique effect of the present invention：This method can calculate and show trailer car body dynamic rail
Trace further provides effective auxiliary for driver driving.
Preferably, in a kind of above-mentioned implementation method of towed vehicle dynamic trajectory rear camera, institute is obtained first in the step (1)
State the information of steering wheel angle；Then it is obtained between steering wheel angle and tractor nose wheel angle by measurement or preset model
Transformational relation；Finally calculate tractor nose wheel angle.Wherein transformational relation illustrates：Tractor front-drive angle is equal to 1/
8 steering wheel rotational angles, using front-wheel towards the position immediately ahead of vehicle body as the zero degree Angle Position of steering wheel and wheel.
Through the above technical solutions, the technique effect of the present invention：By measuring the steering wheel angle, before obtaining tractor
Take turns angle.
Preferably, in a kind of above-mentioned implementation method of towed vehicle dynamic trajectory rear camera, in the step (2) in tractor and
Adjacent car body angle acquisition module is installed, to obtain real-time angle data between two adjacent sections car body on trailer；The phase
The data that adjacent car body angle acquisition module obtains directly are the angle data of adjacent car body, or the individual absolute direction of each car body
Data obtain angle data by further calculating.Such as the angle in adjacent car body main shaft and due south direction be respectively 30 ° and
80 °, then adjacent car body angle is 50 °.
Through the above technical solutions, the technique effect of the present invention：Real-time angle data between acquisition two adjacent sections car body,
It prepares subsequently to obtain dynamic trajectory rear camera.
Preferably, in a kind of above-mentioned implementation method of towed vehicle dynamic trajectory rear camera, with front-wheel angle in the step (3)
The variation of angle, the position in the center of circle of corresponding car body can change between degree variation or car body, but true in two trailing wheel axis always
On fixed straight line；In the case that angle is constant between nose wheel angle is constant or car body, vehicle body every bit is all justified around the center of circle
Zhou Yundong is movement locus of the vehicle body specified point under current state by the circumference of radius of the line of the center of circle and vehicle body specified point
Line.
Through the above technical solutions, the technique effect of the present invention：Determine the center of circle, the line with the center of circle and vehicle body specified point is
The circumference of radius is movement locus line of the vehicle body specified point under current state.
Preferably, in a kind of above-mentioned implementation method of towed vehicle dynamic trajectory rear camera, camera figure in the step (4)
Picture and dynamic trajectory rear camera blend, and correct to obtain User from world coordinates through affine transformation, perspective transform, camera distortion
Coordinate；By camera calibration, transformation parameter is calculated, to obtain the transformation relation between two coordinate systems.
Through the above technical solutions, the technique effect of the present invention：World coordinates is converted to User coordinate, is obtained
Transformation relation between coordinate system.
Preferably, in a kind of above-mentioned implementation method of towed vehicle dynamic trajectory rear camera, steering wheel described in the step (1)
Corner is obtained by automobile CAN-bus, or is obtained by additional angular transducer.
Preferably, in a kind of above-mentioned implementation method of towed vehicle dynamic trajectory rear camera, tractor front-wheel in the step (1)
Angle is calculated by current steering wheel angle and is obtained.
A kind of realization device of towed vehicle dynamic trajectory rear camera, including：Angular transducer, tractor nose wheel angle obtain mould
Block, adjacent car body angle acquisition module, vehicle-mounted camera, path line computing module, camera video demarcating module, path line are melted
Mold block and video display devices；The angular transducer is fixed on the steering wheel or on its drive mechanism；The traction
Vehicle nose wheel angle acquisition module carries out conversion for obtaining tractor nose wheel angle, by the angular transducer measured value and obtains
；The adjacent car body angle acquisition module is used to obtain the angle data of adjacent car body, or the individual absolutely side of each car body
To data, it is further converted into angle data；The vehicle-mounted camera is mounted on tractor and trailer；Path line computing module
For determining the center of circle and determining movement locus line of the vehicle body specified point under current state；The camera calibration module is used
It demarcates in the vehicle-mounted camera, to obtain the camera inner parameter including distortion factor, and obtains
From world coordinate system to the transformational relation of User coordinate system；The path line Fusion Module is used for from world coordinates to user
The logical progress affine transformation of view transformation of coordinates relationship, perspective transform, camera distortion correction are converted, the vehicle-mounted pick-up
The image and dynamic trajectory rear camera that head obtains blend.
Preferably, in a kind of above-mentioned implementation method of towed vehicle dynamic trajectory rear camera, the towed vehicle dynamic trajectory rear camera
The case where realization device connects more trailers suitable for a tractor.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides a kind of towed vehicle dynamics
The implementation method and device of path line can calculate and show trailer car body dynamic trajectory rear camera, further be provided for driver driving
Effective auxiliary.Tractor front wheel angle is calculated first, and obtains real-time angle data between two adjacent sections car body, is follow-up
Dynamic trajectory rear camera is obtained to prepare；Then the center of track for determining each car body is half with the line of the center of circle and vehicle body specified point
The circumference of diameter is movement locus line of the vehicle body specified point under current state, the transformation relation between coordinate system is obtained, by the world
Coordinate is converted to User image coordinate, and path line and camera image are merged and are shown to user over the display.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawings are the motion state diagram of the present invention；
Fig. 2 attached drawings are the schematic diagram of the calculating adjacent compartment angle of the present invention；
Fig. 3 attached drawings are the schematic diagram of the calculating dynamic trajectory rear camera of the present invention；
Dynamic trajectory rear camera schematic diagram when Fig. 4 attached drawings are the reversing of the present invention；
Dynamic trajectory rear camera schematic diagram when Fig. 5 attached drawings are the normally travel of the present invention；
Fig. 6 attached drawings are flow chart of the method for the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of implementation methods and device of towed vehicle dynamic trajectory rear camera, can calculate and show
Trailer car body dynamic trajectory rear camera, further provides effective auxiliary for driver driving.
Embodiment
Attached drawing 1-5 is please referred to, the present invention provides a kind of implementation method and device of towed vehicle dynamic trajectory rear camera, steering wheels
Corner information is obtained from automobile CAN-bus, or obtains steering wheel angle information by additional angular transducer；Steering wheel turns
Transformational relation between angle and tractor front wheel angle can be calculated by measurement or preset model to be obtained.As shown in Figure 1,
Tractor or so front-wheel can be rotated with steering wheel, and rotational angle is respectively α, β, the steering wheel angle obtained from CAN bus
Data are γ, then have α=f (γ), β=g (γ).To same γ values, α, β are differed, and f, g indicate different mapping functions.For
Facilitate calculating, α can be taken sometimes, the weighted average of β is as front wheel angle numerical value.For example, f (γ)=γ/8+ δ1(γ),
G (γ)=γ/8+ δ2(γ), wherein δ1(γ), δ2(γ) is adjustment number of the left and right wheels under each steering wheel angle, then can be with
Simplify and thinks that front wheel angle is (alpha+beta)/2.
On driving vehicle and all trailers installation gyroscope or other can be with the sensor of perceived direction, to institute when installation
Some sensors are calibrated and are demarcated, to obtain between two adjacent sections car body (driving vehicle-trailer, trailer-trailer) in real time
Angle data.Here angle refers to the angle between different body vehicle main shafts.Here, the data that sensor obtains can
Can also be the individual absolute direction data of each car body directly for the angle data of adjacent car body, by further calculating,
Obtain angle data.In Fig. 1, θ is the angle of tractor and trailer, and identical side can be used for the angle of adjacent trailer
Method indicates.
For tractor, the relating to parameters such as the track of vehicle body any point and front vehicle wheel steering angle, wheelbase.Such as Fig. 2, lead
Draw two front-wheel axis 1 of vehicle, 2, two trailing wheel axis 3 hand over a point O.As nose wheel angle changes, the position of O can change, but begin
Eventually on the straight line 3 that two trailing wheel axis determine.In the case where nose wheel angle is constant, vehicle body every bit is all justified around O points
Zhou Yundong, therefore using O as the center of circle is vehicle body specified point in current shape using the line of O and vehicle body specified point as the circumference of radius
Movement locus line under state.In general, tractor min. turning radius is OP1, P1In contact surface to turn to inside rear wheel and ground
Heart point, P1The movement locus of point is 4；Maximum turning radius is OP2, P2To turn to outside vehicle body front end, P2Movement locus be
5.The connection structure of tractor and trailer is A, and the contact point of A and towed vehicle is A1, A1The track of point is 6.Here, all vehicles
Body point, path line refer both to respective point, line ground projection.
For towed vehicle, vehicle body any point track and tractor turn to center of circle O1, tractor and towed vehicle connection structure A
And the tie point A of A and towed vehicle1Position, towed vehicle rear wheel position is related, such as Fig. 3.The movement of towed vehicle is drawn by A,
A1The movement locus of point is determined by tractor, for O1For origin, O1A1For the circumference of radius, as shown in path line 9.A1O1Prolong
The focus of long line and trailing wheel main shaft is O2, O2It position can be with O1The variation of position and change, but be always positioned at trailing wheel main shaft
On.It pulls vehicle body every bit and all surrounds O2Carry out circular motion.Therefore, with O2For the center of circle, with O2With the line of vehicle body specific position
It is movement locus of the vehicle body specified point under current state for the circumference of radius.In general, towed vehicle min. turning radius is
O2P1, P1To turn to the contact surface central point of inside rear wheel and ground, P1The movement locus of point is 7；Maximum turning radius is O2P2,
P2To turn to outside vehicle body front end, P2Movement locus be 8.Here, all vehicle bodies point, path line refer both to respective point, line exists
The projection on ground.If there is more piece towed vehicle, then pulling workshop movement relation can similarly calculate, it is believed that front truck is leading for rear car
Draw vehicle.
Point on vehicle body is usually expressed in world coordinate system, i.e., is expressed in x-y-z coordinate system, is x-y with ground level
Plane, z-axis are upward perpendicular to x-y plane.The image and video obtained due to camera only includes two-dimensional signal, and is finally being used
It observes in view at family, it is desirable that projection of the space tracking line on ground level.Therefore, first during calculating path line
First entire car body is projected to x-y plane, i.e., for any point P (x, y, z) on vehicle body, be projected into first P (x,
Y, 0) point, and calculate P (x, y, 0) and put the path line C (x, y, 0) under current steering wheel angle.
User refers to the display view of picture over the display after the raw frames that camera is shot or processing.Due to
The image-forming principle of camera itself and in order to meet user's observation habit to the transformation that view is done, needs to draw path line
Corresponding position in User, can help user determine vehicle body will by region.Here, it needs generation first
Path line in boundary's coordinate in x-y plane is coordinately transformed, and is transformed in User coordinate system x '-y ', and further exist
Path line is drawn in corresponding position in User, to which camera image and path line are blended, facilitates user
Observation.Would generally include affine transformation, perspective transform, camera distortion from world coordinates to User transformation of coordinates relationship
Several shift steps such as correction.It needs, by camera calibration, to calculate transformation parameter, to obtain the change between two coordinate systems
Change relationship.Fig. 4 be in reversing, the track drafting line example on display view, wherein path line 1,2 be front truck it is maximum and
The corresponding path line of min. turning radius, 3,4 be the corresponding path line of the minimum and maximum turning radius of towed vehicle, after 5 are outside
Take turns corresponding path line.In the case that Fig. 5 is forward travel, the track drafting line example on display view, wherein 2,3 be traction
The corresponding path line of vehicle minimax turning radius, 1 is the corresponding path line of the near front wheel, and 4,5 turn for towed vehicle minimax
The corresponding path line of radius.Fig. 4, Fig. 5 are as an example, show a kind of the case where ensureing installation and meeting driver observation custom
Under, the example of the method for drafting of path line.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (9)
1. a kind of implementation method of towed vehicle dynamic trajectory rear camera, which is characterized in that specifically comprise the following steps：
Step (1)：It obtains steering wheel angle and the tractor nose wheel angle based on steering wheel angle calculates；
Step (2)：The acquisition and calculating of adjacent compartment main shaft angle；The adjacent compartment includes：Tractor and trailer, trailer and
Trailer；
Step (3)：By the steering wheel angle, the tractor nose wheel angle, the adjacent compartment main shaft angle, Yi Jiche
Body self structure parameter determines the center of circle of movement locus line, further obtains operation state path line；
Step (4)：Drafting of the dynamic trajectory rear camera in User.
2. a kind of implementation method of towed vehicle dynamic trajectory rear camera according to claim 1, which is characterized in that the step
(1) information of the steering wheel angle is obtained in first；Then steering wheel turn is obtained by measuring or being calculated according to preset model
Transformational relation between angle and tractor nose wheel angle finally calculates tractor nose wheel angle.
3. a kind of implementation method of towed vehicle dynamic trajectory rear camera according to claim 1, which is characterized in that the step
(2) adjacent car body angle acquisition module is installed on tractor and trailer, to obtain between two adjacent sections car body in real time in
Angle data；The data that the adjacent car body angle acquisition module obtains directly are the angle data of adjacent car body；Or each vehicle
The individual absolute direction data of body obtain angle data by further calculating.
4. a kind of implementation method of towed vehicle dynamic trajectory rear camera according to claim 1, which is characterized in that the step
(3) as nose wheel angle changes in, the position of the variation of adjacent car body angle, the center of circle of same body movement track can become
Change, but always on the straight line that two trailing wheel axis determine；In the case where tractor nose wheel angle is constant or angle data are constant
In the case of, vehicle body every bit all surrounds the current center of circle and carries out circular motion, using the line of the center of circle and vehicle body specified point as radius
Circumference be movement locus line of the vehicle body specified point under current state.
5. a kind of implementation method of towed vehicle dynamic trajectory rear camera according to claim 1, which is characterized in that the step
(4) camera image and dynamic trajectory rear camera are blended in, from world coordinates through affine transformation, perspective transform, camera distortion
Correction obtains User coordinate；By camera calibration, transformation parameter is calculated, to which the transformation obtained between two coordinate systems is closed
System.
6. a kind of implementation method of towed vehicle dynamic trajectory rear camera according to claim 1, which is characterized in that the step
(1) steering wheel angle described in is obtained by automobile CAN-bus, or is obtained by additional angular transducer.
7. a kind of implementation method of towed vehicle dynamic trajectory rear camera according to claim 1, which is characterized in that the step
(1) tractor nose wheel angle is obtained by current steering wheel angle by measuring or being calculated according to preset formula in.
8. a kind of realization device of towed vehicle dynamic trajectory rear camera, which is characterized in that including：Angular transducer, tractor front-wheel angle
Spend acquisition module, adjacent car body angle acquisition module, vehicle-mounted camera, path line computing module, camera video demarcating module,
Path line Fusion Module and video display devices；The angular transducer is fixed on the steering wheel；The tractor front-wheel
Angle acquisition module carries out conversion acquisition for obtaining tractor nose wheel angle by the angular transducer；The adjacent vehicle
Body angle acquisition module is used to obtain the angle data of adjacent car body, or the individual absolute direction data of each car body；The vehicle
Camera is carried to be mounted on tractor and trailer；Path line computing module is for determining the center of circle and determining that vehicle body specified point exists
Movement locus line under current state；The camera video demarcating module is used to demarcate the vehicle-mounted camera, from
And the camera inner parameter including distortion factor is obtained, and obtain from world coordinate system to User coordinate system
Transformational relation；The path line Fusion Module is used for affine by carrying out from world coordinates to display view transformation of coordinates relationship
Transformation, perspective transform, camera distortion corrective operations, the image and dynamic trajectory rear camera that the vehicle-mounted camera obtains blend.
9. a kind of realization device of towed vehicle dynamic trajectory rear camera according to claim 6, which is characterized in that the towed vehicle
The case where realization device of dynamic trajectory rear camera connects more trailers suitable for a tractor.
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| CN112356626A (en) * | 2020-12-04 | 2021-02-12 | 顺为智能科技(常州)有限公司 | Method for automatically butting automatic driving tractor and trailer |
| CN112632208A (en) * | 2020-12-25 | 2021-04-09 | 际络科技(上海)有限公司 | Traffic flow trajectory deformation method and device |
| CN113819880A (en) * | 2021-09-27 | 2021-12-21 | 江苏星图智能科技有限公司 | Method for acquiring included angle of towing trailer in real time |
| CN114112445A (en) * | 2021-12-31 | 2022-03-01 | 杭州海康汽车软件有限公司 | Method, device, system, equipment and medium for calibrating steering transmission ratio of steering wheel |
| CN114407780A (en) * | 2022-03-03 | 2022-04-29 | 南京天安汽车电子科技股份有限公司 | Anti-collision early warning method for differential area of inner wheels of semitrailer based on double gyroscopes |
| CN115131285A (en) * | 2022-04-29 | 2022-09-30 | 盛视科技股份有限公司 | Method and system for detecting steering included angle of trailer |
| CN116129730A (en) * | 2023-02-01 | 2023-05-16 | 中汽智联技术有限公司 | Teaching demonstration method based on drive-by-wire chassis and drive-by-wire chassis system |
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| CN114112445A (en) * | 2021-12-31 | 2022-03-01 | 杭州海康汽车软件有限公司 | Method, device, system, equipment and medium for calibrating steering transmission ratio of steering wheel |
| CN114112445B (en) * | 2021-12-31 | 2024-04-02 | 杭州海康汽车软件有限公司 | Method, device, system, equipment and medium for calibrating steering wheel steering transmission ratio |
| CN114407780A (en) * | 2022-03-03 | 2022-04-29 | 南京天安汽车电子科技股份有限公司 | Anti-collision early warning method for differential area of inner wheels of semitrailer based on double gyroscopes |
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