CN109017992B - Trajectory generation method and device, trajectory analyzer and storage medium - Google Patents
Trajectory generation method and device, trajectory analyzer and storage medium Download PDFInfo
- Publication number
- CN109017992B CN109017992B CN201810903168.1A CN201810903168A CN109017992B CN 109017992 B CN109017992 B CN 109017992B CN 201810903168 A CN201810903168 A CN 201810903168A CN 109017992 B CN109017992 B CN 109017992B
- Authority
- CN
- China
- Prior art keywords
- track
- steering wheel
- reversing
- dynamic
- backing
- 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.)
- Active
Links
Images
Classifications
-
- 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
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
The embodiment of the invention discloses a track generation method, a track generation device, a track analyzer and a storage medium. By sampling the technical scheme, a rearview image of backing at a first steering wheel angle is obtained, wherein the range of the rearview image comprises a road surface pressed by wheels during backing; extracting a plurality of track identification points included in the rear view image; generating a first dynamic backing track corresponding to a first steering wheel angle according to the track identification point; and outputting a second dynamic backing track corresponding to a second steering wheel angle according to the first dynamic backing track. According to the invention, the accuracy of the generated dynamic backing track is higher by sampling in the actual backing scene, so that backing of a driver is more safely and conveniently assisted.
Description
Technical Field
The present invention relates to an auxiliary device for reversing a vehicle and related technologies, and in particular, to a trajectory generation method and apparatus, a trajectory analyzer, and a storage medium.
Background
In daily life, the car is a tool for riding instead of walk, which is widely used by people, and is greatly convenient for people to go out. With the rapid development of the automobile industry, corresponding backing auxiliary technology is also promoted, and the backing auxiliary device is a safety auxiliary device when an automobile is backed.
At present, the auxiliary device that backs a car of mainstream combines together through the camera and the on-vehicle display that backs a car, can show the real-time video of the camera that backs a car behind the car at on-vehicle display when backing a car, can also show the developments simultaneously and back a car the orbit and supply the driver to refer to make things convenient for the driver to back a car, and make to back a car safer. However, the dynamic reverse trajectory is generated by a preset algorithm, and specifically includes: and superposing the motion track image corresponding to the steering angle of the steering wheel obtained on the vehicle steering wheel corner detector and the image shot by the reversing camera so as to obtain the dynamic reversing track during reversing. The dynamic backing track obtained by the method is preset according to different steering angles of the steering wheel, can enter and exit with the actual track in the backing process of the vehicle, and is low in precision.
Disclosure of Invention
The embodiment of the invention provides a track generation method and device, a track analyzer and a storage medium, which are used for realizing auxiliary backing and improving the accuracy of a generated dynamic backing track.
In a first aspect, an embodiment of the present invention provides a trajectory generation method, where the method includes:
acquiring a rearview image of backing at a first steering wheel angle, wherein the range of the rearview image comprises a road surface pressed by wheels during backing;
extracting a plurality of track identification points included in the rear view image;
generating a first dynamic backing track corresponding to a first steering wheel angle according to the track identification point;
and outputting a second dynamic backing track corresponding to a second steering wheel angle according to the first dynamic backing track.
In a second aspect, an embodiment of the present invention further provides a trajectory generating apparatus, where the apparatus includes:
the image acquisition module is used for acquiring a rearview image after reversing at a first steering wheel angle, wherein the range of the rearview image comprises a road surface pressed by wheels during reversing;
the track point extraction module is used for extracting a plurality of track identification points included in the back view image;
the track generation module generates a first dynamic backing track corresponding to a first steering wheel angle according to the track identification point;
and the track calculation module outputs a second dynamic backing track corresponding to a second steering wheel angle according to the first dynamic backing track.
In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the trajectory generation method provided in the embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a trajectory analyzer, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the trajectory generation method provided in the embodiment of the present invention.
In the embodiment of the invention, in the actual reversing operation, a rearview image after reversing at a first steering wheel angle is obtained, wherein the range of the rearview image comprises a road surface pressed by wheels during reversing, then a plurality of track identification points included in the rearview image are extracted, a first dynamic reversing track corresponding to the first steering wheel angle is generated according to the track identification points, and a second dynamic reversing track corresponding to a second steering wheel angle is output according to the first dynamic reversing track. According to the scheme, the accuracy of the generated dynamic backing track is higher, so that the backing of the driver is assisted more safely and conveniently.
Drawings
FIG. 1 is a schematic diagram of a trajectory generation provided by an embodiment of the invention;
fig. 2 is a schematic flowchart of a trajectory generation method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a calculation trajectory line provided by an embodiment of the present invention;
FIG. 4 is a schematic flow chart of another trajectory generation method provided in the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a trajectory generation device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a trajectory analyzer according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
For example, referring to fig. 1, fig. 1 is a schematic diagram of a trajectory generation provided by an embodiment of the present invention, a coordinate system is established in fig. 1 in a simulation of an actual reversing process, taking a vehicle tail and a vehicle wheel as an example, a projection of a plane where the vehicle wheel is located on the ground is an X axis, a projection of a wheel axis on the ground is a Y axis, a steering wheel angle corresponding to a straight reversing is 0 °, and a steering wheel angle corresponding to a right reversing is defined as positive, and a steering wheel angle corresponding to a left reversing is defined as negative. It will be appreciated that a plurality of markers 11 are provided along the periphery of the wheel, the markers 11 being used to mark the impression of the wheel pressing across the road surface when reversing. The rear of car 16 installs camera 12, and camera 12's camera scope 15 depends on camera 12's configuration, and back a car, camera 12 shoots the indentation on road surface and obtains corresponding image, has a plurality of orbit identification point 13 in this image, and orbit identification point 13 is the mark that mark 11 stayed the road surface in the process of backing a car, and it then forms dynamic track 14 of backing a car to link a plurality of orbit identification point 13 on the same indentation into a line.
Fig. 2 is a flowchart of a trajectory generation method according to an embodiment of the present invention, where the method may be executed by a trajectory generation device, the trajectory generation device may be implemented in a software and/or hardware manner, and may be generally integrated in a trajectory analyzer, and the method specifically includes the following steps:
illustratively, the track point data are sampled in the actual backing process, so that the track lines are generated according to the sampled track points, and the dynamic backing tracks corresponding to various backing directions are further calculated.
The first steering wheel angles selected here are at least two, and the purpose is to ensure that the coverage range of the sampling data is wide, so that the accuracy of the dynamic reversing track corresponding to other steering wheel angles calculated according to the sampling data subsequently is improved. In the embodiment, a camera 12 is arranged at the tail part of the vehicle and is used for shooting marks of a road surface pressed by wheels in the process of backing. Illustratively, when the reversing is finished at a certain steering wheel angle and the vehicle returns to the position where the reversing is started, the camera is started to shoot the road surface pressed by the wheels at the reversing starting point so as to obtain a rear view image, wherein the rear view image comprises the road surface pressed by the wheels during the reversing.
It is understood that the road surface pressed by the wheels of the reverse vehicle can be shot at other positions between the reverse starting point and the reverse end point to obtain the rear view image. Preferably, the photographing is started when the reversing is finished and the vehicle returns to the position where the reversing is started, because the rear view image obtained by photographing at the moment includes a trace that the vehicle wheel corresponding to the reversing is pressed on the road surface completely at one time, in brief, the sampling data is the most complete, and the accuracy of subsequently calculating the dynamic reversing track corresponding to other steering wheel angles is improved. In addition, the arrangement of the camera is related to the length of the track formed by the wheel indentation when the car is reversed, so that the camera capable of shooting a long reversing distance is preferably arranged, or the camera which is suitably arranged is selected according to actual conditions.
illustratively, a plurality of markers 11 are arranged along the periphery of the wheel, and when the vehicle is backing up, the markers 11 are used for marking the impression that the wheel presses the road surface, so that the points formed by the markers in the rearview image are track marking points 13. In this embodiment, the step of extracting the trajectory identification point 13 in the rear-view image is implemented by using a simpler step, and first, a position corresponding to the shape of the marker 11 is found in the rear-view image; next, positions corresponding to all the marker shapes are recorded as the trajectory identification points 13. Therefore, all track identification points included in the back view image can be extracted. It should be noted that, in order to ensure the accuracy of the generated dynamic reverse trajectory, the number of trajectory identification points extracted from the rear-view image is greater than or equal to a preset number, and the preset number may be set to any integer greater than or equal to 3. And if the number of the track identification points extracted from a certain rear-view image does not reach the preset number, not selecting the track identification points in the rear-view image as sampling data.
and manually connecting all the obtained track identification points, or automatically generating connecting lines by using a software tool, so as to obtain a first dynamic backing track of the first steering wheel angle. The number of the first dynamic backing tracks is at least two, and each first dynamic backing track corresponds to different first steering wheel angles.
And 24, outputting a second dynamic reversing track corresponding to a second steering wheel angle according to the first dynamic reversing track.
For example, taking a vehicle tail with a wheel as an example, the projection of the plane where the wheel is located on the ground is an X axis, the projection of the axis of the wheel on the ground is a Y axis, the corresponding steering wheel angle when the vehicle is backing in a straight line is 0 °, and the steering wheel angle corresponding to the vehicle backing in a right direction is defined as positive, and the steering wheel angle corresponding to the vehicle backing in a left direction is defined as negative. When backing a car, the rotating angle of the steering wheel and the rotating angle of the wheels have a preset corresponding relationship, namely, the steering wheel angle and the wheel angle are in one-to-one correspondence. When the steering wheel angle during reversing is obtained, the corresponding wheel angle can be obtained by inquiring the prestored angle corresponding relation table. For example, as shown in fig. 3, if the wheel angles corresponding to the first steering wheel angle are-22 ° and-45 °, and the corresponding first dynamic reverse trajectory is a and B, respectively, then the arc curves corresponding to other wheel angles can be automatically generated in the defined coordinate system through the corresponding relationship between the arc curves and the angles. That is, the tracks a and B corresponding to-22 ° and-45 ° may automatically generate the track C corresponding to, for example, a wheel angle of 1 °, where the steering wheel angle corresponding to the wheel angle of 1 ° is the second steering wheel angle. For a specific algorithm, for example, a straight line k perpendicular to the X axis and intersecting both the trajectory lines a and B is made, assuming that the coordinates of the intersection point of the straight line k and the trajectory lines a and B are (X1, y1) and (X1, y2), respectively, one of the trajectory lines a and B is selected as a reference line, for example, a, since the difference between the ratio of y2 and y1 and the wheel angle corresponding to the A, B trajectory line is a known value, which is y2/y1, 23 °, respectively, then another wheel angle 1 ° different by 23 ° from the wheel angle corresponding to the trajectory line a (wheel angle-22 °), and the ordinate y3 of the intersection point coordinate of the corresponding trajectory line and the straight line k are calculated according to the known wheel angle difference 23 °, and the formula is: since the value of y3 is obtained from the equation, | y2/y1| y1/y3|, one point coordinate (x1, y3) on the trajectory line corresponding to the wheel angle of 1 ° is obtained. Since there are a plurality of straight lines k satisfying the above conditions, a plurality of values of x1 are taken to obtain a plurality of corresponding values of y2/y1 and a plurality of values of y3, so that a plurality of point coordinates on the trajectory line corresponding to the wheel angle of 1 ° can be obtained and the trajectory line C corresponding to the wheel angle of 1 ° can be obtained from the point coordinates. And by analogy, selecting different known trajectory lines as reference lines, and obtaining trajectory lines corresponding to a plurality of different steering wheel angles according to the known wheel angle difference and the algorithm.
According to the technical scheme, in the actual reversing operation, a rearview image after reversing at a first steering wheel angle is obtained, wherein the range of the rearview image comprises a road surface pressed by wheels in reversing, then a plurality of track identification points included in the rearview image are extracted, a first dynamic reversing track corresponding to the first steering wheel angle is generated according to the track identification points, and a second dynamic reversing track corresponding to a second steering wheel angle is output according to the first dynamic reversing track. The accuracy of the generated dynamic backing track is higher, and therefore safer and more convenient backing assistance for a driver is achieved.
Fig. 4 is a schematic flowchart of another trajectory generation method provided in an embodiment of the present invention, and referring to fig. 4, the method further includes the following steps:
or, storing a plurality of second steering wheel angles and corresponding second dynamic backing tracks in an associated manner to obtain a track database;
and 27, displaying the dynamic reversing track.
According to the technical scheme of the embodiment, the obtained multiple steering wheel angles and the corresponding dynamic backing track are stored in an associated mode to obtain the track database, and then the track database is applied to the track analyzer to form the vehicle-mounted equipment. In the actual backing process, the dynamic backing track corresponding to the steering wheel angle is searched in the track database through the acquired steering wheel angle, and the searched dynamic backing track is displayed on a display of the vehicle-mounted equipment for a driver to refer. According to the scheme, the dynamic backing track is not required to be calculated in real time by the vehicle-mounted equipment, so that the configuration requirement on the vehicle-mounted equipment is low, the vehicle-mounted equipment can be widely popularized and used, meanwhile, the track is directly called from the database, so that the response speed of the vehicle-mounted equipment is high, the backing of a driver is facilitated, and the safety of the driver in the backing process is improved.
Fig. 5 is a schematic structural diagram of a trajectory generation apparatus provided in an embodiment of the present invention, where the apparatus is adapted to execute a trajectory generation method provided in any embodiment of the present invention, and as shown in fig. 5, the apparatus includes: the system comprises an image acquisition module 501, a track point extraction module 502, a track generation module 503 and a track calculation module 504.
The system comprises an image acquisition module, a data processing module and a data processing module, wherein the image acquisition module is used for acquiring a rearview image after reversing at a first steering wheel angle, and the range of the rearview image comprises a road surface pressed by wheels during reversing;
the track point extraction module is used for extracting a plurality of track identification points included in the back view image;
the track generation module is used for generating a first dynamic reversing track corresponding to a first steering wheel angle according to the track identification point;
and the track calculation module is used for outputting a second dynamic reversing track corresponding to a second steering wheel angle according to the first dynamic reversing track.
The track generation device provided by this embodiment obtains a rearview image after reversing at a first steering wheel angle, where the range of the rearview image includes a road surface over which wheels press during reversing, then extracts a plurality of track identification points included in the rearview image, generates a first dynamic reversing track corresponding to the first steering wheel angle according to the track identification points, and outputs a second dynamic reversing track corresponding to a second steering wheel angle according to the first dynamic reversing track. The accuracy of the generated dynamic backing track is higher, and therefore safer and more convenient backing assistance for a driver is achieved.
On the basis of the embodiment, the number of the first dynamic reversing tracks is at least two, and each first dynamic reversing track corresponds to different first steering wheel angles.
On the basis of the above embodiment, the trajectory identification point is an indentation formed on the road surface by a plurality of markers arranged along the circumference of the wheel when the vehicle is reversed.
On the basis of the above embodiment, the trace point extraction module is used for,
searching a position corresponding to the shape of the marker in the rearview image;
and recording positions corresponding to the shapes of all the markers as track identification points.
On the basis of the above embodiment, the number of the extracted trajectory identification points is greater than or equal to a preset number.
On the basis of the above embodiment, acquiring a rear view image after reversing at a first steering wheel angle includes: and when the reversing is finished and the vehicle returns to the position of the reversing starting position, starting a camera to shoot the road surface pressed by the wheels when the vehicle reverses at the reversing starting point so as to obtain the back view image.
On the basis of the above embodiment, the method further includes:
the data storage module is used for storing the plurality of first steering wheel angles and the corresponding first dynamic backing track in an associated manner to obtain a track database;
or, storing a plurality of second steering wheel angles and corresponding second dynamic backing tracks in an associated manner to obtain a track database;
the data query module is used for acquiring a steering wheel angle corresponding to a reversing operation when a reversing instruction is received, and searching a dynamic reversing track corresponding to the steering wheel angle in the track database;
and the data display module displays the dynamic backing track.
Embodiments of the present invention provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a trajectory generation method as provided in all inventive embodiments of the present application: that is, the program when executed by the processor implements: acquiring a rearview image of backing at a first steering wheel angle, wherein the range of the rearview image comprises a road surface pressed by wheels during backing; extracting a plurality of track identification points included in the rear view image; generating a first dynamic backing track corresponding to a first steering wheel angle according to the track identification point; and outputting a second dynamic backing track corresponding to a second steering wheel angle according to the first dynamic backing track.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
Fig. 6 is a schematic structural diagram of a trajectory analyzer provided in an embodiment of the present invention, where the trajectory analyzer belongs to a vehicle-mounted electronic device, and the trajectory generation apparatus provided in the embodiment of the present invention may be integrated into the vehicle-mounted electronic device. Referring to fig. 6, the trajectory analyzer 600 may include: the track generation system comprises a memory 601, a processor 602 and a computer program stored on the memory 601 and executable by the processor 602, wherein the processor 602 executes the computer program to implement the track generation method according to the embodiment of the invention.
The track analyzer provided by the embodiment of the invention obtains a rearview image of backing at a first steering wheel angle, wherein the range of the rearview image comprises a road surface pressed by wheels during backing; extracting a plurality of track identification points included in the rear view image; generating a first dynamic backing track corresponding to a first steering wheel angle according to the track identification point; and outputting a second dynamic backing track corresponding to a second steering wheel angle according to the first dynamic backing track.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A trajectory generation method, comprising:
acquiring a rearview image of backing at a first steering wheel angle, wherein the range of the rearview image comprises a road surface pressed by wheels during backing;
extracting a plurality of track identification points included in the rear view image;
the track identification points are indentations formed on the road surface when a plurality of markers arranged around the wheels are backed;
generating a first dynamic backing track corresponding to a first steering wheel angle according to the track identification point;
and outputting a second dynamic backing track corresponding to a second steering wheel angle according to the first dynamic backing track.
2. The method of claim 1, wherein the first dynamic reverse trajectory is at least two, each first dynamic reverse trajectory corresponding to a different first steering wheel angle.
3. The method of claim 1, wherein extracting a plurality of trajectory identification points included in the back view image comprises:
searching a position corresponding to the shape of the marker in the rearview image;
and recording positions corresponding to the shapes of all the markers as track identification points.
4. The method of claim 1, wherein the number of extracted trajectory identification points is greater than or equal to a preset number.
5. The method of claim 1, wherein acquiring a rear view image after reversing at a first steering wheel angle comprises: and when the reversing is finished and the vehicle returns to the position of the reversing starting position, starting a camera to shoot the road surface pressed by the wheels when the vehicle reverses at the reversing starting point so as to obtain the back view image.
6. The method according to any one of claims 1-5, further comprising:
the plurality of first steering wheel angles and the corresponding first dynamic reversing track are stored in an associated mode to obtain a track database;
or, storing a plurality of second steering wheel angles and corresponding second dynamic backing tracks in an associated manner to obtain a track database;
when a reversing instruction is received, acquiring a steering wheel angle corresponding to reversing operation, and searching a dynamic reversing track corresponding to the steering wheel angle in the track database;
and displaying the dynamic reversing track.
7. A trajectory generation device, comprising:
the image acquisition module is used for acquiring a rearview image after reversing at a first steering wheel angle, wherein the range of the rearview image comprises a road surface pressed by wheels during reversing;
the track point extraction module is used for extracting a plurality of track identification points included in the back view image;
the track identification points are indentations formed on the road surface when a plurality of markers arranged around the wheels are backed;
the track generation module generates a first dynamic backing track corresponding to a first steering wheel angle according to the track identification point;
and the track calculation module outputs a second dynamic backing track corresponding to a second steering wheel angle according to the first dynamic backing track.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the trajectory generation method according to any one of claims 1 to 6.
9. A trajectory analyzer, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the trajectory generation method according to any one of claims 1 to 6 when executing the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810903168.1A CN109017992B (en) | 2018-08-09 | 2018-08-09 | Trajectory generation method and device, trajectory analyzer and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810903168.1A CN109017992B (en) | 2018-08-09 | 2018-08-09 | Trajectory generation method and device, trajectory analyzer and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109017992A CN109017992A (en) | 2018-12-18 |
| CN109017992B true CN109017992B (en) | 2020-03-31 |
Family
ID=64632584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810903168.1A Active CN109017992B (en) | 2018-08-09 | 2018-08-09 | Trajectory generation method and device, trajectory analyzer and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109017992B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112272282B (en) * | 2020-09-15 | 2022-08-12 | 武汉凡鱼科技有限公司 | Method, device and equipment for generating backing auxiliary line and storage medium |
| CN115402409A (en) * | 2022-09-16 | 2022-11-29 | 长城汽车股份有限公司 | Method and device for backing assistance and vehicle |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104118357B (en) * | 2013-04-25 | 2018-03-09 | 深圳市豪恩汽车电子装备股份有限公司 | A kind of backing track line generation method, device and reversing guiding device |
| JP5988308B2 (en) * | 2013-12-27 | 2016-09-07 | 富士重工業株式会社 | Vehicle lane keeping control device |
| CN104159078B (en) * | 2014-08-11 | 2017-10-24 | 惠州市德赛西威汽车电子股份有限公司 | One kind point paints formula standalone module dynamic trajectory rear camera reversing aid system and its method |
| CN105824592A (en) * | 2016-03-07 | 2016-08-03 | 乐卡汽车智能科技（北京）有限公司 | Reversing trajectory display method and device |
| CN107878561B (en) * | 2017-09-26 | 2020-07-07 | 惠州市德赛西威汽车电子股份有限公司 | Dynamic backing track line drawing method and device thereof |
-
2018
- 2018-08-09 CN CN201810903168.1A patent/CN109017992B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109017992A (en) | 2018-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11094198B2 (en) | Lane determination method, device and storage medium | |
| WO2019214313A1 (en) | Interactive processing method, apparatus and processing device for vehicle loss assessment and client terminal | |
| CN110163930B (en) | Lane line generation method, device, equipment, system and readable storage medium | |
| US20220092816A1 (en) | Vehicle Localization Using Cameras | |
| CN108090838B (en) | Method, device, server, client and system for identifying damaged part of vehicle | |
| US20200041276A1 (en) | End-To-End Deep Generative Model For Simultaneous Localization And Mapping | |
| CN109242903A (en) | Generation method, device, equipment and the storage medium of three-dimensional data | |
| CN109544629A (en) | Camera pose determines method and apparatus and electronic equipment | |
| CN107941226B (en) | Method and device for generating a direction guideline for a vehicle | |
| CN109017992B (en) | Trajectory generation method and device, trajectory analyzer and storage medium | |
| CN107600008B (en) | Method and device for generating backing auxiliary line, vehicle-mounted equipment and storage medium | |
| CN111986261B (en) | Vehicle positioning method and device, electronic equipment and storage medium | |
| EP3159828A1 (en) | Adaptive calibration using visible car details | |
| CN111105695A (en) | Map making method and device, electronic equipment and computer readable storage medium | |
| CN113706633B (en) | Three-dimensional information determination method and device for target object | |
| CN115761702A (en) | Vehicle track generation method and device, electronic equipment and computer readable medium | |
| KR102571066B1 (en) | Method of acquiring 3d perceptual information based on external parameters of roadside camera and roadside equipment | |
| CN114091521B (en) | Method, device and equipment for detecting vehicle course angle and storage medium | |
| US11461944B2 (en) | Region clipping method and recording medium storing region clipping program | |
| CN110554420B (en) | Equipment track obtaining method and device, computer equipment and storage medium | |
| JP7375149B2 (en) | Positioning method, positioning device, visual map generation method and device | |
| CN111191596A (en) | Closed area drawing method and device and storage medium | |
| CN110796706A (en) | Visual positioning method and system | |
| CN111311627B (en) | Vehicle contour line generation method and system, vehicle and storage medium | |
| CN109711363B (en) | Vehicle positioning method, device, equipment and storage medium |
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 | ||
| CP03 | Change of name, title or address |
Address after: No.18, Industrial Road East, Songshanhu Park, Dongguan, Guangdong 523000 Patentee after: Yuanfeng Technology Co.,Ltd. Address before: 523808 1st, 2nd and 4th floors, building a, No.18, Gongye East Road, Songshanhu high tech Industrial Development Zone, Dongguan City, Guangdong Province Patentee before: GUANGDONG YUANFENG AUTOMOBILE ELECTRONIC Co.,Ltd. |
|
| CP03 | Change of name, title or address |