CN117416356B - Method and system for hanging auxiliary trailer of electronic rearview mirror - Google Patents

Method and system for hanging auxiliary trailer of electronic rearview mirror Download PDF

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Publication number
CN117416356B
CN117416356B CN202311735807.5A CN202311735807A CN117416356B CN 117416356 B CN117416356 B CN 117416356B CN 202311735807 A CN202311735807 A CN 202311735807A CN 117416356 B CN117416356 B CN 117416356B
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trailer
target
electronic rearview
rearview mirror
sides
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CN117416356A (en
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伍渊
谌璟
孙庆新
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Shenzhen Autocruis Technology Co ltd
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Zizi Technology Wuhan Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18036—Reversing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)

Abstract

The invention discloses a method and a system for hanging an electronic rearview mirror auxiliary trailer, wherein the method comprises the following steps: adjusting the electronic rearview mirrors on two sides of the trailer to correspond to the edges of one side of the trailer body of each display target; acquiring corresponding extension lines of trailer bodies on one side and guide lines of target trailer bodies on one side in the electronic rearview mirrors on two sides; detecting whether the included angle between the extension lines of the trailer body at the two sides and the guide lines of the target trailer body at the two sides is in a preset range or not; if yes, controlling the trailer to hang up along the extension lines of the trailer bodies at the two sides. Therefore, the invention does not need to inform a driver of whether the driver is aligned or not, and the driver can carry out quick and accurate hanging operation by only relying on the electronic rearview mirror.

Description

Method and system for hanging auxiliary trailer of electronic rearview mirror
Technical Field
The invention relates to the technical field of trailer hanging, in particular to a method and a system for assisting trailer hanging by an electronic rearview mirror.
Background
When handling reverse access to a trailer, the trailer or tractor driver typically cannot quickly and accurately align access by himself. In actual operation, another person is often required to inform the driver on the ground whether the driver is aligned or not, and whether the driver can directly hang in the vehicle or not.
Therefore, in order to solve the above problems, it is necessary to design a solution how to quickly and accurately hang the electronic rearview mirror.
Disclosure of Invention
The invention provides a method and a system for hanging an electronic rearview mirror auxiliary trailer, which can enable a driver to quickly and accurately hang by relying on the electronic rearview mirror without informing the driver of alignment of people on the ground.
In a first aspect, a method for hanging an electronic rearview mirror auxiliary trailer is provided, which is characterized by comprising the following steps:
adjusting the electronic rearview mirrors on two sides of the trailer to correspond to the edges of one side of the trailer body of each display target;
acquiring corresponding extension lines of trailer bodies on one side and guide lines of target trailer bodies on one side in the electronic rearview mirrors on two sides;
detecting whether the included angle between the extension lines of the trailer body at the two sides and the guide lines of the target trailer body at the two sides is in a preset range or not;
if yes, controlling the trailer to hang up along the extension lines of the trailer bodies at the two sides.
According to a first aspect, in a first possible implementation manner of the first aspect, the step of acquiring extension lines of corresponding trailer bodies on each side in the electronic rearview mirrors on both sides specifically includes the following steps:
acquiring continuous points on a body extension line of a trailer on one side of the physical world;
according to the continuous points on the extension line of the body of the one-side trailer in the physical world and based on the coordinate mapping relation between the real object in the physical world and the image in the electronic rearview mirror, obtaining continuous image points on the extension line of the body of the one-side trailer in the one-side electronic rearview mirror;
and sequentially connecting the calculated image points to obtain an extension line of the body of the one-side trailer in the one-side electronic rearview mirror.
In a second possible implementation manner of the first aspect, the step of acquiring the corresponding target trailer body guide line on each side of the electronic rearview mirror on each side specifically includes the following steps:
detecting a target vertical line segment on a target trailer in one side of the electronic rearview mirror based on an image semantic segmentation algorithm and a straight line segment detection algorithm;
acquiring a target projection point of the lower end point of the target vertical line segment on the ground in the electronic rearview mirror at the corresponding side;
and obtaining corresponding target trailer body guide lines on each side of the electronic rearview mirrors on the two sides according to each target projection point on the ground in the electronic rearview mirrors on the two sides.
In a third possible implementation manner of the first aspect, the step of detecting a target vertical line segment on a target trailer in a side electronic rearview mirror based on an image semantic segmentation algorithm and a straight line segment detection algorithm specifically includes the following steps:
detecting all trailers in the electronic rearview mirror at one side based on an image semantic segmentation algorithm, and selecting a target trailer which is adjacent to the trailer and is positioned at the image edge in the electronic rearview mirror at one side from all detected trailers;
acquiring an external rectangle of the target trailer, and expanding the external rectangle to obtain an expanded rectangle;
and detecting the straight line segment in the target trailer on the basis of a straight line segment detection algorithm, and selecting a target vertical line segment which is positioned at the lower end edge of the target trailer and farthest from the trailer from all the detected straight line segments.
According to a second possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the step of obtaining, according to each target projection point on the ground in the two-side electronic rearview mirror, a corresponding one-side target trailer body guide line in the two-side electronic rearview mirror specifically includes the following steps:
based on the coordinate mapping relation between the real object in the physical world and the image in the electronic rearview mirror, obtaining a corresponding physical projection point of each target projection point on the ground in the electronic rearview mirror on two sides in the physical world;
obtaining a trailer width edge point on the same side of the target trailer according to the physical projection point;
according to the two physical projection points, a rotation angle of the target trailer relative to the trailer running direction is obtained;
correspondingly obtaining continuous points on a guiding line of a target trailer body on one side in the physical world according to the edge point of the width of the trailer on one side and the rotation angle;
and obtaining a side target trailer body guide line in the side electronic rearview mirror according to continuous points on the side target trailer body guide line in the physical world and based on a coordinate mapping relation between a real object in the physical world and an image in the electronic rearview mirror.
In a fifth possible implementation manner of the first aspect according to the fourth possible implementation manner of the first aspect, the step of obtaining, from the physical projection point, a trailer width edge point on the same side as the target trailer specifically includes the following steps:
according to one said physical projection point；
Obtaining a trailer width edge point on the same side of the target trailerThe calculation formula of (2) is as follows:
；
in the method, in the process of the invention,is the trailer width; />Is the width of the trailer.
In a fourth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the step of obtaining a rotation angle of the target trailer relative to the trailer driving direction according to the two physical projection points specifically includes the following steps:
from two said physical projection points、/>；
Obtaining the rotation angle of the trailer relative to the running direction of the trailerThe calculation formula of (2) is as follows:
；
in the method, in the process of the invention,is the trailer width.
According to a fourth possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, the step of obtaining a continuous point on a side target trailer body guide line in the physical world according to the side trailer width edge point and the rotation angle, specifically includes the following steps:
according to two said trailer width edge points、And the rotation angle +.>；
Corresponding to successive points on the two-sided target trailer body guide line in the physical world、/>The calculation formula of (2) is as follows:
if it is；
Then；
If it is；
Then；
Where r is the target trailer body guide line extension distance.
In an eighth possible implementation manner of the first aspect, according to the first aspect, a calculation formula of the coordinate mapping relation S between the real object in the physical world and the image in the electronic rearview mirror is as follows:
；
in the method, in the process of the invention,are all parameters in the electronic rearview mirror; />To->Is the distortion coefficient; g is a distortion function; r and T are the rotation matrix and the translation matrix of the electronic rearview mirror respectively.
In a second aspect, there is provided an electronic rear view mirror assisted trailer hitch system comprising:
the adjusting module is used for adjusting the edges of the two sides of the electronic rearview mirrors on the trailer, which correspond to one side of the trailer body of each display target;
the extension guide module is in communication connection with the adjustment module and is used for acquiring extension lines of the corresponding trailer body on each side and guide lines of the target trailer body on each side in the electronic rearview mirrors on both sides;
the detection module is in communication connection with the extension guide module and is used for detecting whether the included angle between the extension lines of the trailer bodies at two sides and the guide lines of the target trailer bodies at two sides is in a preset range or not; the method comprises the steps of,
and the hanging module is in communication connection with the detection module and is used for controlling the trailer to hang along the extension lines of the trailer body on two sides if the detection module is in communication connection.
Compared with the prior art, the invention has the following advantages: firstly, adjusting the electronic rearview mirrors on two sides of a trailer to correspond to the edges of one side of the trailer body of each display target; acquiring corresponding extension lines of the trailer bodies on one side and guide lines of the target trailer bodies on one side in the electronic rearview mirrors on two sides; detecting whether the included angles between the extension lines of the trailer bodies at the two sides and the guide lines of the target trailer bodies at the two sides are in a preset range or not; if so, the trailer is controlled to hang upwards along the extension lines of the trailer body at two sides, so that people on the ground are not required to inform a driver of whether the trailer is aligned, and the driver can quickly and accurately hang upwards only by relying on the electronic rearview mirror.
Drawings
FIG. 1 is a flow chart of an embodiment of an electronic rearview mirror assisted trailer hitch method of the present invention;
FIG. 2 is a schematic view of yet another embodiment of an electronic rear view mirror assisted trailer hitch method of the present invention;
FIG. 3 is a schematic view of yet another embodiment of an electronic rear view mirror assisted trailer hitch method of the present invention;
FIG. 4 is a schematic view of yet another embodiment of an electronic rear view mirror assisted trailer hitch method of the present invention;
FIG. 5 is a schematic view of yet another embodiment of an electronic rear view mirror assisted trailer hitch method of the present invention;
FIG. 6 is a schematic view of yet another embodiment of an electronic rear view mirror assisted trailer hitch method of the present invention;
fig. 7 is a schematic structural view of an electronic rear view mirror auxiliary trailer hitch system according to the present invention.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the described embodiments. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or arrangement of functions, and any functional block or arrangement of functions may be implemented as a physical entity or a logical entity, or a combination of both.
The present invention will be described in further detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to understand the invention better.
Note that: the examples to be described below are only one specific example, and not as limiting the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, sequences, etc. Those skilled in the art can, upon reading the present specification, make and use the concepts of the invention to construct further embodiments not mentioned in the specification.
Referring to fig. 1, an embodiment of the present invention provides a method for hanging an electronic rearview mirror on a trailer, which includes the following steps:
s100, adjusting the edges of the two sides of the electronic rearview mirrors on the trailer, which correspond to one side of the trailer body of each display target;
and when the electronic rearview mirror enters the hanging mode, the visual field of the electronic rearview mirror is enlarged along the direction of the vehicle body, so that more vehicle bodies can be seen. Note that the driver needs to ensure that the electronic rear view mirror displays on both sides of the hanging mode are able to see the edge of the trailer (and thus the initial distance from the trailer may be a little bit, e.g. around 8 meters).
S200, obtaining extension lines of corresponding trailer bodies on one side and guide lines of target trailer bodies on one side in the electronic rearview mirrors on two sides;
s300, detecting whether the included angle between the extension lines of the trailer bodies at the two sides and the guide lines of the target trailer bodies at the two sides in one-to-one correspondence is within a preset range;
and S400, if yes, controlling the trailer to hang up along the extension lines of the trailer body at the two sides.
Specifically, in this embodiment, the present invention first adjusts the edges of the two side electronic rearview mirrors on the trailer corresponding to one side of each display target trailer body; acquiring corresponding extension lines of the trailer bodies on one side and guide lines of the target trailer bodies on one side in the electronic rearview mirrors on two sides; detecting whether the included angles between the extension lines of the trailer bodies at the two sides and the guide lines of the target trailer bodies at the two sides are in a preset range or not; if so, the trailer is controlled to hang upwards along the extension lines of the trailer body at two sides, so that people on the ground are not required to inform a driver of whether the trailer is aligned, and the driver can quickly and accurately hang upwards only by relying on the electronic rearview mirror.
Preferably, in another embodiment of the present application, the step of obtaining extension lines of corresponding trailer bodies on each side of the electronic rearview mirrors on both sides specifically includes the following steps:
acquiring successive points on extension of one side trailer body in the physical worldThe first 0 in this formula is represented as X-coordinate 0, i.e., the half width of the vehicle body is 0 in the physical world coordinate system. The second 0 in the formula is represented as Y-coordinate 0, representing that the body extension line is on the ground and its coordinate in the physical world coordinate system is 0.
Let m be 100, i.e. represent the interval 1 from 1 to 100, i.e. [1,2,3,4, …,100];
according to continuous points on a trailer body extension line at one side of the physical world and based on a coordinate mapping relation between a real object in the physical world and an image in the electronic rearview mirror, a calculation formula of the coordinate mapping relation S between the real object in the physical world and the image in the electronic rearview mirror is as follows:
；
in the method, in the process of the invention,are all parameters in the electronic rearview mirror (respectively, an x-direction focal length, a y-direction focal length, an x coordinate of an optical axis and a y coordinate of the optical axis); />To->Is the distortion coefficient; g is a distortion function; r and T are the rotation matrix and the translation matrix of the electronic rearview mirror respectively.
Obtaining continuous image points on one side trailer body extension line in one side electronic rearview mirror，/>）；
The calculation formula is as follows:
；
thus obtainingThese 100 image points.
And sequentially connecting the calculated 100 image points to obtain a one-side trailer body extension line in the one-side electronic rearview mirror.
Preferably, in another embodiment of the present application, the step of acquiring the corresponding target trailer body guide line on each side of the electronic rearview mirror on each side specifically includes the following steps:
detecting a target vertical line segment on a target trailer in one side of the electronic rearview mirror based on an image semantic segmentation algorithm and a straight line segment detection algorithm;
acquiring a target projection point of the lower end point of the target vertical line segment on the ground in the electronic rearview mirror at the corresponding side;
and obtaining corresponding target trailer body guide lines on each side of the electronic rearview mirrors on the two sides according to each target projection point on the ground in the electronic rearview mirrors on the two sides.
Preferably, in another embodiment of the present application, the step of detecting the target vertical line segment on the target trailer in the electronic rearview mirror based on the image semantic segmentation algorithm and the straight line segment detection algorithm specifically includes the following steps:
detecting all trailers in the electronic rearview mirror at one side based on an image semantic segmentation algorithm, and selecting a target trailer which is adjacent to the trailer and is positioned at the image edge in the electronic rearview mirror at one side from all detected trailers;
acquiring an external rectangle of the target trailer, and expanding the external rectangle to obtain an expanded rectangle;
and detecting the straight line segment in the target trailer on the basis of a straight line segment detection algorithm, and selecting a target vertical line segment which is positioned at the lower end edge of the target trailer and farthest from the trailer from all the detected straight line segments.
Specifically, in this embodiment, all trailer masks are segmented by an image semantic segmentation algorithm, where the segmented trailer masks belong to the same class and have the same identification color mark. The detected trailer mask is then filtered, closest to the edge of the electronic rear view mirror image (in the left electronic rear view mirror, the trailer is on the right side of the image in the rear view mirror. In the electronic right rear view mirror, the trailer is on the left side of the image in the rear view mirror), and the trailer mask closest to the trailer (the trailer mask closest to the bottom of the image) is retained, considered the target trailer to be hitched, and the remaining trailer masks are deleted.
Referring to fig. 2, the circumscribed rectangle (x, y, w, h) of the reserved target trailer mask is calculated, and the rectangle is expanded by the center, w is increased by 0.1 times to the left and right in the width direction, and h is increased by 0.1 times in the height direction. And the area beyond the image range is limited, so that the extended rectangle roi is ensured not to exceed the image range. Let the expanded rectangle roi be roi_b. Cutting the original image with the roi_B, performing an LSD straight line segment detection algorithm (LSD: a Line Segment Detector) on the cut image, filtering the detected line segment edges (the line segments beyond the target trailer mask are cut off, the line segments outside the target trailer mask are discarded), filtering the edges which are too parallel and not vertical enough and too short, and reserving the line segments close to the lower end edge of the image, filtering the leftmost vertical line segment in the lower end edge line segment of the reserved image for the image in the left electronic rearview mirror, filtering the rightmost vertical line segment in the lower end edge line segment of the reserved image for the image in the right electronic rearview mirror, and filtering the filtered target vertical line segment see the black thickened line segment shown in fig. 3.
It should be noted that, regarding to obtaining the target projection point of the lower end point of the target vertical line segment on the ground in the electronic rearview mirror at the corresponding side, the following two calculation modes are adopted:
1. the first is the direct method.
Fitting a right and left target vertical line segments by using a straight line to obtain:
；
since the target projection point is a ground point, y=0, the unknown variables are physical coordinates X and Z, respectively, corresponding to each of the physical world coordinates corresponding thereto, and are physical projection points, respectively、/>. According to the coordinate mapping relation, the corresponding projection point of the physical projection point on the place name in the electronic rearview mirror can be obtainedThe constraint is that the projection points are on corresponding fitting lines, see figure 4,
；
d is equal toThus, a nonlinear optimization method can be used, minimizing this optimization equation below, resulting in the desired +.>、/>。
；
Weights that are all non-linear optimizations, since the units are different, the first two terms of the optimization formula are pixel distance, and the last term is m or mm, therefore +.>Is far greater than +.>Usually +.>Can be 1 and +.>5000 can be taken if the distance is m and 5 can be taken if it is mm.
Obtaining、/>After that, the coordinate mapping relation can obtain that the corresponding projection point A of the physical projection point on the ground in the electronic rearview mirror is: />。
2. The second is an indirect method.
The lower endpoint B point (fig. 3) is found directly through the target vertical line segment, which is:then, as in the method (1), it is unknown that、/>The constraint is to calculate +_ according to the coordinate mapping relationship>、Corresponding projection points of (a) are +.>。
And with reference to figure 4 of the drawings,d is equal to->。
Is provided with、/>The calculated corresponding projection point isThen a nonlinear optimization method is used to minimize this optimization equation below to obtain the desired +.>。
；
The same weights are valued as in method 1.
Obtaining、/>Setting Y=0, and obtaining a corresponding projection point A of the physical projection point on the ground in the electronic rearview mirror by using a coordinate mapping relation formulaThe method comprises the following steps:。
preferably, in another embodiment of the present application, the step of obtaining the corresponding one-side target trailer body guide line in the two-side electronic rearview mirror according to each target projection point on the ground in the two-side electronic rearview mirror specifically includes the following steps:
based on the coordinate mapping relation between the real object in the physical world and the image in the electronic rearview mirror, obtaining a corresponding physical projection point of each target projection point on the ground in the electronic rearview mirror on two sides in the physical world;
the two target proxels are:；
the two physical proxels are:、/>。
obtaining a trailer width edge point on the same side of the target trailer according to the physical projection point;
according to the two physical projection points, a rotation angle of the target trailer relative to the trailer running direction is obtained;
correspondingly obtaining continuous points on a guiding line of a target trailer body on one side in the physical world according to the edge point of the width of the trailer on one side and the rotation angle;
and obtaining a side target trailer body guide line in the side electronic rearview mirror according to continuous points on the side target trailer body guide line in the physical world and based on a coordinate mapping relation between a real object in the physical world and an image in the electronic rearview mirror.
Preferably, in another embodiment of the present application, the step of obtaining, from the physical projection point, a trailer width edge point on the same side as the target trailer specifically includes the steps of:
according to one said physical projection point；
Obtaining a trailer width edge point on the same side of the target trailerThe calculation formula of (2) is as follows:
；
in the method, in the process of the invention,is the trailer width; />Is the width of the trailer.
Preferably, in another embodiment of the present application, the step of obtaining the rotation angle of the target trailer relative to the trailer driving direction according to the two physical projection points specifically includes the following steps:
from two said physical projection points、/>；
Obtaining the rotation angle of the trailer relative to the running direction of the trailerThe calculation formula of (2) is as follows:
；
in the method, in the process of the invention,is the trailer width.
Preferably, in another embodiment of the present application, the step of obtaining a continuous point on the guiding line of the trailer body on one side in the physical world according to the edge point of the width of the trailer and the rotation angle, specifically includes the following steps:
according to two said trailer width edge points、And the rotation angle +.>；
Corresponding to successive points on the two-sided target trailer body guide line in the physical world、/>The calculation formula of (2) is as follows:
with reference also to figure 5 of the drawings,
if it is；
Then；
If it is；
Then；
Wherein r is the extension distance of the guide line of the trailer body of the target, and the value of r is from-4 to 10, and the interval is 0.5.
Finally, obtaining continuous points on a body guide line of the one-side target trailer in the physical world, and obtaining continuous image points on the body guide line of the one-side target trailer in the one-side electronic rearview mirror based on a coordinate mapping relation between a real object in the physical world and an image in the electronic rearview mirror;
and sequentially connecting the calculated image points to obtain a side trailer body guide line in the side electronic rearview mirror.
And meanwhile, referring to fig. 6, when finally detecting whether the included angles between the extension lines of the trailer bodies at the two sides and the guide lines of the target trailer bodies at the two sides are in a preset range in a one-to-one correspondence manner, if so, controlling the trailer to hang up along the extension lines of the trailer bodies at the two sides.
Specifically, the longest and thinner dashed line in fig. 6 is a trailer body extension line, and the shorter and thicker dashed line is a target trailer body guide line, which satisfy the direct hitch entering condition when the two lines are coincident or parallel.
Referring to fig. 7, the embodiment of the invention further provides an electronic rearview mirror auxiliary trailer hanging system, which comprises:
the adjusting module is used for adjusting the edges of the two sides of the electronic rearview mirrors on the trailer, which correspond to one side of the trailer body of each display target;
the extension guide module is in communication connection with the adjustment module and is used for acquiring extension lines of the corresponding trailer body on each side and guide lines of the target trailer body on each side in the electronic rearview mirrors on both sides;
the detection module is in communication connection with the extension guide module and is used for detecting whether the included angle between the extension lines of the trailer bodies at two sides and the guide lines of the target trailer bodies at two sides is in a preset range or not; the method comprises the steps of,
and the hanging module is in communication connection with the detection module and is used for controlling the trailer to hang along the extension lines of the trailer body on two sides if the detection module is in communication connection.
Therefore, the invention firstly adjusts the two side electronic rearview mirrors on the trailer to correspond to the edges of one side of the trailer body of each display target; acquiring corresponding extension lines of the trailer bodies on one side and guide lines of the target trailer bodies on one side in the electronic rearview mirrors on two sides; detecting whether the included angles between the extension lines of the trailer bodies at the two sides and the guide lines of the target trailer bodies at the two sides are in a preset range or not; if so, the trailer is controlled to hang upwards along the extension lines of the trailer body at two sides, so that people on the ground are not required to inform a driver of whether the trailer is aligned, and the driver can quickly and accurately hang upwards only by relying on the electronic rearview mirror.
Specifically, the present embodiment corresponds to the foregoing method embodiments one by one, and the functions of each module are described in detail in the corresponding method embodiments, so that a detailed description is not given.
Based on the same inventive concept, the embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements all or part of the method steps of the above method.
The present invention may be implemented by implementing all or part of the above-described method flow, or by instructing the relevant hardware by a computer program, which may be stored in a computer readable storage medium, and which when executed by a processor, may implement the steps of the above-described method embodiments. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
Based on the same inventive concept, the embodiments of the present application further provide an electronic device, including a memory and a processor, where the memory stores a computer program running on the processor, and when the processor executes the computer program, the processor implements all or part of the method steps in the above method.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being a control center of the computer device, and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor implements various functions of the computer device by running or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the handset. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (8)

1. The method for hanging the electronic rearview mirror assisted trailer is characterized by comprising the following steps of:
adjusting the electronic rearview mirrors on two sides of the trailer to correspond to the edges of one side of the trailer body of each display target;
acquiring corresponding extension lines of trailer bodies on one side and guide lines of target trailer bodies on one side in the electronic rearview mirrors on two sides;
detecting whether the included angle between the extension lines of the trailer body at the two sides and the guide lines of the target trailer body at the two sides is in a preset range or not;
if yes, controlling the trailer to hang up along the extension lines of the trailer bodies at the two sides;
the step of acquiring the corresponding target trailer body guide lines of each side in the electronic rearview mirrors at two sides specifically comprises the following steps:
detecting a target vertical line segment on a target trailer in one side of the electronic rearview mirror based on an image semantic segmentation algorithm and a straight line segment detection algorithm;
acquiring a target projection point of the lower end point of the target vertical line segment on the ground in the electronic rearview mirror at the corresponding side;
obtaining corresponding target trailer body guide lines on each side of the electronic rearview mirrors on both sides according to each target projection point on the ground in the electronic rearview mirrors on both sides;
the step of detecting the target vertical line segment on the target trailer in the electronic rearview mirror on one side based on the image semantic segmentation algorithm and the straight line segment detection algorithm specifically comprises the following steps:
detecting all trailers in the electronic rearview mirror at one side based on an image semantic segmentation algorithm, and selecting a target trailer which is adjacent to the trailer and is positioned at the image edge in the electronic rearview mirror at one side from all detected trailers;
acquiring an external rectangle of the target trailer, and expanding the external rectangle to obtain an expanded rectangle;
and detecting the straight line segment in the target trailer on the basis of a straight line segment detection algorithm, and selecting a target vertical line segment which is positioned at the lower end edge of the target trailer and farthest from the trailer from all the detected straight line segments.
2. The method for hanging the electronic rearview mirror auxiliary trailer according to claim 1, wherein the step of acquiring the extension line of the trailer body on each corresponding side of the electronic rearview mirrors on both sides comprises the following steps:
acquiring continuous points on a body extension line of a trailer on one side of the physical world;
according to the continuous points on the extension line of the body of the one-side trailer in the physical world and based on the coordinate mapping relation between the real object in the physical world and the image in the electronic rearview mirror, obtaining continuous image points on the extension line of the body of the one-side trailer in the one-side electronic rearview mirror;
and sequentially connecting the calculated image points to obtain an extension line of the body of the one-side trailer in the one-side electronic rearview mirror.
3. The method for hanging the electronic rearview mirror auxiliary trailer according to claim 1, wherein the step of obtaining corresponding one-side target trailer body guide lines in the two-side electronic rearview mirrors according to each target projection point on the ground in the two-side electronic rearview mirrors comprises the following steps:
based on the coordinate mapping relation between the real object in the physical world and the image in the electronic rearview mirror, obtaining a corresponding physical projection point of each target projection point on the ground in the electronic rearview mirror on two sides in the physical world;
obtaining a trailer width edge point on the same side of the target trailer according to the physical projection point;
according to the two physical projection points, a rotation angle of the target trailer relative to the trailer running direction is obtained;
correspondingly obtaining continuous points on a guiding line of a target trailer body on one side in the physical world according to the edge point of the width of the trailer on one side and the rotation angle;
and obtaining a side target trailer body guide line in the side electronic rearview mirror according to continuous points on the side target trailer body guide line in the physical world and based on a coordinate mapping relation between a real object in the physical world and an image in the electronic rearview mirror.
4. A method for hanging an electronic rear view mirror assisted trailer according to claim 3, wherein the step of obtaining a trailer width edge point on the same side as the target trailer according to the physical projection point comprises the steps of:
according to one said physical projection point；
Obtaining a trailer width edge point on the same side of the target trailerThe calculation formula of (2) is as follows:
；
in the method, in the process of the invention,is the trailer width; />Is the width of the trailer.
5. A method for hanging an electronic rear view mirror assisted trailer according to claim 3, wherein the step of obtaining the rotation angle of the target trailer relative to the trailer driving direction according to the two physical projection points comprises the following steps:
from two said physical projection points、/>；
Obtaining the rotation angle of the trailer relative to the running direction of the trailerThe calculation formula of (2) is as follows:
；
in the method, in the process of the invention,is the trailer width.
6. A method for hanging an electronic rear view mirror assisted trailer according to claim 3, wherein the step of obtaining a continuous point on a side target trailer body guide line in the physical world according to the side trailer width edge point and the rotation angle comprises the steps of:
according to two said trailer width edge points、And the rotation angle +.>；
Corresponding to successive points on the two-sided target trailer body guide line in the physical world、The calculation formula of (2) is as follows:
if it is；
Then；
If it is；
Then；
Where r is the target trailer body guide line extension distance.
7. A method for hanging an electronic rear view mirror auxiliary trailer according to any one of claims 2 and 3, wherein the calculation formula of the coordinate mapping relation S between the real object in the physical world and the image in the electronic rear view mirror is as follows:
；
in the method, in the process of the invention,are all parameters in the electronic rearview mirror; />To->Is the distortion coefficient; g is a distortion function; r and T are the rotation matrix and the translation matrix of the electronic rearview mirror respectively.
8. An electronic rearview mirror assisted trailer hitch system, comprising:
the adjusting module is used for adjusting the edges of the two sides of the electronic rearview mirrors on the trailer, which correspond to one side of the trailer body of each display target;
the extension guide module is in communication connection with the adjustment module and is used for acquiring extension lines of the corresponding trailer body on each side and guide lines of the target trailer body on each side in the electronic rearview mirrors on both sides;
the detection module is in communication connection with the extension guide module and is used for detecting whether the included angle between the extension lines of the trailer bodies at two sides and the guide lines of the target trailer bodies at two sides is in a preset range or not; the method comprises the steps of,
the hanging module is in communication connection with the detection module and is used for controlling the trailer to hang upwards along the extension lines of the trailer bodies on two sides if the detection module is in communication connection with the detection module;
the step of acquiring the corresponding target trailer body guide lines of each side in the electronic rearview mirrors at two sides specifically comprises the following steps:
detecting a target vertical line segment on a target trailer in one side of the electronic rearview mirror based on an image semantic segmentation algorithm and a straight line segment detection algorithm;
acquiring a target projection point of the lower end point of the target vertical line segment on the ground in the electronic rearview mirror at the corresponding side;
obtaining corresponding target trailer body guide lines on each side of the electronic rearview mirrors on both sides according to each target projection point on the ground in the electronic rearview mirrors on both sides;
the step of detecting the target vertical line segment on the target trailer in the electronic rearview mirror on one side based on the image semantic segmentation algorithm and the straight line segment detection algorithm specifically comprises the following steps:
detecting all trailers in the electronic rearview mirror at one side based on an image semantic segmentation algorithm, and selecting a target trailer which is adjacent to the trailer and is positioned at the image edge in the electronic rearview mirror at one side from all detected trailers;
acquiring an external rectangle of the target trailer, and expanding the external rectangle to obtain an expanded rectangle;
and detecting the straight line segment in the target trailer on the basis of a straight line segment detection algorithm, and selecting a target vertical line segment which is positioned at the lower end edge of the target trailer and farthest from the trailer from all the detected straight line segments.
CN202311735807.5A 2023-12-18 2023-12-18 Method and system for hanging auxiliary trailer of electronic rearview mirror Active CN117416356B (en)

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