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Method and system for calibrating vehicle trajectory

A calibration method and trajectory line technology, which is applied to vehicle components, steering mechanisms, transportation and packaging, etc., can solve the problems of mechanical errors, the maximum angle difference between the left and right front wheels, etc., and achieve the effect of reducing accidents

Active Publication Date: 2020-03-03
广州市安晓科技有限责任公司
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Problems solved by technology

Among the existing products on the market, some directly estimate the maximum steering angle, or calculate the maximum steering angle by the triangular relationship formed at the maximum steering angle of the front wheels; The left and right maximum angles are different, and there are mechanical errors in the actual car, so these trajectory lines must be dynamically calibrated according to the actual vehicle to obtain the steering angle of the actual car

Method used

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  • Method and system for calibrating vehicle trajectory
  • Method and system for calibrating vehicle trajectory
  • Method and system for calibrating vehicle trajectory

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Embodiment Construction

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0045] It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present invention, the directional indication is only used to explain the position in a certain posture (as shown in the accompanying drawing). If the specific posture changes, the directional indication will also change accordingly.

[0046] In addition, if there are descriptions involving "first", "second" and ...

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Abstract

The invention discloses a car track line calibrating method and system and belongs to the technical field of back-up auxiliary systems. The method comprises the methods that grid planar markers are laid on the ground within the range capable of being shot by a camera on the rear portion of a car; in the moving process of the car in different directions, by comparing grid point coordinates of two adjacent images shot by the camera on the rear portion, the circle center point of car steering is determined, and the maximum steering angles of the car in the different moving directions are calibrated accordingly; according to the calibrated maximum steering angles and steering angle grades of the car in the different moving directions, the actual maximum steering angles of the car in the different moving directions are obtained; and according to the actual maximum steering angles of the car in the different moving directions, a car track line is obtained. Through the car track line calibrating method and system, the maximum angle needed for calculation of an accurate track can be easily and rapidly calibrated, through the accurate track line on the camera images, a car user can be helpto accurately judge the car travelling track, and accident occurrence is reduced.

Description

technical field [0001] The invention relates to the technical field of reversing assistance systems, in particular to a method and system for calibrating vehicle trajectory lines. Background technique [0002] At present, since the steering angle of the car obtained from the CAN bus is not the actual steering angle, but the angle is divided into many levels, to obtain accurate trajectory lines, it is necessary to know the actual angle corresponding to each steering angle level. Among the existing products on the market, some directly estimate the maximum steering angle, or calculate the maximum steering angle by the triangular relationship formed at the maximum steering angle of the front wheels; The left and right maximum angles are different, and there are mechanical errors in the actual car, so these trajectory lines must be dynamically calibrated according to the actual vehicle to obtain the steering angle of the actual car. Contents of the invention [0003] The inve...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D15/02
CPCB62D15/024
Inventor 李彦志吴龙挑
Owner 广州市安晓科技有限责任公司
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