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Real-time vehicle backing trajectory display system and equal-width trajectory line drawing method

A display system and track line technology, applied in the direction of image data processing, instrumentation, 2D image generation, etc., can solve the problem of not being able to help the driver observe the actual situation of the blind area behind the car, so as to solve the jump of track line and ensure the simulation The effect of accuracy

Active Publication Date: 2018-11-13
CHANGZHOU XINTU SOFTWARE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Earlier, the reversing assistance system mainly used voice alarm prompts and ultrasonic radar, neither of which could help the driver observe the actual situation of the blind spot behind the car. The visual reversing assistance system composed of on-board display screen, on-board rear-view camera and corresponding controller can help the driver to observe the blind spot behind the car when reversing, but the direction of reversing and the distance of obstacles behind the car still need to be determined by the driver. experience judgment

Method used

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  • Real-time vehicle backing trajectory display system and equal-width trajectory line drawing method
  • Real-time vehicle backing trajectory display system and equal-width trajectory line drawing method
  • Real-time vehicle backing trajectory display system and equal-width trajectory line drawing method

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Embodiment 1

[0059] figure 1 It is a method flowchart of the real-time reversing trajectory display method of the present invention.

[0060] Such as figure 1 As shown, the present embodiment provides a real-time reversing trajectory display method, including:

[0061] Step S101, first establish a mapping model from the world coordinate system to the image coordinate system combined with the second-order radial distortion model, so as to solve the internal and external parameters of the camera; and

[0062] In step S102, calculate the reverse trajectory predicted by the tire steering angle through the internal and external parameters of the camera.

[0063] figure 2 It is a flow chart of the method for solving the internal and external parameters of the camera in the present invention.

[0064] The specific steps to obtain the internal and external parameters of the camera are as follows:

[0065] Use the camera to capture a black and white checkerboard image, and use the black and w...

Embodiment 2

[0122] Figure 5 It is a functional block diagram of the real-time reversing imaging display system of the present invention.

[0123] Such as Figure 5 As shown, on the basis of Embodiment 1, this embodiment provides a real-time reversing imaging display system, including:

[0124] A processor module, a camera for shooting reversing images, and a screen controlled by the processor module; wherein

[0125] The processor module is adapted to calculate the reversing trajectory line according to the reversing image, and draw the reversing trajectory line on the screen in real time.

[0126] The processor module is suitable for calculating the reversing trajectory line, that is, the processor module is suitable for first establishing a mapping model from the world coordinate system to the image coordinate system combined with the second-order radial distortion model, so as to solve the internal and external parameters of the camera; and then through The internal and external pa...

Embodiment 3

[0131] Figure 6 It is a flow chart of the method for drawing equal-width trajectory lines of the present invention.

[0132] See Figure 6 , on the basis of Embodiment 1, this embodiment provides a method for drawing equal-width trajectory lines, including:

[0133] Step S201, calculating the slope of the tangent line at each point of the centerline of the near-wide and far-narrow locus; and

[0134] Step S202, draw the trajectory line of equal width after perspective transformation through slope transformation.

[0135] Figure 7 It is a schematic diagram of trajectory lines in the drawing method of equal width trajectory lines of the present invention;

[0136] The specific calculation method of tangent slope is as follows:

[0137] The equal-width trajectory line drawn in world coordinates will be mapped to a trajectory line with near width and far narrowness after perspective transformation. To draw a trajectory line of equal width on the screen, it is necessary to ...

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Abstract

The invention relates to a real-time vehicle backing trajectory display system and an equal-width trajectory line drawing method. The real-time vehicle backing imaging display system includes a processor module, a camera used for shooting vehicle backing images and a screen controlled by the processor module. The processor module is suitable for calculating vehicle backing trajectory lines according to the vehicle backing images, and rendering the vehicle backing trajectory lines on the screen in real time. According to the real-time vehicle backing trajectory display system, firstly, dependence of rear-view camera image viewpoint changes on use of a lookup table (LUT) is avoided, an applicable range and applicable occasions are extended, high-quality vehicle backing trajectories can be drawn on the premise of occupying fewer CPU processing ability resources, the problems of trajectory jumping changes, edge sawteeth, memory consumption and the like caused by using a trajectory databaseare solved, then the vehicle backing trajectory lines can be continuously updated in real time according to steering wheel angles, and simulation accuracy of the vehicle backing trajectories is guaranteed.

Description

[0001] This application is a divisional application, the application number of the original application is 201710811254.5, the application date is: 2017.9.11, the name of the invention: real-time reversing track display method, system and equal width track line drawing method. technical field [0002] The invention belongs to the field of automobiles, and in particular relates to a method and system for displaying a real-time reversing track and a method for drawing equal-width track lines. Background technique [0003] The reversing assistance system mainly used voice alarm prompts and ultrasonic radar earlier, neither of which could help the driver observe the actual situation in the blind area behind the car. The visual reversing assist system can help the driver of the vehicle observe the blind spot behind the car when reversing, but the direction of reversing and the distance of the obstacles behind the car still need to be judged by the driver based on experience. [0...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T11/20G06T7/80
CPCG06T7/80G06T11/203
Inventor 张华朱枫
Owner CHANGZHOU XINTU SOFTWARE CO LTD
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