CN108909625A - Vehicle bottom based on panoramic looking-around system ground plane display method - Google Patents
Vehicle bottom based on panoramic looking-around system ground plane display method Download PDFInfo
- Publication number
- CN108909625A CN108909625A CN201810659018.0A CN201810659018A CN108909625A CN 108909625 A CN108909625 A CN 108909625A CN 201810659018 A CN201810659018 A CN 201810659018A CN 108909625 A CN108909625 A CN 108909625A
- Authority
- CN
- China
- Prior art keywords
- automobile
- angle
- image
- vehicle
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Closed-Circuit Television Systems (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
Abstract
A kind of the invention discloses vehicle bottom based on panoramic looking-around system plane display method estimates the displacement information of trolley firstly, rotating angle according to the speed of automobile, gear and steering wheel.Secondly, finding out the region that automobile will cover in next frame in the current frame by displacement information, the ground covered in for making up trolley in next frame is extracted.Further, according to the steering wheel deflection angle of trolley, the track that trolley travels in the available short time, judge that trolley moves forward on the track or travels backward according to the gear of trolley, after the time that can substantially estimate a frame according to the speed of trolley trolley trajectory line uplink into distance.The present invention is directed to cooperate ADAS panoramic looking-around system, automobile bottom ground image real-time display is realized.For the vehicle body top view of vehicle, the information of image is extracted from former frame, will be shown in present frame by the ground region that automobile covers, the further perfect function of ADAS system.
Description
Technical field
A kind of the present invention relates to vehicle bottom based on panoramic looking-around system plane display method, belongs to Vehicular automatic driving technology
Field.
Background technique
Currently, panoramic looking-around system passes through the wide-angle camera of vehicle body surrounding, the condition of road surface of vehicle body surrounding is collected, and
It synthesizes a width and completely looks around image.But the image at vehicle bottom position can not be shown completely due to being blocked by automobile, at this time
The part covered in present frame by automobile can be extracted by the image information in collected video frame before, spliced
Into present frame, the real-time display of vehicle base map picture is realized.
By this technology, automobile can be made effectively to detect the blind area at vehicle bottom during traveling, avoid falling into
Hollow, or sharp article was ground, while can be provided under the special riving conditions such as narrow bridge, reversing storage for automobile
Vehicle bottom information has ensured the safety driven.
Summary of the invention
Purpose：In order to overcome the deficiencies in the prior art, the present invention provides a kind of vehicle based on panoramic looking-around system
Bottom ground plane display method.
Technical solution：In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of vehicle bottom based on panoramic looking-around system ground plane display method, specifically includes that steps are as follows：
Step S101 reads the video frame of automobile panoramic round-looking system；
Step S102 reads the operating parameter of automobile；
Step S103 calculates the driving trace line of automobile；
Step S104, the position that prediction next frame automobile will move to；
Step S105 intercepts out the image of the position of step S104 prediction in the current frame；
Step S106, by interception image affine transformation, as vehicle base map picture；
Step S107 reads the panoramic looking-around image of next frame automobile, the vehicle base map picture estimated in previous frame is spliced to
The width panoramic looking-around figure that next frame shows vehicle base map picture can be obtained in the part covered in the frame by automobile.
Preferably, the panoramic looking-around system acquires multi-channel video shadow by multiple wide-angle lens of vehicle body surrounding
Picture is spliced after distortion correction, and each frame is synthesized the complete overhead view image of a width；In the images, automobile region
Positioned at middle, the image of surrounding is environment locating for automobile, and during automobile is mobile, peripheral regions are real-time change
Environment top view；In the panoramic looking-around system, at the next frame moment, the image override after motor racing is from present image
It gets.
Preferably, the step S102 includes：ADAS system acquires running car every certain acquisition time
The information of speed, gear, steering wheel angle, since the frequency of information collection is smaller than the video frame rate of display, it is necessary to according to
The automobile information read several times recently estimates the traveling speed of the frame image for not collecting automobile information automobile in display
Degree, gear and steering wheel angle.
Preferably, the step S103 includes：
Step 1：Automobile tire steering angle is obtained according to the steering wheel rotational angle of automobile；
Step 2：Automobile tire steering angle is μ, the intersection point of outer circle rail and preceding bridge be α, α and outer circle rail center of circle o line and
Angle between automobile axle isIt can be obtained according to calculating,
Step 3：The distance between known front and back wheel is L, and the big radius of circle that can obtain outer rail is：
Step 4：According to the right angled triangle that vehicle width W and center of circle o and two wheels are formed, internal rail radius, which can be obtained, is：
Step 5：It is outer in outer trajectory line and automobile back wheel since interior trajectory line and the interior deflecting roller in vehicle front are tangent
Deflecting roller is tangent, and the trajectory line of running car approximate can regard the circle of a radii fixus as in the time difference of each frame.
Preferably, the step S104 includes：
Step 1：By least square method, changing with time to car speed, steering wheel angle, to carry out curve quasi- for relationship
It closes, obtains the travel speed and steering wheel angle predictor formula of automobile；
Step 2：Assuming that the current motion state of automobile is only related with the motion state of preceding 1s, come in advance by former groups of data
Survey automobile current travel speed and steering wheel angle；
Step 3：Because the time interval between video image frame and frame is short, i.e. hypothesis automobile is done at the uniform velocity along trapped orbit
Movement, calculating displacement of the automobile in trajectory line is L '.
Preferably, the step S105 includes：
Step 1：Time since image is made of compact arranged pixel, according to pixel from top to bottom, from left to right
Sequence thinks of the image a coordinate space, and the distance of neighbor pixel is x, the list on y-axis direction on horizontal and vertical direction
Bit interval, according to image and proportionate relationship in kind, the displacement L ' of automobile each time is reflected as moving S pixel on the image
Point；Using the panoramic looking-around image lower left corner as origin, horizontal direction is x-axis direction, and vertical direction is y-axis direction, establishes right angle seat
Mark system；
Step 2：Four vertex of automobile, the coordinate of four tires be all it is known, according to angle and distance information, calculate
Relative position of the region that automobile is displaced to when next frame out in current frame image, and then next frame quilt is obtained from present frame
The region of automobile covering, specific step is as follows：
When automobile traveling ahead to the right, the deflection of automobile off-front wheel to the center of circle is γ, and size isAfter car moves S pixel along track in the picture, turned in trajectory line
Angle λ isAutomobile off-front wheel and the positive direction angle of x-axis are γ-λ at this time；According to the coordinate (x of automobile off hind wheel0, y0), it obtains
To central coordinate of circle (x0+ R-W, y0), the coordinate of off-front wheel is (x after being further displaced0+ R-W+R*cos (γ-λ), y0+R*
sin(γ-λ))；Body of a motor car angle is -90 ° of γ-λ-μ, and off-front wheel is along the deflection of vehicle bridge to the near front wheel perpendicular to vehicle body
Angle, be γ-λ-μ；
When automobile traveling ahead to the left, the initial left front deflection for taking turns to the center of circle of automobile is γ, and size isAfter car moves S pixel along track in the picture, the angle that is turned in trajectory line
Spending λ isAutomobile the near front wheel and the positive direction angle of x-axis are 90 ° of+γ+λ at this time；According to the coordinate (x of automobile left rear wheel0, y0),
Available central coordinate of circle (x0- R+W, y0), after displacement the center of circle to automobile the near front wheel deflection be γ+λ, further in place
The near front wheel coordinate of automobile is (x after shifting0- R+W+R*cos (γ+λ), y0+R*sin(γ+λ))；The deflection angle of body of a motor car is
+ 90 ° of-μ of γ+λ, the near front wheel, perpendicular to the angle of vehicle body, are γ+λ-μ along the deflection of vehicle bridge to off-front wheel；
When automobile behind to the right, the deflection of automobile off-front wheel to the center of circle is γ, and size isAfter car moves S pixel along track in the picture, turned in trajectory line
Angle λ isAutomobile off-front wheel and the positive direction angle of x-axis are γ+λ at this time；According to the coordinate (x of automobile off hind wheel0, y0), it can
To obtain central coordinate of circle (x0+ R-W, y0), the coordinate of off-front wheel is (x after may further being displaced0+R-W+R*cos(γ+
λ), y0+R*sin(γ+λ))；Body of a motor car angle is -90 ° of γ+λ+μ, and off-front wheel hangs down along the deflection of vehicle bridge to the near front wheel
It is γ+λ+μ directly in the angle of vehicle body；
When automobile behind to the left, the initial left front deflection for taking turns to the center of circle of automobile is γ, and size isAfter car moves S pixel along track in the picture, the angle that is turned in trajectory line
Spending λ isAutomobile the near front wheel and the positive direction angle of x-axis are 90 ° of+γ-λ at this time；According to the coordinate (x of automobile left rear wheel0, y0),
Available central coordinate of circle (x0- R+W, y0), after displacement the center of circle to automobile the near front wheel deflection be γ-λ, further in place
The near front wheel coordinate of automobile is (x after shifting0- R+W+R*cos (γ-λ), y0+R*sin(γ-λ))；Body of a motor car angle be γ-λ+
90 ° of-μ, the near front wheel, perpendicular to the angle of vehicle body, are γ-λ-μ along the deflection of vehicle bridge to off-front wheel；
Displacement information based on estimates, main includes coordinate and vehicle body of the displacement rear wheel in 360 images
Inclination angle can estimate position of the automobile in image coordinate system after displacement, and the image under this region is next frame vapour
The image-region that vehicle will cover.
Preferably, the step S106 includes：The image for intercepting out automobile region after predictive displacement, by it
It is mapped to vertical direction, as automobile bottom image.
Beneficial effect：Vehicle bottom provided by the invention based on panoramic looking-around system ground plane display method, by utilizing panorama
Useful information in viewing system video sequence is come out vehicle bottom ground real-time display by the means of image mosaic, further
The perfect function of ADAS system.
Detailed description of the invention
Fig. 1 is the overhead view image of panoramic looking-around system single frames；
Fig. 2 is traval trace line；
Fig. 3 is vehicle bottom image display process (for turning right)；
Fig. 4 is method flow diagram of the viewing system vehicle base map as shown in.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
As shown in figure 4, a kind of vehicle bottom based on panoramic looking-around system ground plane display method, specific step is as follows：
Step S101 reads the video frame of panoramic looking-around system.
As shown in Figure 1, specifically, panoramic looking-around system acquires multi-channel video by multiple wide-angle lens of vehicle body surrounding
Image is spliced after distortion correction, and each frame is synthesized the complete overhead view image of a width.In the images, vehicle area
Domain is located at middle, and the image of surrounding is environment locating for automobile, and during automobile is mobile, peripheral regions are to become in real time
The environment top view of change.In the panoramic looking-around system, the distance on automobile to four side of image is about 1/4 length of wagon, so
Next frame moment, the image override after motor racing can be got from present image.In addition, video image acquisition and aobvious
The video frame rate shown is about 25-30 frame/s, i.e., interval time is 30-40ms between frame and frame.
Step S102 reads the parameters such as the speed of automobile.
Specifically, ADAS system (advanced driving assistance system) acquires garage every certain acquisition time about 100ms
The information of speed, gear and steering wheel angle is sailed, so the frequency of information collection is smaller than the video frame rate of display, about 1:
3, that is, show the driving information that an automobile can be collected in the time of three frame images.According to the information read several times recently,
It is estimated that travel speed, gear and the steering wheel angle of each frame image automobile in display, in present frame to next
In the period of frame, it is believed that these information approximations are constant.Since the time interval that image is shown is very short, and the acceleration of automobile
Degree is limited, so in the case where normally travel, the slight change institute of vehicle driving state in the time interval of each frame
Bring error can be ignored.
Step S103, calculates the driving trace line of automobile, and trajectory line is as shown in Figure 2.
Specifically, according to its available tire steering angle of the steering wheel angle of automobile, steering wheel is beaten under normal circumstances
One circle half, tire turn to 45 degree, i.e. 12 degree of every turn of steering wheel, and automobile tire rotates 1 degree.
Referring to Fig. 2, by analysis it is found that the steering angle of automobile tire is μ, the intersection point of outer circle rail and preceding bridge is α, α and outer
Circle rail center of circle o line and automobile axle between angle beIt can be obtained according to calculating,Between known front and back wheel away from
From for L, then available, the big radius of circle of outer rail is：
According to the right angled triangle that vehicle width W and the center of circle and two wheels are formed, available internal rail radius is：
Outer deflecting roller because interior trajectory line and the interior deflecting roller in vehicle front are tangent, in outer trajectory line and automobile back wheel
It is tangent, so the trajectory line of running car approximate can regard the circle of a radii fixus, the locus circle as in the time difference of each frame
Radius size it is related with the deviation angle of automobile tire.
Step S104, the position that prediction next frame automobile will move to.
Specifically, the display frequency of the reading frequency of vehicle driving state (speed, gear, tyre deflection) and video frame
It is 1: 3, so the driving information needs of automobile are estimated to obtain by the preceding automobile information read several times when each frame image is shown.
By least square method, can carry out curve fitting to car speed, steering wheel angle these information relationships of changing with time,
Obtain the travel speed and steering wheel angle of present frame automobile.Assuming that the current motion state of the automobile only motion state with preceding 1s
It is related, then the current driving information of automobile can be predicted by 10 groups of data.Because of the time interval between frame and frame
Very short, so during this period of time the variation of car speed and steering wheel angle can be ignored, i.e., hypothesis automobile is along solid
Orbit determination road moves with uniform velocity, and can calculate displacement of the automobile on track with this as L ', and after displacement automobile region.
Step S105 intercepts out the region in the current frame.
As shown in figure 3, because image is made of compact arranged pixel one by one, it is all can be according to pixel
The order of point from top to bottom, from left to right thinks of the image a coordinate space, neighbor pixel on horizontal and vertical direction
Unit gap on distance as x, y-axis direction.According to image and proportionate relationship in kind, the displacement L ' of automobile each time is scheming
It is reflected as moving S pixel on picture.Because automobile is to be embedded among image vertically always in panoramic looking-around image, in order to
Facilitate calculating, using the panoramic looking-around image lower left corner as origin, horizontal direction is x-axis direction, and vertical direction is y-axis direction, is established
Rectangular coordinate system.Again because panoramic looking-around image structure be it is fixed, then four vertex of automobile, the coordinate of four tires
It is all known, it is possible to which, according to angle and distance information, the region that automobile is displaced to when calculating next frame is in present frame
Relative position in image, and then obtain from present frame the region that next frame is covered by trolley.
Specifically, when automobile traveling ahead to the right, (angle and length continued to use in Fig. 2 indicate symbol) automobile off-front wheel
Deflection to the center of circle is γ, and size isWhen car moves S picture along track in the picture
After vegetarian refreshments, the angle λ turned in trajectory line isAutomobile off-front wheel and the positive direction angle of x-axis are γ-λ at this time.According to
Coordinate (the x of automobile off hind wheel0, y0), available central coordinate of circle (x0+ R-W, y0), off-front wheel after may further being displaced
Coordinate be (x0+ R-W+R*cos (γ-λ), y0+R*sin(γ-λ)).Body of a motor car angle is -90 ° of γ-λ-μ, off-front wheel edge
Vehicle bridge to the near front wheel deflection perpendicular to vehicle body angle, be γ-λ-μ.
When automobile traveling ahead to the left, the initial left front deflection for taking turns to the center of circle of automobile is γ, and size isAfter car moves S pixel along track in the picture, the angle that is turned in trajectory line
Spending λ isAutomobile the near front wheel and the positive direction angle of x-axis are 90 ° of+γ+λ at this time.According to the coordinate (x of automobile left rear wheel0, y0),
Available central coordinate of circle (x0- R+W, y0), after displacement the center of circle to automobile the near front wheel deflection be γ+λ, further in place
The near front wheel coordinate of automobile is (x after shifting0- R+W+R*cos (γ+λ), y0+R*sin(γ+λ)).The deflection angle of body of a motor car is
+ 90 ° of-μ of γ+λ, the near front wheel, perpendicular to the angle of vehicle body, are γ+λ-μ along the deflection of vehicle bridge to off-front wheel.
When automobile behind to the right, the deflection of automobile off-front wheel to the center of circle is γ, and size isAfter car moves S pixel along track in the picture, turned in trajectory line
Angle λ isAutomobile off-front wheel and the positive direction angle of x-axis are γ+λ at this time.According to the coordinate (x of automobile off hind wheel0, y0), it can
To obtain central coordinate of circle (x0+ R-W, y0), the coordinate of off-front wheel is (x after may further being displaced0+R-W+R*cos(γ+
λ), y0+R*sin(γ+λ)).Body of a motor car angle is -90 ° of γ+λ+μ, and off-front wheel hangs down along the deflection of vehicle bridge to the near front wheel
It is γ+λ+μ directly in the angle of vehicle body.
When automobile behind to the left, the initial left front deflection for taking turns to the center of circle of automobile is γ, and size isAfter car moves S pixel along track in the picture, the angle that is turned in trajectory line
Spending λ isAutomobile the near front wheel and the positive direction angle of x-axis are 90 ° of+γ-λ at this time.According to the coordinate (x of automobile left rear wheel0, y0),
Available central coordinate of circle (x0- R+W, y0), after displacement the center of circle to automobile the near front wheel deflection be γ-λ, further in place
The near front wheel coordinate of automobile is (x after shifting0- R+W+R*cos (γ-λ), y0+R*sin(γ-λ)).Body of a motor car angle be γ-λ+
90 ° of-μ, the near front wheel, perpendicular to the angle of vehicle body, are γ-λ-μ along the deflection of vehicle bridge to off-front wheel.
Displacement information based on estimates, main includes coordinate and vehicle body of the displacement rear wheel in 360 images
Inclination angle can estimate position of the automobile after being displaced in image coordinate system, and the image under this region is next frame
The image-region that automobile will cover.
Step S106, affine transformation.
Specifically, after the image interception of automobile region after displacement being come out, it is a secondary inclined rectangular image, needs
It maps that on vertical direction, can just be spliced to the automobile region of next frame.
Step S107 reads the panoramic looking-around image of next frame automobile, the vehicle base map picture estimated in previous frame is spliced to
The width panoramic looking-around figure that next frame shows vehicle base map picture can be obtained in the part covered in the frame by automobile.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of vehicle bottom based on panoramic looking-around system ground plane display method, it is characterised in that：Specifically include that steps are as follows：
Step S101 reads the video frame of automobile panoramic round-looking system；
Step S102 reads the operating parameter of automobile；
Step S103 calculates the driving trace line of automobile；
Step S104, the position that prediction next frame automobile will move to；
Step S105 intercepts out the image of the position of step S104 prediction in the current frame；
Step S106, by interception image affine transformation, as vehicle base map picture；
Step S107 reads the panoramic looking-around image of next frame automobile, the vehicle base map picture estimated in previous frame is spliced to the frame
The width panoramic looking-around figure that next frame shows vehicle base map picture can be obtained in the part covered in the middle by automobile.
2. the vehicle bottom according to claim 1 based on panoramic looking-around system ground plane display method, it is characterised in that：It is described complete
Scape viewing system acquires multi-channel video image by multiple wide-angle lens of vehicle body surrounding, is spliced after distortion correction,
Each frame is synthesized into the complete overhead view image of a width；In the images, automobile region is located at middle, and the image of surrounding is vapour
Environment locating for vehicle, during automobile is mobile, peripheral regions are the environment top view of real-time change；In the panoramic looking-around system
In system, next frame moment, the image override after motor racing is got from present image.
3. the vehicle bottom according to claim 1 based on panoramic looking-around system ground plane display method, it is characterised in that：The step
Suddenly S102 includes：ADAS system acquires the information of automobile driving speed, gear, steering wheel angle every certain acquisition time,
Since the frequency of information collection is smaller than the video frame rate of display, it is necessary to according to the automobile information read several times recently, estimate
Calculate travel speed, gear and the steering wheel angle for not collecting frame image automobile in display of automobile information.
4. the vehicle bottom according to claim 1 based on panoramic looking-around system ground plane display method, it is characterised in that：The step
Suddenly S103 includes：
Step 1：Automobile tire steering angle is obtained according to the steering wheel rotational angle of automobile；
Step 2：Automobile tire steering angle is μ, and the intersection point of outer circle rail and preceding bridge is α, the line and automobile of α and outer circle rail center of circle o
Angle between rear axle isIt can be obtained according to calculating,
Step 3：The distance between known front and back wheel is L, and the big radius of circle that can obtain outer rail is：
Step 4：According to the right angled triangle that vehicle width W and center of circle o and two wheels are formed, internal rail radius, which can be obtained, is：
Step 5：Outer steering since interior trajectory line and the interior deflecting roller in vehicle front are tangent, in outer trajectory line and automobile back wheel
Take turns tangent, the trajectory line of running car approximate can regard the circle of a radii fixus as in the time difference of each frame.
5. the vehicle bottom according to claim 1 based on panoramic looking-around system ground plane display method, it is characterised in that：The step
Suddenly S104 includes：
Step 1：By least square method, carries out curve fitting, obtain to car speed, the steering wheel angle relationship of changing with time
To the travel speed and steering wheel angle predictor formula of automobile；
Step 2：Assuming that the current motion state of automobile is only related with the motion state of preceding 1s, vapour is predicted by former groups of data
The current travel speed of vehicle and steering wheel angle；
Step 3：Because the time interval between video image frame and frame is short, i.e., hypothesis automobile is done along trapped orbit at the uniform velocity transports
Dynamic, calculating displacement of the automobile in trajectory line is L '.
6. the vehicle bottom according to claim 1 based on panoramic looking-around system ground plane display method, it is characterised in that：The step
Suddenly S105 includes：
Step 1：Since image is made of compact arranged pixel, the order according to pixel from top to bottom, from left to right will
Image regards a coordinate space as, and the distance of neighbor pixel is between x, the unit on y-axis direction on horizontal and vertical direction
Every according to image and proportionate relationship in kind, the displacement L ' of automobile each time is reflected as moving S pixel on the image；
Using the panoramic looking-around image lower left corner as origin, horizontal direction is x-axis direction, and vertical direction is y-axis direction, establishes rectangular co-ordinate
System；
Step 2：Four vertex of automobile, the coordinate of four tires be all it is known, according to angle and distance information, calculate down
Relative position of the region that automobile is displaced to when one frame in current frame image, and then next frame is obtained by automobile from present frame
The region of covering, specific step is as follows：
When automobile traveling ahead to the right, the deflection of automobile off-front wheel to the center of circle is γ, and size is
After car moves S pixel along track in the picture, the angle λ turned in trajectory line isAutomobile Right at this time
Front-wheel and the positive direction angle of x-axis are γ-λ；According to the coordinate (x of automobile off hind wheel0, y0), obtain central coordinate of circle (x0+ R-W,
y0), the coordinate of off-front wheel is (x after being further displaced0+ R-W+R*cos (γ-λ), y0+R*sin(γ-λ))；Body of a motor car
Angle is -90 ° of γ-λ-μ, and off-front wheel, perpendicular to the angle of vehicle body, is γ-λ-μ along the deflection of vehicle bridge to the near front wheel；
When automobile traveling ahead to the left, the initial left front deflection for taking turns to the center of circle of automobile is γ, and size is
After car moves S pixel along track in the picture, the angle λ turned in trajectory line isAutomobile is left at this time
Front-wheel and the positive direction angle of x-axis are 90 ° of+γ+λ；According to the coordinate (x of automobile left rear wheel0, y0), available central coordinate of circle
(x0- R+W, y0), the deflection of the center of circle to automobile the near front wheel is γ+λ, the near front wheel of automobile after being further displaced after displacement
Coordinate is (x0- R+W+R*cos (γ+λ), y0+R*sin(γ+λ))；The deflection angle of body of a motor car is+90 ° of-μ of γ+λ, left front
Wheel, perpendicular to the angle of vehicle body, is γ+λ-μ along the deflection of vehicle bridge to off-front wheel；
When automobile behind to the right, the deflection of automobile off-front wheel to the center of circle is γ, and size is
After car moves S pixel along track in the picture, the angle λ turned in trajectory line isAutomobile Right at this time
Front-wheel and the positive direction angle of x-axis are γ+λ；According to the coordinate (x of automobile off hind wheel0, y0), available central coordinate of circle (x0+R-
W, y0), the coordinate of off-front wheel is (x after may further being displaced0+ R-W+R*cos (γ+λ), y0+R*sin(γ+λ))；Vapour
Vehicle vehicle body angle be -90 ° of γ+λ+μ, off-front wheel along vehicle bridge to the near front wheel deflection perpendicular to vehicle body angle, for γ+λ+
μ；
When automobile behind to the left, the initial left front deflection for taking turns to the center of circle of automobile is γ, and size is
After car moves S pixel along track in the picture, the angle λ turned in trajectory line isAutomobile is left at this time
Front-wheel and the positive direction angle of x-axis are 90 ° of+γ-λ；According to the coordinate (x of automobile left rear wheel0, y0), available central coordinate of circle
(x0- R+W, y0), the deflection of the center of circle to automobile the near front wheel is γ-λ, the near front wheel of automobile after being further displaced after displacement
Coordinate is (x0- R+W+R*cos (γ-λ), y0+R*sin(γ-λ))；Body of a motor car angle be+90 ° of-μ of γ-λ, the near front wheel along
Vehicle bridge to off-front wheel deflection perpendicular to vehicle body angle, be γ-λ-μ；
Displacement information based on estimates, main includes the inclination of coordinate and vehicle body of the displacement rear wheel in 360 images
Angle, can estimate position of the automobile in image coordinate system after displacement, and the image under this region is that next frame automobile will
The image-region to be covered.
7. the vehicle bottom according to claim 1 based on panoramic looking-around system ground plane display method, it is characterised in that：The step
Suddenly S106 includes：The image for intercepting out automobile region after predictive displacement, maps that vertical direction, as automobile bottom
Image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810659018.0A CN108909625B (en) | 2018-06-22 | 2018-06-22 | Vehicle bottom ground display method based on panoramic all-round viewing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810659018.0A CN108909625B (en) | 2018-06-22 | 2018-06-22 | Vehicle bottom ground display method based on panoramic all-round viewing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108909625A true CN108909625A (en) | 2018-11-30 |
| CN108909625B CN108909625B (en) | 2021-09-17 |
Family
ID=64422337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810659018.0A Active CN108909625B (en) | 2018-06-22 | 2018-06-22 | Vehicle bottom ground display method based on panoramic all-round viewing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108909625B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110458884A (en) * | 2019-08-16 | 2019-11-15 | 北京茵沃汽车科技有限公司 | Method, apparatus, the medium of vehicle operation state trajectory line are generated in panorama sketch |
| CN111836005A (en) * | 2019-04-23 | 2020-10-27 | 东莞潜星电子科技有限公司 | Vehicle-mounted 3D panoramic all-around driving route display system |
| CN111856871A (en) * | 2019-04-26 | 2020-10-30 | 东莞潜星电子科技有限公司 | Vehicle-mounted 3D panoramic all-around display method |
| CN111845713A (en) * | 2019-04-26 | 2020-10-30 | 东莞潜星电子科技有限公司 | Parking route planning method based on vehicle-mounted 3D panoramic looking around |
| CN112215747A (en) * | 2019-07-12 | 2021-01-12 | 杭州海康威视数字技术股份有限公司 | Method and device for generating vehicle-mounted panoramic picture without vehicle bottom blind area and storage medium |
| CN113382294A (en) * | 2021-06-04 | 2021-09-10 | 广州小鹏智慧充电科技有限公司 | Image display processing method and device for remote cockpit, cockpit and system |
| CN113935942A (en) * | 2021-09-02 | 2022-01-14 | 同致电子科技（厦门）有限公司 | Vehicle bottom transparency method, device, equipment, storage medium and computer program product based on nonlinear optimization |
| WO2022204854A1 (en) * | 2021-03-29 | 2022-10-06 | 华为技术有限公司 | Method for acquiring blind zone image, and related terminal apparatus |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1406790A (en) * | 2001-09-07 | 2003-04-02 | 松下电器产业株式会社 | Surroundings display device of vehicle and image prompt system |
| CN101102482A (en) * | 2006-07-06 | 2008-01-09 | 日产自动车株式会社 | Vehicle image display system and image display method |
| CN102427982A (en) * | 2009-05-19 | 2012-04-25 | 株式会社伊美吉内柯斯特 | Lane departure sensing method and apparatus using images that surround a vehicle |
| CN102729911A (en) * | 2011-04-14 | 2012-10-17 | 哈曼贝克自动系统股份有限公司 | Vehicle surround view system |
| CN203228708U (en) * | 2013-04-25 | 2013-10-09 | 郑州宇通客车股份有限公司 | Vehicular panoramic display system and a bus with same |
| US20140032093A1 (en) * | 2012-07-30 | 2014-01-30 | Ford Global Technologies, Llc | Collision detection system with a plausibiity module |
| CN106608220A (en) * | 2015-10-22 | 2017-05-03 | 比亚迪股份有限公司 | Vehicle bottom image generation method and device and vehicle |
| CN107066954A (en) * | 2017-03-23 | 2017-08-18 | 浙江零跑科技有限公司 | A kind of vehicle-mounted 360 degree are looked around display methods and system |
| CN107274342A (en) * | 2017-05-22 | 2017-10-20 | 纵目科技（上海）股份有限公司 | A kind of underbody blind area fill method and system, storage medium, terminal device |
| CN107745677A (en) * | 2017-09-30 | 2018-03-02 | 东南（福建）汽车工业有限公司 | A kind of method of the 4D underbody transparent systems based on 3D full-view image systems |
| CN108068696A (en) * | 2016-11-17 | 2018-05-25 | 比亚迪股份有限公司 | The display methods and display device of full-view image |
-
2018
- 2018-06-22 CN CN201810659018.0A patent/CN108909625B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1406790A (en) * | 2001-09-07 | 2003-04-02 | 松下电器产业株式会社 | Surroundings display device of vehicle and image prompt system |
| CN101102482A (en) * | 2006-07-06 | 2008-01-09 | 日产自动车株式会社 | Vehicle image display system and image display method |
| CN102427982A (en) * | 2009-05-19 | 2012-04-25 | 株式会社伊美吉内柯斯特 | Lane departure sensing method and apparatus using images that surround a vehicle |
| CN102729911A (en) * | 2011-04-14 | 2012-10-17 | 哈曼贝克自动系统股份有限公司 | Vehicle surround view system |
| US20140032093A1 (en) * | 2012-07-30 | 2014-01-30 | Ford Global Technologies, Llc | Collision detection system with a plausibiity module |
| CN203228708U (en) * | 2013-04-25 | 2013-10-09 | 郑州宇通客车股份有限公司 | Vehicular panoramic display system and a bus with same |
| CN106608220A (en) * | 2015-10-22 | 2017-05-03 | 比亚迪股份有限公司 | Vehicle bottom image generation method and device and vehicle |
| CN108068696A (en) * | 2016-11-17 | 2018-05-25 | 比亚迪股份有限公司 | The display methods and display device of full-view image |
| CN107066954A (en) * | 2017-03-23 | 2017-08-18 | 浙江零跑科技有限公司 | A kind of vehicle-mounted 360 degree are looked around display methods and system |
| CN107274342A (en) * | 2017-05-22 | 2017-10-20 | 纵目科技（上海）股份有限公司 | A kind of underbody blind area fill method and system, storage medium, terminal device |
| CN107745677A (en) * | 2017-09-30 | 2018-03-02 | 东南（福建）汽车工业有限公司 | A kind of method of the 4D underbody transparent systems based on 3D full-view image systems |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111836005A (en) * | 2019-04-23 | 2020-10-27 | 东莞潜星电子科技有限公司 | Vehicle-mounted 3D panoramic all-around driving route display system |
| CN111856871A (en) * | 2019-04-26 | 2020-10-30 | 东莞潜星电子科技有限公司 | Vehicle-mounted 3D panoramic all-around display method |
| CN111845713A (en) * | 2019-04-26 | 2020-10-30 | 东莞潜星电子科技有限公司 | Parking route planning method based on vehicle-mounted 3D panoramic looking around |
| CN112215747A (en) * | 2019-07-12 | 2021-01-12 | 杭州海康威视数字技术股份有限公司 | Method and device for generating vehicle-mounted panoramic picture without vehicle bottom blind area and storage medium |
| CN110458884A (en) * | 2019-08-16 | 2019-11-15 | 北京茵沃汽车科技有限公司 | Method, apparatus, the medium of vehicle operation state trajectory line are generated in panorama sketch |
| WO2022204854A1 (en) * | 2021-03-29 | 2022-10-06 | 华为技术有限公司 | Method for acquiring blind zone image, and related terminal apparatus |
| CN113382294A (en) * | 2021-06-04 | 2021-09-10 | 广州小鹏智慧充电科技有限公司 | Image display processing method and device for remote cockpit, cockpit and system |
| CN113935942A (en) * | 2021-09-02 | 2022-01-14 | 同致电子科技（厦门）有限公司 | Vehicle bottom transparency method, device, equipment, storage medium and computer program product based on nonlinear optimization |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108909625B (en) | 2021-09-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108909625A (en) | Vehicle bottom based on panoramic looking-around system ground plane display method | |
| CN105539430B (en) | A kind of people's car mutual intelligent parking method based on handheld terminal | |
| US11041958B2 (en) | Sensing assembly for autonomous driving | |
| CN105946853B (en) | The system and method for long range automatic parking based on Multi-sensor Fusion | |
| US10311618B2 (en) | Virtual viewpoint position control device and virtual viewpoint position control method | |
| CN109313021B (en) | Imaging control apparatus and method, and vehicle | |
| Pomerleau | RALPH: Rapidly adapting lateral position handler | |
| US9712791B2 (en) | Around view provision apparatus and vehicle including the same | |
| CN103661599B (en) | A kind of turn inside diameter trajectory predictions system and method | |
| CN101894271B (en) | Visual computing and prewarning method of deviation angle and distance of automobile from lane line | |
| CN102745138B (en) | Dual view-field dynamic-trajectory reverse image system | |
| CN1987357B (en) | Intelligent parking auxiliary device based on omnibearing computer sight | |
| CN105180933B (en) | Mobile robot reckoning update the system and method based on the detection of straight trip crossing | |
| CN107923758B (en) | Vehicle location estimating device, vehicle location estimate method | |
| CN105678787A (en) | Heavy-duty lorry driving barrier detection and tracking method based on binocular fisheye camera | |
| KR20220021020A (en) | controlling host vehicle based on detected spacing between stationary vehicles | |
| CN104699104A (en) | Self-adaptive AGV (Automatic Guided Vehicle) visual navigation sight adjusting device and trace tracking method | |
| CN104374391B (en) | A kind of vehicle driving trace computing system and calculation method | |
| CN107757616A (en) | Use environment information aids in the image procossing for autonomous vehicle | |
| CN109624851A (en) | Auxiliary driving method, system and readable storage medium storing program for executing based on augmented reality | |
| CN106828492A (en) | Predictive reasoning to controlling the speed of vehicle | |
| CN202716870U (en) | Automobile forward track auxiliary device | |
| CN113085896B (en) | Auxiliary automatic driving system and method for modern rail cleaning vehicle | |
| CN112204614B (en) | Motion segmentation in video from non-stationary cameras | |
| CN109975844A (en) | A kind of anti-bleach-out process of GPS signal based on optical flow method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |