WO2018120616A1 - 一种智能倒车轨迹及影像辅助的方法 - Google Patents

一种智能倒车轨迹及影像辅助的方法 Download PDF

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Publication number
WO2018120616A1
WO2018120616A1 PCT/CN2017/085822 CN2017085822W WO2018120616A1 WO 2018120616 A1 WO2018120616 A1 WO 2018120616A1 CN 2017085822 W CN2017085822 W CN 2017085822W WO 2018120616 A1 WO2018120616 A1 WO 2018120616A1
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reverse
button
module
display
gear
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PCT/CN2017/085822
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English (en)
French (fr)
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曾宪玮
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广州路派电子科技有限公司
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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
    • B60R1/20—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
    • B60R1/22—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/028—Guided parking by providing commands to the driver, e.g. acoustically or optically
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • 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
    • B60R2300/806—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 aiding parking

Definitions

  • the invention belongs to the technical field of automobile intelligent driving, and particularly relates to a method for intelligent reverse trajectory and image assisting.
  • an object of the present invention is to provide a smart reverse trajectory and image assisting method that can avoid the above technical drawbacks.
  • An intelligent reversing trajectory and image assisting method which utilizes an intelligent reversing trajectory and an image assisting system to assist a reversing process
  • the intelligent reversing trajectory and image assisting system comprising an MCU module, a video signal processing module and an LVDS module which are sequentially connected and A power module and a CAN module respectively connected to the MCU module, and the CAN module includes a CAN driver and a CAN detection module.
  • the method comprises the steps of:
  • Step 1 Power on the MCU module to detect the upgrade file.
  • Step 2 Initialize the MCU module, first initialize the display driver register, then initialize the peripheral driver, and switch the default display output to the original car display;
  • Step 3 The MCU module obtains the DIP switch to select the model, and instantiates the specific model, and starts the task to receive the incoming data of the CAN module in real time and update it to the model data, MCU module. Real-time receiving the data of the original car CAN bus and modifying the corresponding status data;
  • Step 4 The CAN driver monitors the data of the CAN detection module in real time and transmits the data to the MCU module to perform real-time data update in the task;
  • Step 5 Enter the main program task of the MCU module, initialize the watchdog, and poll each variable in the vehicle data every 50ms;
  • Step 6 In the function processing, the video channel is selected by calling the video signal processing module.
  • main program tasks of the MCU module in the step 5 include:
  • Handling the car engine start event After the car engine is started, the CAN module is set to the normal mode, the rear view display is true; after the car engine is turned off, the CAN module is in the listening only mode, and the rear view display is set to false;
  • Handling the main menu button event When not in reverse, the front view image can be displayed at any time by long pressing the main menu button on the air conditioning panel;
  • Dealing with the reverse assist mode event if entering the reverse gear, displaying the image of the rear view + track + radar; if entering the parking gear, displaying the original car picture;
  • Handling parking assist button events P key enable, display image screen; P key is not enabled, no image screen is displayed;
  • Processing trajectory events processing the trajectory in real time according to the steering and corner of the steering wheel;
  • Handling radar events In the image screen of the reverse gear or the forward gear, the icon is alerted in real time according to the distance between the vehicle and the obstacle.
  • Step 1 Firstly, it is detected whether the manual gear exists.
  • the reverse detection line has a signal output
  • the manual gear is set; when the manual gear is detected, the manual gear priority is set, otherwise the automatic gear is prioritized;
  • Step 2 Determine whether the updated gear position is consistent with the reserved gear position. If yes, proceed to step 3. If the inconsistency is different, then judge whether the updated gear position is reverse gear. If yes, set the reverse gear flag to 3 and the exit reverse gear flag to 0; Other gears set the reverse flag to 0 and the non-reverse flag to 3.
  • Step 3 Determine whether the reverse flag is greater than 1, and then decrease to 1; otherwise, reverse the flag to 0;
  • Step 4 Determine whether the non-reverse flag is greater than 1, and then decrease to 1;
  • Step 5 Disconnect the camera power, the screen does not display, set the delay of 100ms
  • Step 6 Provide power to the camera in advance, and then display, set a delay of 200ms, and turn on the screen display function;
  • Step 7 Perform step 6 when there is a parking assist button, perform step 5 when there is no parking assist button, and display the radar when the parking assist button is set and the gear position is forward gear;
  • Step 8 When using the parking assist button for control, the gear position is unchanged, the parking assist button is switched, if the parking assist button retain value does not match the current value, step 9 is performed;
  • Step 9 If the parking assist button is enabled, and prevent the reverse detection line from being closed when the parking assist button is used in the non-reverse position or the parking position, pressing the parking assist button will still display the problem; if the parking assist If the button is not enabled, the screen is set to not display.
  • Step 1 When the controller is initialized, the drawing radar trajectory function is called to initialize the trajectory display;
  • Step 2 In the drawing radar trajectory function, determine if the trajectory is needed, and load the LUT through the 8825 DMA; at the same time, obtain the current steering wheel angle data from the Car class and update the current trajectory line, and perform step 4;
  • Step 3 Draw the reverse trajectory according to the angle. If it is currently enabled, draw it on the screen, otherwise do not draw anything;
  • Step 4 The controller main program function of the controller calls the processing of the track event function.
  • the control window display function is set. When it is enabled, it must be redrawn. Otherwise, the screen before the de-energization is displayed;
  • Step 5 Draw the pointed image on the screen.
  • Step 1 Enter the button processing function to determine whether the button status has changed. If yes, execute the next step, otherwise exit;
  • Step 2 Determine whether the button is in the long press state, then execute the next step, otherwise exit;
  • Step 3 Determine whether the button is the main menu button on the air conditioning panel of the vehicle, and then set the flag to the front view channel, otherwise the flag will be 0;
  • Step 4 Enter the key operation processing function.
  • the flag is the forward view channel, judge whether the current gear position is the reverse gear state, and then exit, otherwise execute the next step;
  • Step 5 Determine whether the button state is in the state of long press, and then execute the off track, mine Up, hide the tip bar, display the front view; otherwise turn off the camera display.
  • the intelligent reverse trajectory and image assisting method assists the system to sleep by using the intelligent reverse trajectory and the image assisting system, and supports the system sleep (CAN no data transmission and reception) and wake-up (with CAN data or automobile engine start trigger); DIP switch selection: model, reverse assist system mode, front view and presence or absence of parking assist button (P button); support reverse assist system mode to enter reverse gear (R gear) to open reverse track and radar warning, other gear display Original car picture; Support in the reverse assist system mode, in the case of parking assist button (P button), after the reverse gear can be used to close or open the current image screen through the parking assist button, exit the reverse gear or enter the parking gear ( After the P file, press and hold the main menu button (HOME button) on the air conditioner panel to display the front view image screen, and press and hold again to display the original car image screen; thus, according to the reversing camera with a large viewing angle, the driver is informed of the obstacles around the image.
  • DIP switch selection model, reverse assist system mode, front view and presence or absence of parking assist button (
  • the situation of the object not only the wider field of view, but also the original car radar warning, can display the reversing image on the car display and mark the two reversing tracks
  • the track planning line, the steering wheel rotates, and the reversing planning line rotates, accurately depicting the reversing trajectory, making it easy for the driver to reverse and drive, which can well meet the needs of practical applications.
  • Figure 1 is a structural block diagram of a smart reverse trajectory and image assisting system
  • FIG. 2 is a schematic flow chart of a method of intelligent reverse trajectory and image assist
  • FIG. 3 is a schematic diagram of a main program task processing framework of an MCU module
  • FIG. 4 is a schematic flow chart of processing a main menu button (HOME) event
  • FIG. 5 is a schematic flow chart of processing a reverse assist mode event
  • FIG. 6 is a schematic flow chart of processing a trajectory event
  • Figure 7 is a schematic flow chart of processing a radar event
  • Figure 8 is a rear view display flow chart of the rear view display module.
  • the intelligent reversing trajectory and image assisting method which utilizes an intelligent reversing trajectory and an image assisting system to assist the reversing process.
  • the intelligent reversing trajectory and image assisting system includes MCU modules and video signals sequentially connected.
  • the processing module, the LVDS module, and the power module and the CAN module respectively connected to the MCU module, and the CAN module includes a CAN driver and a CAN detection module.
  • the CAN module uses TJA1041; the power module uses MP2359.
  • the MCU module can also be referred to as a controller.
  • the MCU module is the core control center of the whole system.
  • the main control chip is the STM32F105RBT6 produced by ST Company and the surrounding crystal oscillator circuit and reset circuit.
  • the power module is the power supply control center of the whole system.
  • the 12V power supply will pass through the FDS9435A power control chip. If there is a power supply ACC coming in or a CAN high signal comes in, there will be 12V power output, otherwise the system will enter the sleep without power output. State, after 12V power output, after MP2359 rectification and filtering, output 5V power supply and then output 3.3V, 1.8V, 1.8V respectively through three different ASM1117 supply circuits that need corresponding power supply.
  • the CAN module is a car CAN data acquisition center.
  • the CAN data is sent to the MCU module for processing.
  • the CAN transceiver chip uses the TJA1041 model. In order not to affect the original car, the CAN transceiver TJA1041 is set to the listening mode only. That is, only receiving and not sending.
  • the video signal processing module is the video signal processing center of the system, and the processing chip is TW8825.
  • the CVBS video input signal is processed and outputted into RGB format and handed over to the LVDS module for further processing.
  • the LVDS module converts the RGB signal output from the TW8825 into an LVDS video signal that can be directly displayed on the original car screen, and switches the original car video signal and the system video output signal through a relay.
  • the smart reverse trajectory and image assisting method includes the following steps:
  • Step 1 Power on the MCU module, use the bvloader (used to install the loader for the stm32f10x product, download and execute the application from the SD card) to detect the upgrade file, or use the bootloader to detect the upgrade file;
  • the bvloader used to install the loader for the stm32f10x product, download and execute the application from the SD card
  • Step 2 Initialize each register of the MCU module and the system clock, etc., first initialize the display driver register (track, radar, etc.), then initialize the peripheral driver, and switch the default display output to the original car display. Under normal working conditions, it is red. Blinking, the green light will be on if the front view function is used and the front view camera is installed;
  • Step 3 The MCU module obtains the DIP switch to select the model, and instantiates the specific model, and starts the task to receive the incoming data of the CAN module in real time and update it to the model data, MCU module. Real-time receiving the data of the original car CAN bus and modifying the corresponding status data;
  • Step 4 The CAN driver monitors the data of the CAN detection module in real time and transmits the data to the MCU module, and performs real-time data update in the task.
  • the CAN detection module does not detect the CAN data, the system sleeps;
  • Step 5 Enter the MCU module main program task, first initialize the watchdog, and poll each variable in the vehicle data every 50ms, including the gear position, steering wheel angle, radar and the rear view display module connected to the MCU module (rear view display)
  • the flow chart is as shown in FIG. 8 and the like, and the functions of the respective modules are realized through function processing;
  • Step 6 In the function processing, the video channel is selected by calling the video signal processing module TW8825: a forward view channel or a back view channel.
  • the main program tasks of the MCU module in the fifth step include:
  • Step 1 Firstly, it is detected whether the manual gear exists.
  • the reverse detection line has a signal output
  • the manual gear is set; when the manual gear is detected, the manual gear priority is set, otherwise the automatic gear is prioritized;
  • Step 2 Determine whether the updated gear position is consistent with the reserved gear position. If yes, proceed to step 3. If the inconsistency is different, then judge whether the updated gear position is reverse gear. If yes, set the reverse gear flag to 3 and the exit reverse gear flag to 0; Other gears set the reverse flag to 0 and the non-reverse flag to 3.
  • Step 3 Determine whether the reverse flag is greater than 1, then reduce it to 1; otherwise, reverse the flag to 0; meanwhile, supply the voltage to the camera if and only if the updated gear is reversed, TW8835 Perform rear view, then turn on the reverse track, radar and parking assist button;
  • Step 4 Determine whether the non-reverse flag is greater than 1, and then decrease to 1; otherwise, the non-reverse flag Bit to 0, if the manual gear exists and the gear is updated to other gears, go to step 5; if it is automatic gearshift, update gear is parked, then go to step 5, otherwise supply voltage to the camera, turn off the track display And determine whether there is a front view, if there is a front view channel, perform step 7, if not, select the back view channel and perform step 7;
  • Step 5 Disconnect the camera power, the screen does not display, set the delay time of 100ms, and repair the TW8835 register;
  • Step 6 Provide power to the camera in advance, and then display, set a delay of 200ms, and turn on the screen display function;
  • Step 7 Perform step 6 when there is a parking assist button (P key), perform step 5 when there is no parking assist button (P key), and set the parking assist button (P key) and the gear position is forward gear (D Display the radar when it is in the file;
  • Step 8 When using the parking assist button (P button) for control, the gear position is unchanged, and the parking assist button (P button) is switched. If the parking assist button (P button) retains the value and the current value does not match, the execution is executed. Step 9;
  • Step 9 If the parking assist button (P button) is enabled, and prevent the reverse detection line from being closed when the parking assist button (P button) is used for non-reverse and parking, press the parking assist button (P button). There will still be problems displayed (in fact, it should be off). If the parking assist button (P button) is not enabled, the screen is set to not display.
  • P button is enabled to display the image screen; P button is not enabled, and the image screen is not displayed;
  • Step 1 First, when the controller is initialized, the drawing radar trajectory function is called to initialize the trajectory display;
  • Step 2 In the drawing radar trajectory function, determine if the trajectory is needed, and load the LUT through the 8825 DMA; at the same time, obtain the current steering wheel angle data from the Car class and update the current trajectory line, and perform step 4;
  • Step 3 Draw the reverse track according to the angle. If it is currently enabled, draw it to the screen. On, otherwise do not draw anything; angle value unit: 0.1 degrees, the left is negative, the right is positive;
  • Step 4 The controller main program function of the controller calls the processing of the track event function.
  • the control window display function is set. When it is enabled, it must be redrawn. Otherwise, the screen before the de-energization is displayed;
  • Step 5 Draw the pointed image on the screen.
  • Step 1 Enter the button processing function to determine whether the button status has changed. If yes, execute the next step, otherwise exit.
  • Step 2 Determine whether the button is in the long press state, then execute the next step, otherwise exit;
  • Step 3 Determine whether the button is the main menu button on the air conditioning panel of the vehicle, and then set the flag to the front view channel, otherwise the flag will be 0;
  • Step 4 Enter the key operation processing function.
  • the flag is the forward view channel, judge whether the current gear position is the reverse gear state, and then exit, otherwise execute the next step;
  • Step 5 Determine whether the button status is in the long-press state. If yes, execute the close track, radar, hide the prompt bar, and display the front view; otherwise, turn off the camera display.
  • the rear view display flow chart of the rear view display module is shown in Figure 8. If the rear view display is required, the car engine start and stop data is obtained from the model data. After the car engine starts, it is necessary to send a data command to the original car to display the car. Rear view, the steps are as follows:
  • Step 1 Set the CAN data of the rear view display in the MCU module
  • Step 2 When the car engine starts up, set the enable flag to true, otherwise set to false.
  • Step 3 When the screen display is turned on, the setting enters the backsight display flag bit to be true, otherwise it is set to false;
  • Step 4 When the enable flag is true and the back display flag is true, the data frame displayed in the back view is forwarded to the original car for reception every 100 ms.
  • the intelligent reverse trajectory and image assisting method assists the system to sleep by using the intelligent reverse trajectory and the image assisting system, and supports the system sleep (CAN no data transmission and reception) and wake-up (with CAN data or automobile engine start trigger); DIP switch selection: model, reverse assist system mode, front view and presence or absence of parking assist button (P button); support reverse assist system mode to enter reverse gear (R gear) to open reverse track and radar warning, other gear display Original car picture; Support in the reverse assist system mode, in the case of parking assist button (P button), after the reverse gear can be used to close or open the current image screen through the parking assist button, exit the reverse gear or enter the parking gear ( After the P file, press and hold the main menu button (HOME button) on the air conditioner panel to display the front view image screen, and press and hold again to display the original car image screen; thus, according to the reversing camera with a large viewing angle, the driver is informed of the obstacles around the image.
  • DIP switch selection model, reverse assist system mode, front view and presence or absence of parking assist button (
  • the situation of the object not only the wider field of view, but also the original car radar warning, can display the reversing image on the car display and mark the two reversing tracks
  • the track planning line, the steering wheel rotates, and the reversing planning line rotates, accurately depicting the reversing trajectory, making it easy for the driver to reverse and drive, which can well meet the needs of practical applications.

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Abstract

一种智能倒车轨迹及影像辅助的方法，利用智能倒车轨迹及影像辅助系统来对倒车过程进行辅助，所述智能倒车轨迹及影像辅助系统包括依次连接的MCU模块、视频信号处理模块、LVDS模块以及分别与MCU模块相连接的电源模块和CAN模块。通过使用智能倒车轨迹及影像辅助系统来辅助倒车，支持系统休眠与唤醒、支持拨码开关选择、支持倒车辅助系统模式下进入倒挡开启倒车轨迹和雷达警示，能模拟原车雷达警示，可以在车载显示器上显示倒车影像并标注两根倒车轨迹规划线，方向盘转动，倒车规划线就随着转动，准确地描出倒车的轨迹，让驾驶员倒车和开车一样容易，可以很好地满足实际应用的需要。

Description

一种智能倒车轨迹及影像辅助的方法 技术领域
本发明属于汽车智能驾驶技术领域，具体涉及一种智能倒车轨迹及影像辅助的方法。
背景技术
汽车作为现代人类的交通工具，改变了人们的生活方式，推动了社会经济的发展和人类文化的进步，成为社会不可缺少的交通工具。中国是世界上汽车发展速度最快的国家，近几年来，电子信息技术的飞速发展使得车载电子设备及电子系统越来越多的进入到各种档次的车辆中。随着我国经济的快速增长以及汽车产业的蓬勃发展，城市中的机动化水平显著提高，机动车数量剧增，随之出现的一系列城市交通问题逐渐突出，其中泊车、倒车和启动车辆时造成的视觉盲区，因此解决这一问题已经成为一项重要而紧急的工作，亟待研发一种新的技术来解决这一问题。
发明内容
针对上述现有技术中存在的问题，本发明的目的在于提供一种可避免出现上述技术缺陷的智能倒车轨迹及影像辅助的方法。
为了实现上述发明目的，本发明提供的技术方案如下：
一种智能倒车轨迹及影像辅助的方法，利用智能倒车轨迹及影像辅助系统来对倒车过程进行辅助，所述智能倒车轨迹及影像辅助系统包括依次连接的MCU模块、视频信号处理模块、LVDS模块以及分别与MCU模块相连接的电源模块和CAN模块，CAN模块包括CAN驱动器和CAN检测模块。
进一步地，所述方法包括以下步骤：
步骤一：上电启动MCU模块，检测升级文件；
步骤二：初始化MCU模块，先初始化显示驱动寄存器，然后初始化外设驱动，并将默认显示输出切换为原车显示；
步骤三：由MCU模块获取拨码开关来选择车型，并将具体车型实例化，开启任务实时接收CAN模块传入的数据并将其更新至车型数据中，MCU模块 实时接收原车CAN总线的数据并修改相应的状态数据；
步骤四：CAN驱动器实时监测CAN检测模块的数据并将数据传递给MCU模块，在任务中执行实时数据更新；
步骤五：进入MCU模块主程序任务，初始化看门狗，每隔50ms轮询车型数据中各个变量；
步骤六：在功能处理中，通过调用视频信号处理模块来选择视频通道。
进一步地，所述步骤五中的MCU模块主程序任务包括：
处理汽车发动机启动事件：汽车发动机启动之后，CAN模块设置为普通模式，后视显示为真；汽车发动机关闭之后CAN模块为只听模式，后视显示设置为假；
处理主菜单按键事件：在非倒档时可通过长按空调面板上的主菜单按键随时显示前视图像画面；
处理倒车辅助模式事件：如果进入倒挡，显示后视+轨迹+雷达的图像；如果进入停车档，显示原车画面；
处理驻车辅助按钮事件：P键使能，显示图像画面；P键不使能，不显示图像画面；
处理轨迹事件：根据方向盘的转向、转角，实时处理轨迹摆动；
处理雷达事件：倒车档或前进挡的图像画面中，根据车与障碍物的距离，实时处理并进行图标警示。
进一步地，处理倒车辅助模式事件的具体步骤包括：
步骤1：首先检测手动档是否存在，当倒档检测线有信号输出时，设置手动挡存在；当检测到手动挡存在时设置手动挡优先，否则自动挡优先；
步骤2：判断更新档位是否和保留档位是否一致，一致则执行步骤3，不一致再判断更新档位是否是倒档，是则设置倒档标志位为3，退出倒档标志位为0；其它档位则设置倒档标志位为0，非倒档标志位为3；
步骤3：判断倒档标志位是否大于1，是则自减至1；否则将倒档标志位至为0；
步骤4：判断非倒档标志位是否大于1，是则自减至1；
步骤5：断开摄像头电源，屏幕不显示，设置延时100ms；
步骤6：提前给摄像头提供电源，再进行显示，设置延时200ms，开启屏幕显示功能；
步骤7：有驻车辅助按钮时执行步骤6，无驻车辅助按钮时执行步骤5，并且设置有驻车辅助按钮且档位为前进挡时才显示雷达；
步骤8：使用驻车辅助按钮进行控制时，档位不变，驻车辅助按钮进行开关，如果驻车辅助按钮保留值和当前值不一致，则执行步骤9；
步骤9：如果驻车辅助按钮使能，同时防止当使用驻车辅助按钮时倒车检测线于非倒挡、停车档时关闭，再按驻车辅助按钮仍会有显示的问题；如果驻车辅助按钮不使能，则屏幕设置为不显示。
进一步地，处理轨迹事件的具体步骤包括：
步骤一：在控制器初始化时，调用绘制雷达轨迹函数对轨迹显示进行初始化；
步骤二：在绘制雷达轨迹函数中判断如果需要轨迹，通过8825DMA进行加载LUT；同时从Car类中获取当前方向盘转角数据并更新当前轨迹线，执行步骤四；
步骤三：根据角度绘制倒车轨迹，如果当前处于使能状态，则绘制到屏幕上，否则不绘制任何东西；
步骤四：控制器的控制器主程序函数调用处理轨迹事件函数，当需要轨迹时，设置控制窗口显示功能，同时使能的时候，必须重画，否则会显示除能前的画面；
步骤五：把指向的图像绘制在屏幕上。
进一步地，处理雷达事件的具体步骤包括：
步骤一：进入按键处理函数，判断按键状态是否发生变化，是则执行下一步，否则退出；
步骤二：判断按键是否处于长按状态，是则执行下一步，否则退出；
步骤三：判断按键是否是车上空调面板上的主菜单按键，是则将标志位至为前视通道选择，否则将标志位至为0；
步骤四：进入按键操作处理函数，当标志位为前视通道时，判断当前档位是否是倒挡状态，是则退出，否则执行下一步；
步骤五：判断按键状态是否是处于长按开的状态，是则执行关闭轨迹、雷 达，隐藏提示条，显示前视；否则关闭摄像头显示。
本发明提供的智能倒车轨迹及影像辅助的方法，通过使用智能倒车轨迹及影像辅助系统来辅助倒车，支持系统休眠(CAN无数据收发时)与唤醒(有CAN数据或汽车发动机启动触发)；支持拨码开关选择：车型、倒车辅助系统模式、前视和有无驻车辅助按钮(P键)；支持倒车辅助系统模式下进入倒挡(R档)开启倒车轨迹和雷达警示，其它档位显示原车画面；支持倒车辅助系统模式下，在有驻车辅助按钮(P键)的情况下，挂倒挡后可以通过驻车辅助按钮关闭或打开当前图像画面，退出倒挡或进入停车挡(P档)后，长按空调面板上的主菜单按键(HOME键)显示前视图像画面，再次长按则显示原车图像画面；从而根据大视角的倒车摄像头，以影像显示告知驾驶员周围障碍物的情况，不仅视野范围更广，还能模拟原车雷达警示，可以在车载显示器上显示倒车影像并标注两根倒车轨迹规划线，方向盘转动，倒车规划线就随着转动，准确地描出倒车的轨迹，让驾驶员倒车和开车一样容易，可以很好地满足实际应用的需要。
附图说明
图1为智能倒车轨迹及影像辅助系统的结构框图；
图2为智能倒车轨迹及影像辅助的方法的流程示意图；
图3为MCU模块主程序任务处理框架示意图；
图4为处理主菜单按键(HOME)事件的流程示意图；
图5为处理倒车辅助模式事件的流程示意图；
图6为处理轨迹事件的流程示意图；
图7为处理雷达事件的流程示意图；
图8为后视显示模块的后视显示流程图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，下面结合附图和具体实施例对本发明做进一步说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
一种智能倒车轨迹及影像辅助的方法，利用智能倒车轨迹及影像辅助系统来对倒车过程进行辅助，如图1所示，所述智能倒车轨迹及影像辅助系统包括依次连接的MCU模块、视频信号处理模块、LVDS模块以及分别与MCU模块相连接的电源模块和CAN模块，CAN模块包括CAN驱动器和CAN检测模块。CAN模块采用TJA1041；电源模块采用MP2359。MCU模块也可以称为控制器。
MCU模块是整个系统的核心控制中枢，主控芯片为ST公司生产的STM32F105RBT6以及周围的晶振电路和复位电路。电源模块是整个系统的电源供给控制中心，首先12V电源进来之后会经过FDS9435A电源控制芯片，如果有电源ACC进来或者有CAN高信号进来则会有12V的电源输出，否则无电源输出则系统进入休眠状态，有12V的电源输出之后经过MP2359整流滤波之后输出5V电源再经过3个不同的ASM1117分别输出3.3V、1.8V、1.8V供给需要相应电源的电路工作。
CAN模块是汽车CAN数据采集中心，将采集到的CAN数据交给MCU模块进行处理，CAN收发器芯片使用TJA1041型号，为了不影响原车，软件上会将CAN收发器TJA1041设置成只听模式，即只接收不发送。
视频信号处理模块是系统的视频信号处理中心，处理芯片为TW8825，将CVBS视频输入信号进行处理输出为RGB格式交给LVDS模块进行下一步处理。
LVDS模块将TW8825输出的RGB信号转成原车屏能够直接显示的LVDS视频信号，并且通过继电器来切换原车视频信号和系统视频输出信号。
如图2所示，该智能倒车轨迹及影像辅助的方法包括以下步骤：
步骤一：上电启动MCU模块，使用bvloader(用于给stm32f10x的产品引导安装加载程序，从SD卡上下载并执行应用程序)检测升级文件，或者使用bootloader检测升级文件；
步骤二：初始化MCU模块的各寄存器以及系统时钟等，先初始化显示驱动寄存器(轨迹、雷达等)，然后初始化外设驱动，并将默认显示输出切换为原车显示，正常工作状态下为红灯闪烁，如果使用了前视功能并且已安装前视摄像头则绿灯会常亮；
步骤三：由MCU模块获取拨码开关来选择车型，并将具体车型实例化，开启任务实时接收CAN模块传入的数据并将其更新至车型数据中，MCU模块 实时接收原车CAN总线的数据并修改相应的状态数据；
步骤四：CAN驱动器实时监测CAN检测模块的数据并将数据传递给MCU模块，在任务中执行实时数据更新，当CAN检测模块没有检测到CAN数据时，将调用系统休眠；
步骤五：进入MCU模块主程序任务，首先初始化看门狗，每隔50ms轮询车型数据中各个变量，包括档位、方向盘转角、雷达以及与MCU模块相连接的后视显示模块(后视显示流程图如图8所示)等，通过功能处理实现各个模块的功能；
步骤六：在功能处理中，通过调用视频信号处理模块TW8825来选择视频通道：前视通道或后视通道。
如图3所示，所述步骤五中的MCU模块主程序任务包括：
1)处理汽车发动机启动事件：汽车发动机启动之后，CAN收发器TJA1041设置为普通模式，后视显示为真；汽车发动机关闭之后CAN收发器芯片TJA1041为只听模式，后视显示设置为假；
2)处理主菜单按键(HOME)事件：在非倒档时可通过长按空调面板上的主菜单按键随时显示前视图像画面，如图4所示；
3)处理倒车辅助模式事件：如果进入倒挡，显示后视+轨迹+雷达的图像；如果进入停车档，显示原车画面；如果为其他档位：安装了前视摄像头，显示前视摄像头图像；没有安装前视摄像头，保持后视摄像头输出图像不变；处理倒车辅助模式事件的流程图如图5所示，具体步骤如下：
步骤1：首先检测手动档是否存在，当倒档检测线有信号输出时，设置手动挡存在；当检测到手动挡存在时设置手动挡优先，否则自动挡优先；
步骤2：判断更新档位是否和保留档位是否一致，一致则执行步骤3，不一致再判断更新档位是否是倒档，是则设置倒档标志位为3，退出倒档标志位为0；其它档位则设置倒档标志位为0，非倒档标志位为3；
步骤3：判断倒档标志位是否大于1，是则自减至1；否则将倒档标志位至为0；同时，当且仅当更新档位为倒档时，才给摄像头提供电压，TW8835执行后视，然后开启倒车轨迹、雷达以及驻车辅助按钮等功能；
步骤4：判断非倒档标志位是否大于1，是则自减至1；否则将非倒档标志 位至为0，如果手动挡存在并且更新档位为其它档位时，执行步骤5；如果是自动挡优先时，更新档位是停车档则执行步骤5，否则给摄像头提供电压，关闭轨迹显示，并判断是否有前视，有则选择前视通道，执行步骤7，无则选择后视通道并执行步骤7；
步骤5：断开摄像头电源，屏幕不显示，设置延时100ms，同时修复TW8835的寄存器；
步骤6：提前给摄像头提供电源，再进行显示，设置延时200ms，开启屏幕显示功能；
步骤7：有驻车辅助按钮(P键)时执行步骤6，无驻车辅助按钮(P键)时执行步骤5，并且设置有驻车辅助按钮(P键)且档位为前进挡(D档)时才显示雷达；
步骤8：使用驻车辅助按钮(P键)进行控制时，档位不变，驻车辅助按钮(P键)进行开关，如果驻车辅助按钮(P键)保留值和当前值不一致，则执行步骤9；
步骤9：如果驻车辅助按钮(P键)使能，同时防止当使用驻车辅助按钮(P键)时倒车检测线于非倒挡、停车档时关闭,再按驻车辅助按钮(P键)仍会有显示的问题(其实应该是关闭状态)。如果驻车辅助按钮(P键)不使能，则屏幕设置为不显示。
4)处理驻车辅助按钮(P键)事件：P键使能，显示图像画面；P键不使能，不显示图像画面；
5)处理轨迹事件：倒车档的图像画面中，根据方向盘的转向、转角，实时处理轨迹摆动，流程图如图6所示，如果需要倒车轨迹则从车型模块中获取当前方向盘转角数据并更新当前轨迹线，具体步骤如下：
步骤一：首先在控制器初始化时，调用绘制雷达轨迹函数对轨迹显示进行初始化；
步骤二：在绘制雷达轨迹函数中判断如果需要轨迹，通过8825DMA进行加载LUT；同时从Car类中获取当前方向盘转角数据并更新当前轨迹线，执行步骤四；
步骤三：根据角度绘制倒车轨迹，如果当前处于使能状态，则绘制到屏幕 上，否则不绘制任何东西；角度值单位：0.1度，左边为负，右边为正；
步骤四：控制器的控制器主程序函数调用处理轨迹事件函数，当需要轨迹时，设置控制窗口显示功能，同时使能的时候，必须重画，否则会显示除能前的画面；
步骤五：把指向的图像绘制在屏幕上。
6)处理雷达事件：倒车档或前进挡的图像画面中，根据车与障碍物的距离，实时处理并进行图标警示，流程图如图7所示，如果需要雷达显示则从车型模块中获取当前雷达探头数据并绘制相应的雷达图片，具体步骤如下：
步骤一：进入按键处理函数，判断按键状态是否发生变化，是则执行下一步，否则退出。
步骤二：判断按键是否处于长按状态，是则执行下一步，否则退出；
步骤三：判断按键是否是车上空调面板上的主菜单按键，是则将标志位至为前视通道选择，否则将标志位至为0；
步骤四：进入按键操作处理函数，当标志位为前视通道时，判断当前档位是否是倒挡状态，是则退出，否则执行下一步；
步骤五：判断按键状态是否是处于长按开的状态，是则执行关闭轨迹、雷达，隐藏提示条，显示前视；否则关闭摄像头显示。
后视显示模块的后视显示流程图如图8所示，如果需要后视显示则从车型数据中获取汽车发动机启动和关闭的数据，汽车发动机启动之后需要给原车发送一条数据指令才能显示汽车后视，步骤如下所示：
步骤一：在MCU模块中设置后视显示的CAN数据实例化；
步骤二：当汽车发动机启动启动后，设置使能标志位为真，否则设置为假状态；
步骤三：当屏幕显示开启时，设置进入后视显示标志位为真，否则设置为假；
步骤四：当使能标志位为真且后视显示标志位为真时，并将后视显示的数据帧每100ms的形式转发给原车接收。
本发明提供的智能倒车轨迹及影像辅助的方法，通过使用智能倒车轨迹及影像辅助系统来辅助倒车，支持系统休眠(CAN无数据收发时)与唤醒(有CAN数据或汽车发动机启动触发)；支持拨码开关选择：车型、倒车辅助系统模式、前视和有无驻车辅助按钮(P键)；支持倒车辅助系统模式下进入倒挡(R档)开启倒车轨迹和雷达警示，其它档位显示原车画面；支持倒车辅助系统模式下，在有驻车辅助按钮(P键)的情况下，挂倒挡后可以通过驻车辅助按钮关闭或打开当前图像画面，退出倒挡或进入停车挡(P档)后，长按空调面板上的主菜单按键(HOME键)显示前视图像画面，再次长按则显示原车图像画面；从而根据大视角的倒车摄像头，以影像显示告知驾驶员周围障碍物的情况，不仅视野范围更广，还能模拟原车雷达警示，可以在车载显示器上显示倒车影像并标注两根倒车轨迹规划线，方向盘转动，倒车规划线就随着转动，准确地描出倒车的轨迹，让驾驶员倒车和开车一样容易，可以很好地满足实际应用的需要。
以上所述实施例仅表达了本发明的实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (6)

  1. 一种智能倒车轨迹及影像辅助的方法，其特征在于，利用智能倒车轨迹及影像辅助系统来对倒车过程进行辅助，所述智能倒车轨迹及影像辅助系统包括依次连接的MCU模块、视频信号处理模块、LVDS模块以及分别与MCU模块相连接的电源模块和CAN模块，CAN模块包括CAN驱动器和CAN检测模块。
  2. 根据权利要求1所述的智能倒车轨迹辅助的方法，其特征在于，所述方法包括以下步骤：
    步骤一：上电启动MCU模块，检测升级文件。
    步骤二：初始化MCU模块，先初始化显示驱动寄存器，然后初始化外设驱动，并将默认显示输出切换为原车显示；
    步骤三：由MCU模块获取拨码开关来选择车型，并将具体车型实例化，开启任务实时接收CAN模块传入的数据并将其更新至车型数据中，MCU模块实时接收原车CAN总线的数据并修改相应的状态数据；
    步骤四：CAN驱动器实时监测CAN检测模块的数据并将数据传递给MCU模块，在任务中执行实时数据更新；
    步骤五：进入MCU模块主程序任务，初始化看门狗，每隔50ms轮询车型数据中各个变量；
    步骤六：在功能处理中，通过调用视频信号处理模块来选择视频通道。
  3. 根据权利要求2所述的步骤五，其特征在于，所述步骤五中的MCU模块主程序任务包括：
    处理汽车发动机启动事件：汽车发动机启动之后，CAN模块设置为普通模式，后视显示为真；汽车发动机关闭之后CAN模块为只听模式，后视显示设置为假；
    处理主菜单按键事件：在非倒档时可通过长按空调面板上的主菜单按键随时显示前视图像画面；
    处理倒车辅助模式事件：如果进入倒挡，显示后视+轨迹+雷达的图像；如果进入停车档，显示原车画面；
    处理驻车辅助按钮事件：P键使能，显示图像画面；P键不使能，不显示图像画面；
    处理轨迹事件：根据方向盘的转向、转角，实时处理轨迹摆动；
    处理雷达事件：倒车档或前进挡的图像画面中，根据车与障碍物的距离，实时处理并进行图标警示。
  4. 根据权利要求3所述的处理倒车辅助模式事件，其特征在于，
    处理倒车辅助模式事件的具体步骤包括：
    步骤1：首先检测手动档是否存在，当倒档检测线有信号输出时，设置手动挡存在；当检测到手动挡存在时设置手动挡优先，否则自动挡优先；
    步骤2：判断更新档位是否和保留档位是否一致，一致则执行步骤3，不一致再判断更新档位是否是倒档，是则设置倒档标志位为3，退出倒档标志位为0；其它档位则设置倒档标志位为0，非倒档标志位为3；
    步骤3：判断倒档标志位是否大于1，是则自减至1；否则将倒档标志位至为0；
    步骤4：判断非倒档标志位是否大于1，是则自减至1；
    步骤5：断开摄像头电源，屏幕不显示，设置延时100ms；
    步骤6：提前给摄像头提供电源，再进行显示，设置延时200ms，开启屏幕显示功能；
    步骤7：有驻车辅助按钮时执行步骤6，无驻车辅助按钮时执行步骤5，并且设置有驻车辅助按钮且档位为前进挡时才显示雷达；
    步骤8：使用驻车辅助按钮进行控制时，档位不变，驻车辅助按钮进行开关，如果驻车辅助按钮保留值和当前值不一致，则执行步骤9；
    步骤9：如果驻车辅助按钮使能，同时防止当使用驻车辅助按钮时倒车检测线于非倒挡、停车档时关闭，再按驻车辅助按钮仍会有显示的问题；如果驻车辅助按钮不使能，则屏幕设置为不显示。
  5. 根据权利要求1-3所述的处理轨迹事件，其特征在于，
    处理轨迹事件的具体步骤包括：
    步骤一：在控制器初始化时，调用绘制雷达轨迹函数对轨迹显示进行初始化；
    步骤二：在绘制雷达轨迹函数中判断如果需要轨迹，通过8825DMA进行加载LUT；同时从Car类中获取当前方向盘转角数据并更新当前轨迹线，执行步骤四；
    步骤三：根据角度绘制倒车轨迹，如果当前处于使能状态，则绘制到屏幕上，否则不绘制任何东西；
    步骤四：控制器的控制器主程序函数调用处理轨迹事件函数，当需要轨迹时，设置控制窗口显示功能，同时使能的时候，必须重画，否则会显示除能前的画面；
    步骤五：把指向的图像绘制在屏幕上。
  6. 根据权利要求1-3所述的处理雷达事件，其特征在于，
    处理雷达事件的具体步骤包括：
    步骤一：进入按键处理函数，判断按键状态是否发生变化，是则执行下一步，否则退出；
    步骤二：判断按键是否处于长按状态，是则执行下一步，否则退出；
    步骤三：判断按键是否是车上空调面板上的主菜单按键，是则将标志位至为前视通道选择，否则将标志位至为0；
    步骤四：进入按键操作处理函数，当标志位为前视通道时，判断当前档位是否是倒挡状态，是则退出，否则执行下一步；
    步骤五：判断按键状态是否是处于长按开的状态，是则执行关闭轨迹、雷达，隐藏提示条，显示前视；否则关闭摄像头显示。
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