CN109849792A - A kind of dynamic reverse track display method - Google Patents
A kind of dynamic reverse track display method Download PDFInfo
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Abstract
The invention discloses a kind of dynamic reverse track display methods comprising: according to the directional information of steering wheel angle acquisition of information two rear-wheel tangent lines of vehicle of vehicle；The coordinate for obtaining multiple points in two rear-wheel tangential directions of vehicle, is mapped in Vehicular screen according to the ground screen map equation of vehicle-mounted camera by the multiple point.Dynamic reverse track display method of the invention, which can solve reversing auxiliary line solidification in the rear backing system filled in the prior art, can not carry out the technical issues of dynamic adjusts.
Description
Technical Field
The invention relates to the field of automobile auxiliary driving, in particular to a dynamic reversing track display method.
Background
Along with the popularization of automobiles, people pay more and more attention to the driving safety, so that new functions of assisting driving continuously appear, a backing auxiliary system is one of the functions, and the purpose is to keep the trouble of a blind area behind a driver customer service automobile and finish backing. Earlier auxiliary system that backs a car is voice warning reminder system or ultrasonic radar system of backing a car, and these two kinds of systems do not all have visual function, can't solve the problem of vehicle rear blind area, have then appeared by on-vehicle back vision camera and on-vehicle display screen and be used for gathering image data and the image system that backs a car that handles data controller and constitute.
With the development of the vehicle navigation system assisted driving technology and the popularization of vehicle navigation instruments, vehicle navigation with a car backing image function has become a standard of vehicle body electronics and becomes one of the necessities of vehicle owners. The image function of backing a car for preceding radar and rear-view mirror of backing a car greatly has made things convenient for the car owner to back a car, has strengthened driving safety, and the orbit of backing a car utilizes car body steering wheel corner information will back a car the circuit and superpose on the rear-view of backing a car, exports the vehicle-mounted screen again, realizes assisting the driver and selects the route of backing a car, reduces the in-process of backing a car and bump and accident appear, reaches the convenience of backing a car, high efficiency, the purpose of security. However, the steps and algorithms for calibrating and generating the backing track are complex at present, simple and quick calibration and generation of the track cannot be realized, the data post-processing is complicated, and the software and hardware cost is high. In the market, especially in the aftermarket, the backing auxiliary line generally only has a positioning line, and the backing auxiliary line is directly output by a camera or a line picture is superimposed on a video picture by a vehicle-mounted system. The calibration of the distance is solidified, and the calibration precision has errors, sometimes even errors, aiming at different cameras and different installation positions. In addition, the dynamic trajectory line on the market at present is difficult to popularize in a rear-mounted mode due to the fact that no steering wheel turning angle data authorized by a car manufacturer exists, and most car owners cannot enjoy the convenience brought by the auxiliary driving of the dynamic backing trajectory for the additionally-mounted vehicle navigation.
Therefore, how to develop and design a vehicle-mounted software which can provide an adjustable positioning line for a vehicle owner or a 4S shop and additionally install a dynamic reversing track function for an aftermarket becomes one of the technical problems which are urgently needed to be solved at present.
Disclosure of Invention
The invention aims to provide a dynamic reversing track display method aiming at the defects in the prior art, and aims to solve the technical problem that the solidification of a reversing auxiliary line in an after-installed reversing system in the prior art cannot be dynamically adjusted.
The embodiment of the invention provides a dynamic reversing track display method, which comprises the following steps:
acquiring direction information of a tangent line of two rear wheels of the vehicle according to the steering wheel corner information of the vehicle;
and acquiring coordinates of a plurality of points in the tangential line direction of two rear wheels of the vehicle, and mapping the plurality of points on a vehicle-mounted screen according to a ground screen mapping equation of the vehicle-mounted camera.
In the embodiment of the invention, the ground screen mapping equation of the vehicle-mounted camera is obtained through the following steps:
arranging a plurality of mark points at the set position behind the vehicle body;
setting the positions of the plurality of marking points on a vehicle-mounted screen;
and calculating each parameter in the ground screen mapping equation of the vehicle-mounted camera according to the position relation between the positions of the plurality of mark points in the picture shot by the camera and the position relation in the vehicle-mounted screen.
In the embodiment of the invention, the ground screen mapping equation of the vehicle-mounted camera is as follows:
wherein,f is the focal length of the camera, theta is the included angle between the central line of the camera and the vertical direction, u is the width of the imaging surface of the camera, h is the height of the camera from the ground, the resolution of the camera is mxn, the resolution of the display screen is p × q, (Xs, Ys) are coordinate points of the vehicle-mounted screen, and (x, y) are coordinate points of pictures shot by the camera.
In the embodiment of the invention, the plurality of mark points are respectively positioned on a plurality of line segments parallel to the axle.
In the embodiment of the invention, the obtaining of the direction information of the tangent lines of two rear wheels of the vehicle according to the steering wheel angle information of the vehicle comprises the following steps:
acquiring the rotation angle of the front wheel of the vehicle according to the AD value of the steering wheel of the vehicle;
acquiring direction information of tangent lines of two rear wheels of the vehicle according to the corners of the front wheels of the vehicle and a vehicle corner ground curve equation, wherein the vehicle corner ground curve equation is as follows:
(x+l·R+d)2+(y+D)2＝R2，
wherein L is the distance between the front wheel and the rear wheel, W is the length of the rear wheel axle, D is the distance between the rear wheel and the tail of the vehicle, D is the distance between the camera and the central line of the tail of the vehicle, h is the installation height of the camera,is the angle of rotation of the front wheels of the vehicle,
and isFor right turn, l is 1, and for left turn, l is-1.
In the embodiment of the invention, the rotation angle of the front wheel of the vehicle is obtained through a steering wheel AD value and a rotation angle mapping table of the front wheel of the vehicle.
Compared with the prior art, the dynamic reversing track display method has the advantages that the tangent direction information of two rear wheels of the vehicle is obtained according to the steering wheel corner information of the vehicle, the coordinates of a plurality of points in the tangent direction of the two rear wheels of the vehicle are obtained, and the plurality of points are mapped on the vehicle-mounted screen according to the ground screen mapping equation of the vehicle-mounted camera, so that the reversing track line can be dynamically displayed; a plurality of points are collected from the ground behind the vehicle body and form a one-to-one mapping relation with a plurality of points of video image imaging to be used for calibrating a reversing positioning line, so that the model selection and the installation difficulty of a vehicle owner or a 4S shop on a camera are simplified.
Drawings
Fig. 1 is a schematic flow chart of a dynamic reverse trajectory display method according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart of the reverse positioning line calibration in the embodiment of the invention.
FIG. 3 is a schematic view of reverse position line calibration according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, in the embodiment of the present invention, a dynamic reverse trajectory display method is provided, which includes steps S1-S3. The details will be described below.
Step S1: and acquiring a calibration configuration file of the reversing display parameters.
It should be noted that the vehicle backing parameter file includes a mapping table of the steering wheel AD value and the tire rotation angle and a calibrated ground screen mapping equation.
The map of the steering wheel AD value to the tire rotation angle may be obtained by manual measurement. Specifically, one measurer rotates the steering wheel and reads the AD value of the steering wheel, and the other measurer measures the rotation angle of the tire with an angle measurer; in order to improve the data accuracy, a plurality of groups of data are measured, the maximum error value is removed, and then the average value is calculated.
The ground screen mapping equation of the vehicle-mounted camera is as follows:
wherein,f is the focal length of the camera, theta is the included angle between the central line of the camera and the vertical direction, u is the width of the imaging surface of the camera, h is the height of the camera from the ground, the resolution of the camera is mxn, the resolution of the display screen is p × q, (Xs, Ys) are coordinate points of the vehicle-mounted screen, and (x, y) are coordinate points of pictures shot by the camera.
As shown in fig. 2, the parameters of the ground screen mapping equation of the vehicle-mounted camera are obtained through the following steps:
arranging a plurality of mark points at the set position behind the vehicle body;
setting the positions of the plurality of marking points on a vehicle-mounted screen;
and calculating each parameter in the ground screen mapping equation of the vehicle-mounted camera according to the position relation between the positions of the plurality of mark points in the picture shot by the camera and the position relation in the vehicle-mounted screen.
Specifically, as shown in fig. 3, the four wheels are straightened, and since the three line segments (actually measured by three measuring tapes) are also parallel to the axle direction (a1, a2) (B1, B2) (C1, C2), which is parallel to the display screen, only the y coordinate needs to be paid attention to; during calibration, a target is placed at any point of the three line segments respectively, and the assumed positions are (0, y1), (0, y2) and (0, y3). moving the line in the software of the vehicle-mounted screen selects the positions (0, Ys1), (0, Ys2) and (0, Ys3) of the three line segments to be imaged. And substituting the three points into a ground screen mapping equation of the vehicle-mounted camera to obtain an equation coefficient.
Step S2: acquiring direction information of a tangent line of two rear wheels of the vehicle according to the steering wheel corner information of the vehicle;
specifically, the method for acquiring the direction information of the tangent line of two rear wheels of the vehicle according to the steering wheel angle information of the vehicle comprises the following steps:
acquiring the rotation angle of the front wheel of the vehicle according to the AD value of the steering wheel of the vehicle;
acquiring direction information of tangent lines of two rear wheels of the vehicle according to the corners of the front wheels of the vehicle and a vehicle corner ground curve equation, wherein the vehicle corner ground curve equation is as follows:
(x+l·R+d)2+(y+D)2＝R2，
wherein L is the distance between the front wheel and the rear wheel, W is the length of the rear wheel axle, D is the distance between the rear wheel and the tail of the vehicle, D is the distance between the camera and the central line of the tail of the vehicle, h is the installation height of the camera,is the angle of rotation of the front wheels of the vehicle,
and isFor right turn, l is 1, and for left turn, l is-1.
In the embodiment of the invention, the rotation angle of the front wheel of the vehicle is obtained through a steering wheel AD value and a rotation angle mapping table of the front wheel of the vehicle.
Step S3: and acquiring coordinates of a plurality of points in the tangential line direction of two rear wheels of the vehicle, and mapping the plurality of points on a vehicle-mounted screen according to a ground screen mapping equation of the vehicle-mounted camera.
Specifically, as shown in fig. 3, the line segments (O1, D1), (O2, D2) are external tangents of the two rear wheels, 200 points are respectively sampled on the line segments (O1, O2), (a1, a2), (B1, B2), (C1, C2), and (D1, D2), and the line segments are substituted into the ground screen mapping equation to obtain the discrete points of the positioning line of the screen; and substituting the ground y coordinates of the sampling points on the line segments (01, D1) and (O2, D2) into the vehicle corner ground curve equation to obtain discrete points corresponding to the ground curve, and substituting the discrete points into the ground screen mapping equation to obtain the discrete points of the screen dynamic reversing track.
In summary, the dynamic reverse track display method of the present invention obtains the direction information of the tangent lines of the two rear wheels of the vehicle according to the steering wheel angle information of the vehicle, obtains the coordinates of a plurality of points in the tangent line direction of the two rear wheels of the vehicle, and maps the plurality of points on the vehicle-mounted screen according to the ground screen mapping equation of the vehicle-mounted camera, so as to dynamically display the reverse track line; a plurality of points are collected from the ground behind the vehicle body and form a one-to-one mapping relation with a plurality of points of video image imaging to be used for calibrating a reversing positioning line, so that the model selection and the installation difficulty of a vehicle owner or a 4S shop on a camera are simplified.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A dynamic reversing track display method is characterized by comprising the following steps:
acquiring direction information of a tangent line of two rear wheels of the vehicle according to the steering wheel corner information of the vehicle;
and acquiring coordinates of a plurality of points in the tangential line direction of two rear wheels of the vehicle, and mapping the plurality of points on a vehicle-mounted screen according to a ground screen mapping equation of the vehicle-mounted camera.
2. The dynamic reverse trajectory display method of claim 1, wherein the ground screen mapping equation of the vehicle-mounted camera is obtained by:
arranging a plurality of mark points at the set position behind the vehicle body;
setting the positions of the plurality of marking points on a vehicle-mounted screen;
and calculating each parameter in the ground screen mapping equation of the vehicle-mounted camera according to the position relation between the positions of the plurality of mark points in the picture shot by the camera and the position relation in the vehicle-mounted screen.
3. The dynamic reversing trajectory display method of claim 2,
the ground screen mapping equation of the vehicle-mounted camera is as follows:
wherein,f is the focal length of the camera, theta is the included angle between the central line of the camera and the vertical direction, u is the width of the imaging surface of the camera, h is the height of the camera from the ground, the resolution of the camera is mxn, the resolution of the display screen is p × q, (Xs, Ys) are coordinate points of the vehicle-mounted screen, and (x, y) are coordinate points of pictures shot by the camera.
4. The dynamic reverse trajectory display method of claim 2, wherein the plurality of marker points are respectively located on a plurality of line segments parallel to the axle.
5. The dynamic reverse track display method according to claim 1, wherein obtaining the direction information of the tangential lines of the two rear wheels of the vehicle according to the steering wheel angle information of the vehicle comprises:
acquiring the rotation angle of the front wheel of the vehicle according to the AD value of the steering wheel of the vehicle;
acquiring direction information of tangent lines of two rear wheels of the vehicle according to the corners of the front wheels of the vehicle and a vehicle corner ground curve equation, wherein the vehicle corner ground curve equation is as follows:
(x+l·R+d)2+(y+D)2＝R2，
wherein L is the distance between the front wheel and the rear wheel, W is the length of the rear wheel axle, D is the distance between the rear wheel and the tail of the vehicle, D is the distance between the camera and the central line of the tail of the vehicle, h is the installation height of the camera,is the angle of rotation of the front wheels of the vehicle,and l is 1 for right turn and-1 for left turn.
6. The dynamic reverse track display method according to claim 4, wherein the rotation angle of the front wheel of the vehicle is obtained from a mapping table of the steering wheel AD value and the rotation angle of the front wheel of the vehicle.
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