CN109624851A - Auxiliary driving method, system and readable storage medium storing program for executing based on augmented reality - Google Patents
Auxiliary driving method, system and readable storage medium storing program for executing based on augmented reality Download PDFInfo
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- CN109624851A CN109624851A CN201811406314.6A CN201811406314A CN109624851A CN 109624851 A CN109624851 A CN 109624851A CN 201811406314 A CN201811406314 A CN 201811406314A CN 109624851 A CN109624851 A CN 109624851A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/302—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8086—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for vehicle path indication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
Abstract
The present invention discloses a kind of auxiliary driving method based on augmented reality, system and storage medium, this method comprises: establishing the corresponding relationship between world coordinate system and image coordinate system according to the intrinsic parameter of the camera obtained in advance and outer parameter；Camera collect lane line image, and/or obstructions chart as when, according to the corresponding relationship between the travel speed of vehicle, body width, steering wheel angle, world coordinate system and image coordinate system, the wheel trochoid of vehicle is drawn in image coordinate system；According to the corresponding relationship between world coordinate system and image coordinate system, lane line stereo marker, and/or barrier stereo marker are drawn in image coordinate system using augmented reality method；By the wheel trochoid of vehicle, lane line stereo marker, and/or barrier stereo marker are presented to the user.Compared with the existing technology, the present invention improves drive safety and comfort.
Description
Technical field
The present invention relates to auxiliary driving technology field more particularly to a kind of auxiliary driving method based on augmented reality, it is
System and readable storage medium storing program for executing.
Background technique
Automobile is convenient, fast as modern society, the efficient vehicles, is used by more and more people, but by
Many problems are also brought in the use of the complexity of driving environment and the level difference of driver, automobile.
Traditional only sided mirror unit automobile storage is easy to cause safety problem in the inherent shortcoming of limited view, in order to
This hidden danger is solved, research staff proposes a series of scheme.
Application No. is CN201810484966.5, although a kind of patent of invention of entitled mixed reality road display system
Using AR (reality enhances) technology, but its relay station storage realistic space model information for needing to be arranged along road is mixed with virtual
Close model information.
Application No. is CN201611245215.5, the invention of entitled reversing auxiliary line setting method and reversing aid system
Patent is in the drawing process of reversing auxiliary line, according only to the distance adjustment reversing auxiliary line of car and obstruction, practical obstacle object
Distance apart from vehicle rear end is not intuitive specific.
Application No. is CN201711271533.3, entitled driving based on augmented reality head-up display and multi-screen interactive voice
Although sailing the patent of invention of auxiliary system using augmented reality, but more be that navigation, information warning are superimposed upon really
In scene, range information cannot be provided well and referred to for driver, not have to provide the picture of augmented reality in vehicle backing
Display.In addition, using two cameras simultaneously, multiple screens increase overall cost.
It is necessary to propose a kind of solution that can effectively improve drive safety and comfort as a result,.
Summary of the invention
It is a primary object of the present invention to propose a kind of auxiliary driving method based on augmented reality, system and readable storage
Medium, it is intended to improve drive safety and comfort.
To achieve the above object, the present invention provides a kind of auxiliary driving method based on augmented reality, the method application
In vehicle DAS (Driver Assistant System), the headstock and the tailstock of the vehicle are equipped with camera, the described method comprises the following steps:
According to the intrinsic parameter and outer parameter of the headstock of the vehicle obtained in advance and the camera of the tailstock, world coordinate system is established
Corresponding relationship between image coordinate system；
The headstock of the vehicle or the camera of the tailstock collect lane line image, and/or obstructions chart as when, according to
Corresponding pass between the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and image coordinate system
System, draws the wheel trochoid of the vehicle in described image coordinate system；
According to the corresponding relationship between the world coordinate system and image coordinate system, using augmented reality method in the figure
As drawing lane line stereo marker, and/or barrier stereo marker in coordinate system；
By the wheel trochoid of the vehicle, the lane line stereo marker, and/or barrier stereo marker are presented
To user.
Further technical solution of the invention is pair according between the world coordinate system and image coordinate system
It should be related to, draw lane line stereo marker in described image coordinate system using augmented reality method, and/or barrier is three-dimensional
Include: before the step of marker
Judge whether the lane line, and/or barrier are less than or equal to pre-determined distance at a distance from the vehicle；
If so, executing according to the corresponding relationship between the world coordinate system and image coordinate system, using augmented reality
Method draws the step of lane line stereo marker, and/or barrier stereo marker in described image coordinate system.
Further technical solution of the invention is, described to be sat if so, executing according to the world coordinate system and image
Corresponding relationship between mark system, the step of barrier stereo marker is drawn using augmented reality method in described image coordinate system
Suddenly include:
Whether the camera of the headstock or the tailstock that judge the vehicle collects more than two obstructions chart pictures；
If the headstock of the vehicle or the camera of the tailstock collect more than two obstructions chart pictures, according to the world
Corresponding relationship between coordinate system and image coordinate system, drawn in described image coordinate system using augmented reality method with it is described
The barrier stereo marker of the nearest barrier of vehicle distances.
Further technical solution of the invention is that the camera of the tailstock in the vehicle collects lane line chart
As, and/or obstructions chart as when, according to the travel speed of the vehicle, body width, steering wheel angle, the world coordinates
The step of being the corresponding relationship between image coordinate system, the wheel trochoid of the vehicle drawn in described image coordinate system
Include:
The camera of the tailstock of the vehicle collect lane line image, and/or obstructions chart as when, analyze the vehicle
The tailstock camera acquired image；
If the camera acquired image of the tailstock include lane line image, and/or obstructions chart as when, execute
According to pair between the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and image coordinate system
The step of should being related to, the wheel trochoid of the vehicle is drawn in described image coordinate system；
If the camera acquired image of the tailstock of the vehicle includes park bit image, lane line image, and/or barrier
When hindering object image, then trajectory line of parking is established, and/or, according to the corresponding pass between the world coordinate system and image coordinate system
System, draws parking position stereo marker using augmented reality method, and according to the row of the vehicle in described image coordinate system
The corresponding relationship between speed, body width, steering wheel angle, the world coordinate system and image coordinate system is sailed, in the figure
Wheel trochoid as drawing the vehicle in coordinate system.
Further technical solution of the invention is that the camera of the headstock in the vehicle collects lane line chart
As, and/or obstructions chart as when, according to the travel speed of the vehicle, body width, steering wheel angle, the world coordinates
The step of being the corresponding relationship between image coordinate system, the wheel trochoid of the vehicle drawn in described image coordinate system
Include:
The camera of the headstock of the vehicle collect lane line image, and/or obstructions chart as when, analyze the vehicle
Headstock camera acquired image；
If the camera acquired image of the headstock include lane line image, and/or obstructions chart as when, execute
According to pair between the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and image coordinate system
The step of should being related to, the wheel trochoid of the vehicle is drawn in described image coordinate system；
If the camera acquired image of the headstock of the vehicle includes the image of other vehicles, lane line image and/
Or obstructions chart as when, then according to the corresponding relationship between the world coordinate system and image coordinate system, using augmented reality side
Method draws other motor vehicle space markers in described image coordinate system, and according to the travel speed of the vehicle, body width,
Corresponding relationship between steering wheel angle, the world coordinate system and image coordinate system, draws institute in described image coordinate system
State the wheel trochoid of vehicle.
Further technical solution of the invention is that the camera of the headstock in the vehicle collects obstructions chart
When picture, according to the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and image coordinate system it
Between corresponding relationship, after the step of wheel trochoid of the vehicle is drawn in described image coordinate system further include:
Judge that the collected obstructions chart of the camera of the headstock of the vehicle seems no including headstock diagonally forward barrier
Image；
If so, obtain headstock barrier at a distance from headstock and diagonally forward barrier respectively with vehicle two sides
Distance；
According to the wheel trochoid of the vehicle, the headstock barrier at a distance from headstock and diagonally forward obstacle
Object draws driving auxiliary line at a distance from vehicle two sides respectively；
The wheel trochoid by the vehicle, the lane line stereo marker, and/or barrier stereo marker
The step of being presented to the user include:
By the driving auxiliary line of the vehicle, the lane line stereo marker, and/or barrier stereo marker are presented
To user.
Further technical solution of the invention is that the camera of the tailstock in the vehicle collects obstructions chart
When picture, according to the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and image coordinate system it
Between corresponding relationship, after the step of wheel trochoid of the vehicle is drawn in described image coordinate system further include:
The barrier of the tailstock is obtained at a distance from the tailstock；
By the barrier of the tailstock at a distance from the tailstock compared with pre-determined distance pair；
If the barrier of the tailstock is less than or equal to the pre-determined distance at a distance from the tailstock, according to the driving of the vehicle
Trajectory line, the tailstock barrier drawn at a distance from the tailstock driving auxiliary line；
The wheel trochoid by the vehicle, the lane line stereo marker, and/or barrier stereo marker
The step of being presented to the user include:
By the driving auxiliary line of the vehicle, the lane line stereo marker, and/or barrier stereo marker are presented
To user.
Further technical solution of the invention is the headstock for the vehicle that the basis obtains in advance and the camera of the tailstock
Intrinsic parameter and outer parameter, the step of corresponding relationship established between world coordinate system and image coordinate system include:
The headstock of the vehicle and the camera of the tailstock are demarcated using gridiron pattern, obtain the vehicle headstock and
The intrinsic parameter of the camera of the tailstock and outer parameter.
To achieve the above object, the present invention also proposes a kind of DAS (Driver Assistant System) based on augmented reality, including is installed on
The headstock of vehicle and camera, memory, processor and the computer program being stored on the memory of the tailstock, it is described
The step of computer program realizes method as described above when being run by the processor.
To achieve the above object, the present invention also proposes a kind of computer readable storage medium, the computer-readable storage
The auxiliary piloting procedure based on augmented reality is stored on medium, the auxiliary piloting procedure based on augmented reality is by processor
The step of method as described above is realized when operation.
The present invention is based on the auxiliary driving method of augmented reality, system and readable storage medium storing program for executing through the above technical solutions,
According to the intrinsic parameter and outer parameter of the headstock of the vehicle obtained in advance and the camera of the tailstock, establishes world coordinate system and image is sat
Corresponding relationship between mark system；Lane line image, and/or barrier are collected in the headstock of the vehicle or the camera of the tailstock
When image, according to the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and image coordinate system
Between corresponding relationship, the wheel trochoid of the vehicle is drawn in described image coordinate system；According to the world coordinate system
Corresponding relationship between image coordinate system draws lane DNA mitochondrial DNA mark using augmented reality method in described image coordinate system
Will object, and/or barrier stereo marker；By the wheel trochoid of the vehicle, the lane line stereo marker, and/or
Barrier stereo marker is presented to the user, and compared with the existing technology, improves drive safety and comfort.
Detailed description of the invention
Fig. 1 is the flow diagram of the auxiliary driving method first embodiment the present invention is based on augmented reality；
Fig. 2 is the flow diagram of the auxiliary driving method second embodiment the present invention is based on augmented reality；
Fig. 3 is that the refinement process of step S30 in the auxiliary driving method second embodiment the present invention is based on augmented reality is shown
It is intended to；
Fig. 4 is the flow diagram of the auxiliary driving method 3rd embodiment the present invention is based on augmented reality；
Fig. 5 is the flow diagram of the auxiliary driving method fourth embodiment the present invention is based on augmented reality；
Fig. 6 is the flow diagram of the 5th embodiment of auxiliary driving method the present invention is based on augmented reality；
Fig. 7 is that the present invention is based on barrier stereo marker is drawn in each embodiment of the auxiliary driving method of augmented reality
Schematic diagram；
Fig. 8 is that the present invention is based on the signals that wheel trochoid is drawn in each embodiment of the auxiliary driving method of augmented reality
Figure.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
For in the prior art no matter vehicle be move ahead or fallback procedures in, Ben Che and lane line, barrier or preceding
Not intuitive enough the disadvantage of the distance of vehicle, the present invention propose one kind enable driver more intuitively judge lane line, barrier,
The distance of front truck, rear car, the perception for making vehicle drive people adjust the distance is more intuitive, judgement distance that can be more accurate, makes to drive
Cross the safer solution of journey.
Fig. 1 to Fig. 8 is please referred to, the present invention proposes a kind of auxiliary driving method based on augmented reality.
Specifically, please referring to Fig. 1, Fig. 1 is the stream of the auxiliary driving method first embodiment the present invention is based on augmented reality
Journey schematic diagram.
It should be noted that the present invention is based on the auxiliary driving methods of augmented reality to be applied to vehicle DAS (Driver Assistant System),
Wherein, the headstock of the vehicle and the tailstock are equipped with camera.
As shown in Figure 1, the present embodiment propose the auxiliary driving method based on augmented reality the following steps are included:
Step S10 establishes generation according to the intrinsic parameter and outer parameter of the headstock of the vehicle obtained in advance and the camera of the tailstock
Corresponding relationship between boundary's coordinate system and image coordinate system.
Focal length, offset and the distortion of camera itself can produce bigger effect the light entered in camera lens, these ginsengs
Number is known as the internal reference of camera.The internal reference of camera has determined projection relation of the camera from three-dimensional space to two dimensional image.
The outer ginseng of camera is influenced by the installation site of camera and towards (such as azimuth, pitch angle and roll angle),
Outer ginseng determines the relationship between camera coordinate and world coordinates, relatively independent with internal reference.
Step S20 collects lane line image, and/or obstructions chart in the headstock of the vehicle or the camera of the tailstock
When picture, according to the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and image coordinate system it
Between corresponding relationship, the wheel trochoid of the vehicle is drawn in described image coordinate system.
When drawing wheel trochoid, can apart from vehicle body by closely to remote position distribution red, yellow, green line
It draws, the width of the two lines of wheel trochoid is identical as body width.
Step S30, according to the corresponding relationship between the world coordinate system and image coordinate system, using augmented reality method
Lane line stereo marker, and/or barrier stereo marker are drawn in described image coordinate system.
Wherein, lane line stereo marker can be drawn in different ways with barrier stereo marker, for example, vehicle
Diatom stereo marker uses yellowish-white alternate translucent cylinder, and barrier stereo marker uses semi-transparent circle red and white
Column.Yellowish-white alternate cylindrical body is the lane line that can be crossed, and cylindrical body red and white is the barrier that can not be crossed.Pass through
Such difference, can be improved drive safety.
Step S40, by the wheel trochoid of the vehicle, the lane line stereo marker, and/or barrier solid mark
Will object is presented to the user.
It is understood that due to having used augmented reality (AR technology) to depict in lane line, Obstacle Position
Stereo marker, the wheel trochoid of vehicle can occur with lane line stereo marker, and/or barrier stereo marker at this time
It is overlapping, it, can be vertical according to wheel trochoid and lane line stereo marker, and/or barrier when distance is greater than pre-determined distance
The color at the overlapping place of body marker judges distance.Different from display methods of the existing wheel trochoid on flat image, this
Kind method enables driver more intuitively to obtain vehicle at a distance from barrier, makes to drive safer.
Referring to figure 2., Fig. 2 is the process signal of the auxiliary driving method second embodiment the present invention is based on augmented reality
Figure.
The present embodiment and the difference of first embodiment shown in FIG. 1 be, above-mentioned steps S30, described according to the world
Corresponding relationship between coordinate system and image coordinate system draws lane line in described image coordinate system using augmented reality method
Include: before the step of stereo marker, and/or barrier stereo marker
S301, judge the lane line, and/or barrier whether be less than or equal at a distance from the vehicle it is default away from
From.
If so, thening follow the steps S30, according to the corresponding relationship between the world coordinate system and image coordinate system, use
Augmented reality method draws the step of lane line stereo marker, and/or barrier stereo marker in described image coordinate system
Suddenly.
Further, referring to figure 3., Fig. 3 is the refinement flow diagram of step S30 in the present embodiment.
As shown in figure 3, above-mentioned steps S30 is adopted according to the corresponding relationship between the world coordinate system and image coordinate system
Lane line stereo marker, and/or barrier stereo marker packet are drawn in described image coordinate system with augmented reality method
Include following steps:
Whether the camera of step S302, the headstock or the tailstock that judge the vehicle collect more than two obstructions charts
Picture；
Step S303, if the headstock of the vehicle or the camera of the tailstock collect more than two obstructions chart pictures, root
According to the corresponding relationship between the world coordinate system and image coordinate system, using augmented reality method in described image coordinate system
Draw the barrier stereo marker with the nearest barrier of the vehicle distances.
As a result, this embodiment avoids the barrier stereo marker of drafting occur during display it is rambling existing
As.
Referring to figure 4., Fig. 4 is the process signal of the auxiliary driving method 3rd embodiment the present invention is based on augmented reality
Figure.
The present embodiment and the difference of first embodiment shown in FIG. 1 be, above-mentioned steps S20, in the tailstock of the vehicle
Camera collect lane line image, and/or obstructions chart as when, according to the travel speed of the vehicle, body width, side
Corresponding relationship between disk corner, the world coordinate system and image coordinate system, in described image coordinate system described in drafting
The step of wheel trochoid of vehicle includes:
Step S201, the camera of the tailstock of the vehicle collect lane line image, and/or obstructions chart as when,
Analyze the camera acquired image of the tailstock of the vehicle.
Step S202, if the camera acquired image of the tailstock includes lane line image, and/or obstructions chart picture
When, then it executes according to the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and image coordinate
Corresponding relationship between system, the step of wheel trochoid of the vehicle is drawn in described image coordinate system.
Step S203, if the camera acquired image of the tailstock of the vehicle includes bit image of parking, lane line chart
As, and/or obstructions chart as when, then establish and park trajectory line, and/or, according to the world coordinate system and image coordinate system it
Between corresponding relationship, parking position stereo marker is drawn in described image coordinate system using augmented reality method, and according to institute
State the corresponding pass between travel speed, body width, steering wheel angle, the world coordinate system and the image coordinate system of vehicle
System, draws the wheel trochoid of the vehicle in described image coordinate system.
It is understood that, when trajectory line of parking is overlapped with wheel trochoid, vehicle can be good in the present embodiment
Stop into parking position.
Referring to figure 5., Fig. 5 is the process signal of the auxiliary driving method fourth embodiment the present invention is based on augmented reality
Figure.
The present embodiment and the difference of first embodiment shown in FIG. 1 be, above-mentioned steps S20, in the headstock of the vehicle
Camera collect lane line image, and/or obstructions chart as when, according to the travel speed of the vehicle, body width, side
Corresponding relationship between disk corner, the world coordinate system and image coordinate system, in described image coordinate system described in drafting
The step of wheel trochoid of vehicle includes:
Step S204, the camera of the headstock of the vehicle collect lane line image, and/or obstructions chart as when,
Analyze the camera acquired image of the headstock of the vehicle.
Step S205, if the camera acquired image of the headstock includes lane line image, and/or obstructions chart picture
When, then it executes according to the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and image coordinate
Corresponding relationship between system, the step of wheel trochoid of the vehicle is drawn in described image coordinate system.
Step S206, if the camera acquired image of the headstock of the vehicle includes the image of other vehicles, lane
Line image, and/or obstructions chart as when, then according to the corresponding relationship between the world coordinate system and image coordinate system, use
Augmented reality method draws other motor vehicle space markers in described image coordinate system, and according to the traveling of vehicle speed
Corresponding relationship between degree, body width, steering wheel angle, the world coordinate system and image coordinate system is sat in described image
The wheel trochoid of the vehicle is drawn in mark system.
Wherein, other described motor vehicle space markers can be drawn using trolley icon.As a result, by image coordinate system
Middle drafting trolley icon can make other vehicles of user's more intuitive understanding situation at a distance from this vehicle, to further increase
Drive safety.
Further, as an implementation, above-mentioned steps S20, in the camera acquisition of the headstock of the vehicle
To obstructions chart as when, according to the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and figure
As the corresponding relationship between coordinate system, after the step of wheel trochoid of the vehicle is drawn in described image coordinate system also
Include:
Judge that the collected obstructions chart of the camera of the headstock of the vehicle seems no including headstock diagonally forward barrier
Image；
If so, obtain headstock barrier at a distance from headstock and diagonally forward barrier respectively with vehicle two sides
Distance；
According to the wheel trochoid of the vehicle, the headstock barrier at a distance from headstock and diagonally forward obstacle
Object draws driving auxiliary line at a distance from vehicle two sides respectively.
Above-mentioned steps S40, by the wheel trochoid of the vehicle, the lane line stereo marker, and/or barrier are vertical
The step of body marker is presented to the user include:
By the driving auxiliary line of the vehicle, the lane line stereo marker, and/or barrier stereo marker are presented
To user.
As another embodiment, above-mentioned steps S20 collects obstructions chart in the camera of the headstock of the vehicle
When picture, according to the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and image coordinate system it
Between corresponding relationship, after the step of wheel trochoid of the vehicle is drawn in described image coordinate system further include:
The barrier of the tailstock is obtained at a distance from the tailstock；
By the barrier of the tailstock at a distance from the tailstock compared with pre-determined distance pair；
If the barrier of the tailstock is less than or equal to the pre-determined distance at a distance from the tailstock, according to the driving of the vehicle
Trajectory line, the tailstock barrier drawn at a distance from the tailstock driving auxiliary line.
Above-mentioned steps S40, by the wheel trochoid of the vehicle, the lane line stereo marker, and/or barrier are vertical
The step of body marker is presented to the user include:
By the driving auxiliary line of the vehicle, the lane line stereo marker, and/or barrier stereo marker are presented
To user.
The present embodiment is by by the driving auxiliary line of vehicle, the lane line stereo marker, and/or barrier as a result,
Stereo marker is presented to the user, and further improves drive safety.
Fig. 6 is please referred to, Fig. 6 is the process signal of the 5th embodiment of auxiliary driving method the present invention is based on augmented reality
Figure.
The present embodiment and the difference of first embodiment shown in FIG. 1 be, above-mentioned steps S10, according to the vehicle obtained in advance
Headstock and the tailstock camera intrinsic parameter and outer parameter, establish between world coordinate system and image coordinate system it is corresponding pass
The step of being include:
Step S100 demarcates the headstock of the vehicle and the camera of the tailstock using gridiron pattern, obtains the vehicle
Headstock and the tailstock camera intrinsic parameter and outer parameter.
The auxiliary driving method the present invention is based on augmented reality is further described in detail below by citing.
1, about the drafting of stereo marker:
Vehicle-mounted front camera and rear camera is demarcated using gridiron pattern first, obtains the inside and outside parameter of camera.By obtaining
The camera inside and outside parameter obtained, establishes the corresponding relationship between world coordinate system (i.e. actual object) and image coordinate system.
When vehicle forward: being carried out in fact using the camera of headstock to the information in front of vehicle driving in vehicle travel process
When acquire.To lane line, the barrier in image, (barrier herein is defined as in addition to lane line and front truck are unexpected, in vehicle
Be higher than the object of road surface 10cm on the track of traveling front), front truck detected.AR technology is used in the lane line position that inspection vehicle arrives
The inside and outside parameter and world coordinate system of the camera obtained according to static demarcating and the corresponding relationship of image coordinate system are sat in image
The yellowish-white alternate translucent cylinder that diameter and lane line are of same size, actual height is 0.5m is drawn out in mark system.First
The position that cylindrical body occurs is in image on the lane line of vehicle body or on the extended line of lane line.Farthest one drawn
Distance of a cylindrical body away from first cylindrical body is 10m.It is 0.5m, each circle of 5-10m in the distance interval of each cylinder of 0-5m
1m is divided between cylinder.Inside and outside the camera that the location application AR technology of the barrier detected is obtained according to static demarcating
The corresponding relationship of parameter and world coordinate system and image coordinate system is in image coordinate system along barrier close to vehicle body side
Draw out that diameter is 0.2m, is divided into 0.2m, is highly the translucent cylinder red and white of 0.5m at profile, this cylinder is red
Shared ratio is 7 one-tenth.In the position for detecting other vehicles, in the camera that is obtained using AR technology according to static demarcating
The corresponding relationship of outer parameter and world coordinate system and image coordinate system draws out translucent trolley icon in image coordinate system.
In order to avoid disorderly and unsystematic situation occurs during display in the stereo marker of drafting, in the vehicle that the same angle detecting arrives
Diatom, barrier and front truck etc. only draw one near vehicle body.The distance that front truck and barrier meet apart from headstock is small
Stereo marker is then drawn in 10m, is greater than 10m then without drawing.
When vehicle rollback: consistent when method for drafting is with forward travel in reversing.The lane detected in the visual field
Line, barrier, dead astern vehicle when using as method when vehicle forward draw out stereo marker.When reversing,
The inside and outside parameter and world coordinate system of the camera that the lane line position that arrives of inspection vehicle is obtained using AR technology according to static demarcating and
The corresponding relationship of image coordinate system draws out diameter in image coordinate system, and of same size, actual height is 0.5m's with lane line
Yellowish-white alternate translucent cylinder.The position that first cylindrical body occurs is in image on the lane line of vehicle body or vehicle
On the extended line of diatom.The distance interval of each cylinder is 0.5m.The farthest cylindrical body drawn is away from first cylindrical body
Distance is 10m.It is divided into 0.5m between each cylindrical body of 0-5m, is divided into 1m between each cylindrical body of 5-10m.In the barrier detected
The inside and outside parameter and world coordinate system and image coordinate for the camera for hindering the location application AR technology of object to be obtained according to static demarcating
Profile of the corresponding relationship of system in image coordinate system along barrier close to vehicle body side goes out to draw out diameter and is 0.2m, is spaced
For 0.2m, highly the translucent cylinder red and white for being 0.5m, this cylinder red shared by ratio be 7 one-tenth.Detecting it
The position of his vehicle, the inside and outside parameter and world coordinate system and image of the camera obtained using AR technology according to static demarcating are sat
The corresponding relationship of mark system draws out translucent trolley icon in image coordinate system.In order to avoid the stereo marker of drafting exists
There is disorderly and unsystematic situation during display, in lane line, barrier and the rear car etc. that the same angle detecting arrives, only draws
Make one near the tailstock.Rear car and barrier meet the distance away from the tailstock and then draw stereo marker less than 10m, are greater than
10m is then without drawing.Meanwhile also to carry out parking position wire detection.If detecting complete parking space information, for most
The inside and outside parameter of the camera obtained using AR technology according to static demarcating close to first complete parking stall of vehicle and the world are sat
Mark system and the corresponding relationship of image coordinate system draw stereo marker in image coordinate system.To stereo marker drafting to be carried out
Parking position, the shortest wire of actual range close to the tailstock do not draw stereo marker, and other three frames are drawn and vehicle
The consistent stereo marker of diatom.If not detecting parking position, parking position stereo marker is drawn without previous step
Operation.
Traffic information is distinguished convenient for driver using the stereo marker of different patterns to different objects.It is yellowish-white alternate
Cylindrical body is the lane line that can be crossed, and cylindrical body red and white and small car mark are the barrier and other vehicles that can not be crossed
?.Difference in this way, can be improved drive safety.
Fig. 7 is please referred to, Fig. 7 is for there is barrier on the right side of vehicle front, it is shown that stereo marker is drawn, according to row
Track trace and stereo marker it is overlapping, identify vehicle at a distance from barrier.Can clearly it find out from figure, vehicle
Wheel trochoid is overlapping with stereo marker less than at 4m other than 3m, and such driver can intuitively perceive very much, obstacle
Object is apart from vehicle front 3m mostly less than 4m.The operation that will be carried out in next step is accurately judged convenient for driver, to improve
The safety of driving reduces collision and wipes the generation cut to pieces.
2, the drafting about driving auxiliary line:
When vehicle forward: being marked according to the travel speed of vehicle, body width and steering wheel angle, while according in static state
Determine the relationship that the point under camera inside and outside parameter, world coordinate system obtained in process is mapped in image coordinate system, draws vehicle
Trajectory line under steam.Drawn in the trajectory line within vehicle body 1m using red, 1 to 3m is drawn using yellow, 3 to
5m is drawn using green.The width of two lines is identical as body width.It is less than 0.5m away from front stereo marker distance in vehicle
When, real-time display vehicle is at a distance from objects in front.Due to having used AR technology to draw in lane line, barrier, front vehicle position
Stereo marker, at this time the trajectory line of vehicle driving can be overlapped with stereo marker, can be with when distance is greater than 0.5m
Distance is judged according to the color of trajectory line and the overlapping place of stereo marker.Different from existing wheel trochoid on flat image
Display methods, this method enables driver more intuitively to obtain vehicle at a distance from front truck or barrier, makes to drive
It sails safer.
Vehicle is also detected during forward at a distance from left and right sides lane line and barrier (when other lanes
Vehicle is regarded as barrier processing when entering the lane that this vehicle is travelling).Acquired image bottom (i.e. near
The part of near-car head) at vehicle front 2m, distance of the real-time display vehicle away from two sides barrier helps driver to judge vehicle
The distance of two sides object, improves the safety of driving.Wheel trochoid combines distance display and two lateral extent of vehicle body to show just
Form driving auxiliary line.
It is shown in conjunction with the distance of AR technology, driver can be made more intuitive when judging spacing.Especially in vehicle away from preceding
Square stereo marker be less than 0.5m when, by drive a vehicle auxiliary line, the stereo marker of drafting, distance display, can allow driver more
For it is accurate, intuitively obtain range information, improve drive safety.
When vehicle rollback: being marked according to the travel speed of vehicle, body width and steering wheel angle, while according in static state
Determine the relationship that the point under camera inside and outside parameter, world coordinate system obtained in process is mapped in image coordinate system, draws vehicle
Trajectory line in the process of backing up.It is drawn in the trajectory line within tailstock 1m using red, 1 to 3m trajectory line uses
Yellow is drawn, and 3 to 5m trajectory line are drawn using green.The width of two lines is identical as body width.In the tailstock away from rear barrier
When object distance is less than 0.5m, real-time display vehicle is at a distance from rear obstacle.Due to having used AR technology in lane line, obstacle
Object, rear truck position depict stereo marker, and the trajectory line of vehicle backing can be overlapped with stereo marker at this time, in distance
When greater than 0.5m, distance can be judged according to the color of trajectory line and the overlapping place of stereo marker.Different from existing reversing rail
Display methods of the trace on flat image, this three-dimensional overlapping method enable driver more intuitively obtain vehicle with
The distance of rear car or barrier makes to drive safer.The distance of display vehicle body two sides is adjusted to tailstock position and apart from vehicle
At tail 1m.In reversing, speed is generally slower, so showing that the distance of vehicle body two sides is safer at 1m.When due to reversing,
The visual field after vehicle can only be observed by rearview mirror, not as good as the unobscured of forward sight.By using this method, driver can be made more
Intuitively to judge the distance after vehicle, the safety of reversing is improved.Backing track knot close distance display and vehicle body two sides away from
Reversing auxiliary line is just formd from display.
Below with reference to Fig. 8 when the vehicle forward for the drafting of wheel trochoid is described in detail.
Assuming that the rectangle in Fig. 8 represents automobile.When beginning, the track of automobile with the angle of X-axis be θ, automobile at this time
Travel speed is v, steering wheel angle ψ, the time interval Δ t taken at this time, then the track of automobile as indicated by the solid line in the figure,
In speed v and steering wheel angle ψ can change.If time interval is smaller, speed is constant, and steering wheel angle keeps permanent
Fixed, then the trajectory line drawn at this time is the circular arc of standard.Diagram for convenience express, so time interval take it is slightly larger.Assuming that
The coordinate of the central point of vehicle two front wheels is (X0, Y0) at this time.According to the relationship in figure before next time Δt, two
The coordinate at wheel center is following formula:
Next one time Δt, the centre coordinate of vehicle two front wheels are as follows:
3rd time Δt, the centre coordinate of vehicle two front wheels are as follows:
The rest may be inferred for the centre coordinate formula of the two front wheels at each moment backward.The coordinate quantity for needing to solve is according to vehicle
Speed, and the length of trajectory line for needing to draw determine.It can be according to vehicle body after the coordinate for acquiring two front wheels central point
Width, distance of the wheel apart from headstock draw out two trajectory lines wide with vehicle body.
When in the process of backing up, detecting away from the nearest parking position of vehicle.It is closed according to vehicle and parking position relative position
System, body width, length of wagon, speed, steering wheel angle information draw the track of parking suggested.If driver drives reversing
The wheelpath of vehicle and suggestion park track when being overlapped, and can stop well vehicle into corresponding parking position.
In conclusion the present invention is based on the auxiliary driving method of augmented reality through the above technical solutions, according to obtaining in advance
The intrinsic parameter of the camera of the headstock and tailstock of the vehicle taken and outer parameter, are established between world coordinate system and image coordinate system
Corresponding relationship；The headstock of the vehicle or the camera of the tailstock collect lane line image, and/or obstructions chart as when, root
According to corresponding between the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and image coordinate system
Relationship draws the wheel trochoid of the vehicle in described image coordinate system；According to the world coordinate system and image coordinate
Corresponding relationship between system, drawn in described image coordinate system using augmented reality method lane line stereo marker, and/or
Barrier stereo marker；By the wheel trochoid of the vehicle, the lane line stereo marker, and/or barrier are three-dimensional
Marker is presented to the user, and compared with the existing technology, improves drive safety and comfort.
To achieve the above object, the present invention also proposes a kind of DAS (Driver Assistant System) based on augmented reality, which includes
It is installed on the headstock of vehicle and the camera of the tailstock, memory, processor and the computer journey being stored on the memory
Sequence, it is specific when the computer program is run by the processor the step of method described in realization each embodiment as above
It has been elaborated above step and the technical effect of acquirement, which is not described herein again.
To achieve the above object, the present invention also proposes a kind of computer readable storage medium, the computer-readable storage
The auxiliary piloting procedure based on augmented reality is stored on medium, the auxiliary piloting procedure based on augmented reality is by processor
When operation the step of method described in realization above, elaborated above the technical effect of specific step and acquirement, this
In repeat no more.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of auxiliary driving method based on augmented reality, which is characterized in that the method is applied to vehicle assistant drive system
System, the headstock and the tailstock of the vehicle are equipped with camera, the described method comprises the following steps:
According to the intrinsic parameter and outer parameter of the headstock of the vehicle obtained in advance and the camera of the tailstock, world coordinate system and figure are established
As the corresponding relationship between coordinate system；
The headstock of the vehicle or the camera of the tailstock collect lane line image, and/or obstructions chart as when, according to described
Corresponding relationship between the travel speed of vehicle, body width, steering wheel angle, the world coordinate system and image coordinate system,
The wheel trochoid of the vehicle is drawn in described image coordinate system；
According to the corresponding relationship between the world coordinate system and image coordinate system, sat using augmented reality method in described image
Lane line stereo marker, and/or barrier stereo marker are drawn in mark system；
By the wheel trochoid of the vehicle, the lane line stereo marker, and/or barrier stereo marker are presented to use
Family.
2. the auxiliary driving method according to claim 1 based on augmented reality, which is characterized in that described according to the generation
Corresponding relationship between boundary's coordinate system and image coordinate system draws lane in described image coordinate system using augmented reality method
Include: before the step of DNA mitochondrial DNA marker, and/or barrier stereo marker
Judge whether the lane line, and/or barrier are less than or equal to pre-determined distance at a distance from the vehicle；
If so, executing according to the corresponding relationship between the world coordinate system and image coordinate system, using augmented reality method
The step of lane line stereo marker, and/or barrier stereo marker are drawn in described image coordinate system.
3. the auxiliary driving method according to claim 2 based on augmented reality, which is characterized in that described if so, holding
Row is according to the corresponding relationship between the world coordinate system and image coordinate system, using augmented reality method in described image coordinate
The step of drafting barrier stereo marker, includes: in system
Whether the camera of the headstock or the tailstock that judge the vehicle collects more than two obstructions chart pictures；
If the headstock of the vehicle or the camera of the tailstock collect more than two obstructions chart pictures, according to the world coordinates
Corresponding relationship between system and image coordinate system is drawn in described image coordinate system and the vehicle using augmented reality method
Barrier stereo marker apart from nearest barrier.
4. the auxiliary driving method according to claim 1 based on augmented reality, which is characterized in that described in the vehicle
The tailstock camera collect lane line image, and/or obstructions chart as when, according to the travel speed of the vehicle, vehicle body
Corresponding relationship between width, steering wheel angle, the world coordinate system and image coordinate system, draws in described image coordinate system
The step of making the wheel trochoid of the vehicle include:
The camera of the tailstock of the vehicle collect lane line image, and/or obstructions chart as when, analyze the vehicle
The camera acquired image of the tailstock；
If the camera acquired image of the tailstock include lane line image, and/or obstructions chart as when, execute basis
Corresponding pass between the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and image coordinate system
The step of being, the wheel trochoid of the vehicle drawn in described image coordinate system；
If the camera acquired image of the tailstock of the vehicle includes park bit image, lane line image, and/or barrier
When image, then trajectory line of parking is established, and/or, according to the corresponding relationship between the world coordinate system and image coordinate system, adopt
Parking position stereo marker is drawn in described image coordinate system with augmented reality method, and according to the traveling of vehicle speed
Corresponding relationship between degree, body width, steering wheel angle, the world coordinate system and image coordinate system is sat in described image
The wheel trochoid of the vehicle is drawn in mark system.
5. the auxiliary driving method according to claim 1 based on augmented reality, which is characterized in that described in the vehicle
Headstock camera collect lane line image, and/or obstructions chart as when, according to the travel speed of the vehicle, vehicle body
Corresponding relationship between width, steering wheel angle, the world coordinate system and image coordinate system, draws in described image coordinate system
The step of making the wheel trochoid of the vehicle include:
The camera of the headstock of the vehicle collect lane line image, and/or obstructions chart as when, analyze the vehicle
The camera acquired image of headstock；
If the camera acquired image of the headstock include lane line image, and/or obstructions chart as when, execute basis
Corresponding pass between the travel speed of the vehicle, body width, steering wheel angle, the world coordinate system and image coordinate system
The step of being, the wheel trochoid of the vehicle drawn in described image coordinate system；
If the camera acquired image of the headstock of the vehicle includes the image of other vehicles, lane line image, and/or barrier
When hindering object image, then according to the corresponding relationship between the world coordinate system and image coordinate system, existed using augmented reality method
Other motor vehicle space markers are drawn in described image coordinate system, and according to the travel speed of the vehicle, body width, direction
Corresponding relationship between disk corner, the world coordinate system and image coordinate system, draws the vehicle in described image coordinate system
Wheel trochoid.
6. the auxiliary driving method according to claim 1 based on augmented reality, which is characterized in that described in the vehicle
Headstock camera collect obstructions chart as when, according to the travel speed of the vehicle, body width, steering wheel angle,
Corresponding relationship between the world coordinate system and image coordinate system draws the driving of the vehicle in described image coordinate system
After the step of trajectory line further include:
Judge that the collected obstructions chart of the camera of the headstock of the vehicle seems no including headstock diagonally forward obstructions chart picture；
If so, obtaining the barrier of headstock at a distance from headstock and diagonally forward barrier is respectively at a distance from vehicle two sides；
According to the wheel trochoid of the vehicle, the headstock barrier at a distance from headstock and diagonally forward barrier point
Driving auxiliary line is drawn not at a distance from vehicle two sides；
The wheel trochoid by the vehicle, the lane line stereo marker, and/or barrier stereo marker are presented
Include: to the step of user
By the driving auxiliary line of the vehicle, the lane line stereo marker, and/or barrier stereo marker are presented to use
Family.
7. the auxiliary driving method according to claim 1 based on augmented reality, which is characterized in that described in the vehicle
The tailstock camera collect obstructions chart as when, according to the travel speed of the vehicle, body width, steering wheel angle,
Corresponding relationship between the world coordinate system and image coordinate system draws the driving of the vehicle in described image coordinate system
After the step of trajectory line further include:
The barrier of the tailstock is obtained at a distance from the tailstock；
By the barrier of the tailstock at a distance from the tailstock compared with pre-determined distance pair；
If the barrier of the tailstock is less than or equal to the pre-determined distance at a distance from the tailstock, according to the wheelpath of the vehicle
Line, the tailstock barrier drawn at a distance from the tailstock driving auxiliary line；
The wheel trochoid by the vehicle, the lane line stereo marker, and/or barrier stereo marker are presented
Include: to the step of user
By the driving auxiliary line of the vehicle, the lane line stereo marker, and/or barrier stereo marker are presented to use
Family.
8. the auxiliary driving method based on augmented reality described in -7 any one according to claim 1, which is characterized in that described
According to the intrinsic parameter and outer parameter of the headstock of the vehicle obtained in advance and the camera of the tailstock, establishes world coordinate system and image is sat
Mark system between corresponding relationship the step of include:
The headstock of the vehicle and the camera of the tailstock are demarcated using gridiron pattern, obtain the headstock and the tailstock of the vehicle
Camera intrinsic parameter and outer parameter.
9. a kind of DAS (Driver Assistant System) based on augmented reality, which is characterized in that headstock and the tailstock including being installed on vehicle
Camera, memory, processor and the computer program being stored on the memory, the computer program is by the place
The step of realizing the method as described in claim 1-8 any one when managing device operation.
10. a kind of computer readable storage medium, which is characterized in that be stored on the computer readable storage medium based on increasing
The auxiliary piloting procedure of strong reality, is realized when the auxiliary piloting procedure based on augmented reality is run by processor as right is wanted
The step of seeking method described in 1-8 any one.
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| CN109624851B (en) | 2022-04-19 |
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