Vehicle pitch angle determination method, device and vehicle thereof

A pitch angle, vehicle technology, applied in image analysis, image enhancement, instruments, etc., can solve the problems of interference of calculation results, high hardware cost, etc., and achieve the effect of simple transformation processing and saving hardware cost

Active Publication Date: 2020-11-13
ZHICHEAUTO TECH BEIJING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the calculation of the pitch angle relies on additional sensors. For example, the calculation of the pitch angle of the car is completed by collecting the detection signal of the gyroscope sensor. The hardware cost is high and the calculation result is greatly affected by external interference.

Method used

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  • Vehicle pitch angle determination method, device and vehicle thereof
  • Vehicle pitch angle determination method, device and vehicle thereof
  • Vehicle pitch angle determination method, device and vehicle thereof

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Embodiment Construction

[0018] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

[0019] At the same time, it should be understood that, for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0020] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.

[0021] Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the descript...

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Abstract

Embodiments of the present invention disclose a vehicle pitch angle determination method and device and a vehicle thereof. The method includes: intercepting conversion baselines that are parallel to each other in the actual environment from an original image captured by a vehicle-mounted device, and comparing the first image to Perform transformation processing to generate a second image and make the transformation reference lines parallel to each other in the second image; obtain image transformation parameters for transformation processing on the first image, and determine the current pitch angle of the vehicle according to the image transformation parameters. The method, device and automobile of the present invention do not need to measure parameters such as the height and focal length of the camera or camera, and perform transformations such as stretching and rotating the image to generate a top view based on the parallel relationship existing between the conversion baselines in reality. Images, etc., the transformation processing is simple and easy. Based on the image rotation angle and other parameters in the transformation processing, the pitch angle of the vehicle can be calculated in real time without the need for other sensors, saving hardware costs.

Description

technical field [0001] The invention relates to the technical field of automobiles, in particular to a method and device for determining a pitch angle of a vehicle and an automobile thereof. Background technique [0002] The pitch angle of the car is that when the body rolls or pitches, the vertical position of the four suspension points of the body relative to the center of each wheel changes, which causes the suspension force, that is, the elastic force of the suspension spring and the shock absorber When the damping force changes, the angle formed by the original driving direction of the vehicle's center of mass and the direction in which the damping of the shock absorber changes vertically is the pitch angle. When the vehicle is accelerating and decelerating, the driver can feel the vehicle "head up" and "nodding" due to the change of the pitch angle. In the actual acceleration and deceleration process, the change of the pitch angle is only about 1 degree, but the suspen...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): G06T7/73G06T3/00
CPCG06T7/74G06T2207/30256G06T2207/10004G06T3/04
Inventor何君舰孟凯史敬威刘瑞祥
OwnerZHICHEAUTO TECH BEIJING