Dynamic reversing trajectory realization method and device, computer equipment and storage medium

Abstract

The present application discloses a method and device for realizing a dynamic reversing trajectory, a computer device and a storage medium. The method comprises: obtaining the current rotation angle of the steering wheel in real time; obtaining the curve equation coefficient corresponding to the current rotation angle from the curve equation coefficients corresponding to the pre-stored multiple predetermined rotation angles to obtain the target coefficient; according to the target coefficient, using the curve equation to calculate the coordinates of multiple current curve pixel points of the current reversing curve in the reversing image; performing curve fitting based on the coordinates of multiple current curve pixel points to obtain the current reversing curve. The technical solution of the present application only needs to call different curve equation coefficients to realize the change of the curvature of the reversing curve at different rotation angles, realizes the dynamic adjustment of the reversing trajectory, the implementation method is simple, the configuration is simplified, the cost is reduced, and the obtained reversing trajectory is intuitive and three-dimensional. In addition, the present method only needs to store the curve equation coefficients, saving storage resources.

Description

Technical Field

[0001] The present application relates to the field of vehicle navigation technology, and in particular to a method and device for realizing a dynamic reversing trajectory, a computer device, and a storage medium. Background Art

[0002] With the development of in-car navigation technology and the popularization of in-car navigation devices, in-car navigation with reversing image function has become a standard feature of vehicle body electronics and a necessity for car owners. The reversing image function mainly uses the steering wheel angle information of the vehicle body to superimpose the reversing auxiliary line on the reversing rear view image, and then outputs it to the in-car screen to assist the driver in selecting the reversing line.

[0003] There are two main types of reversing auxiliary lines on the market. Figure 1 The reverse auxiliary line shown is one of them. Figure 1 It can be seen that this type of reversing auxiliary line is a straight reversing line, which is rigid and stereotyped, not three-dimensional, and cannot be adjusted according to the actual situation. Another method requires adding a flash control circuit inside the image sensor, using flash to store the pre-edited reversing line image, and then reading the corresponding reversing line image from the external flash storage unit and superimposing the reversing rear view image for output. Although this method can theoretically realize the dynamic adjustment of the reversing line, on the one hand, storing images requires more storage resources; on the other hand, such a system configuration is complex and requires additional hardware costs. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present application provides a method and device for realizing a dynamic reversing trajectory, a computer device and a storage medium to solve the problems in the prior art that the dynamic reversing auxiliary line occupies a lot of storage resources, is complex to realize and has high cost.

[0005] In a first aspect, the present application provides a method for realizing a dynamic reversing trajectory, the method comprising: acquiring a current rotation angle of a steering wheel in real time; acquiring a curve equation coefficient corresponding to the current rotation angle from curve equation coefficients corresponding to a plurality of pre-stored predetermined rotation angles to obtain a target coefficient; calculating, according to the target coefficient, a plurality of current curve pixel point coordinates of a current reversing curve in a reversing image using the curve equation; and performing curve fitting based on the plurality of current curve pixel point coordinates to obtain the current reversing curve.

[0006] Furthermore, before obtaining the current turning angle of the steering wheel, it also includes: a. obtaining a simulated reversing curve corresponding to a predetermined turning angle formed on a simulated image of the same size as the reversing image; b. obtaining coordinates of multiple simulated curve pixel points on the simulated reversing curve; c. obtaining coefficients of a curve equation corresponding to the simulated reversing curve using a curve fitting method based on the multiple simulated curve pixel point coordinates, thereby obtaining the curve equation coefficients corresponding to the predetermined turning angle; d. repeating steps a to c to obtain curve equation coefficients corresponding to multiple different predetermined turning angles; e. storing each predetermined turning angle and its corresponding curve equation coefficient.

[0007] Furthermore, the curve equation is: X = A n *Y n +A n-1 *Y n-1 +…+A 1 *Y+A 0 ; Among them, X represents the horizontal coordinate, Y n A represents the vertical axis. n Represents the coefficients of the curve equation.

[0008] Further, the acquiring coordinates of a plurality of simulated curve pixel points on the simulated reverse curve comprises: determining a plurality of simulated curve pixel points with equal intervals on the simulated reverse curve, and acquiring the coordinates of the plurality of simulated curve pixel points.

[0009] Furthermore, the method further includes: superimposing the current reversing curve into the reversing image, and displaying the reversing image.

[0010] In the second aspect, the present application provides a device for implementing a dynamic reversing trajectory, which includes: an angle acquisition module, configured to acquire the current rotation angle of the steering wheel in real time; a target coefficient acquisition module, configured to acquire the curve equation coefficient corresponding to the current rotation angle from the curve equation coefficients corresponding to multiple pre-stored predetermined rotation angles, so as to obtain the target coefficient; a current coordinate calculation module, configured to calculate the coordinates of multiple current curve pixel points of the current reversing curve in the reversing image according to the target coefficient using the curve equation; a fitting module, configured to perform curve fitting based on the multiple current curve pixel point coordinates to obtain the current reversing curve.

[0011] Furthermore, the device also includes: a simulated reversing curve acquisition module, configured to acquire a simulated reversing curve corresponding to a predetermined rotation angle formed on a simulated image of the same size as the reversing image; a simulated coordinate acquisition module, configured to acquire coordinates of multiple simulated curve pixel points on the simulated reversing curve; a simulated coefficient acquisition module, configured to acquire coefficients of a curve equation corresponding to the simulated reversing curve by a curve fitting method based on the multiple simulated curve pixel point coordinates, thereby obtaining the curve equation coefficients corresponding to the predetermined rotation angle; and a storage module, configured to store each predetermined rotation angle and its corresponding curve equation coefficient.

[0012] Furthermore, the curve equation is: X = A n *Y n +A n-1 *Y n-1 +…+A 1 *Y+A 0 ; Where X represents the horizontal coordinate, Y n Indicates the vertical axis, A n Represents the coefficients of the curve equation.

[0013] Furthermore, the simulation coordinate acquisition module determines a plurality of simulation curve pixel points with equal spacing on the simulation reversing curve, and acquires the coordinates of the plurality of simulation curve pixel points.

[0014] Furthermore, the device further comprises: a display module configured to superimpose the current reversing curve into the reversing image and display the reversing image.

[0015] In a third aspect, the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps described in any of the above methods when executing the program.

[0016] In a fourth aspect, the present application provides a computer storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps described in any of the above methods.

[0017] In the implementation method of the dynamic reversing trajectory provided in the embodiment of the present application, the implementation device of the dynamic reversing trajectory pre-stores a plurality of predetermined rotation angles and their corresponding curve equation coefficients. When the current rotation angle of the steering wheel is obtained, the curve equation coefficient corresponding to the current rotation angle is found from the device, and according to the curve equation coefficient (i.e., the target coefficient), the curve equation can be used to calculate the coordinates of the multiple current curve pixels of the current reversing curve in the reversing image. Finally, the corresponding curve can be fitted according to the calculated coordinates of the multiple current curve pixels, that is, the current reversing curve is obtained. Since the rotation angle of the steering wheel is obtained in real time, when the rotation angle of the steering wheel changes, the corresponding curve equation coefficient can be called according to the new rotation angle, that is, the trajectory of the reversing line is adjusted in real time as the angle of the steering wheel changes, and finally a dynamically changing reversing trajectory is obtained. This embodiment only needs to call different curve equation coefficients to change the curvature of the reversing curve at different turning angles, that is, to achieve dynamic adjustment of the reversing trajectory. The implementation method is simple, the system configuration is simplified, and the cost is reduced. The reversing trajectory obtained by this solution is intuitive and three-dimensional, which can more effectively assist the driver to reverse to a safe area. In addition, this method only needs to store the curve equation coefficients, saving storage resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0019] Figure 1 The figure shows a reversing auxiliary line in the prior art;

[0020] Figure 2 Shown is a flow chart of a method for realizing a dynamic reversing trajectory provided by an embodiment of the present application;

[0021] Figure 3 The simulated reverse curve image outputted when the steering wheel is not turned in one embodiment of the present application;

[0022] Figure 4 The simulated reverse curve image outputted when the vehicle is turned to the left at the maximum rotation angle according to an embodiment of the present application;

[0023] Figure 5 The simulated reverse curve image outputted when the vehicle is turned rightwards to the maximum rotation angle according to an embodiment of the present application;

[0024] Figure 6 FIG. 1 is a schematic diagram of sampling a simulated reverse curve corresponding to a maximum left turning angle provided by an embodiment of the present invention;

[0025] Figure 7FIG. 1 is a schematic diagram of sampling a simulated reverse curve corresponding to a maximum rightward turning angle provided by an embodiment of the present invention;

[0026] Figure 8 It is a schematic diagram of the structure of a device for realizing a dynamic reversing trajectory provided by an embodiment of the present application; and

[0027] Fig. 9 The figure is a schematic diagram of the structure of a computer system of a server or terminal device suitable for implementing an embodiment of the present application. DETAILED DESCRIPTION

[0028] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0029] The subject for executing the actions of each step in the method for realizing the dynamic reversing trajectory provided in the embodiment of the present application may be the device for realizing the dynamic reversing trajectory provided in the embodiment of the present application, and the device may be built into a vehicle-mounted navigator, for example, it may be integrated into the image sensor of a rear-view camera. For the convenience of description, the subject for executing the actions of each step in the method for realizing the dynamic reversing trajectory provided in the embodiment of the present application is set as the device for realizing the dynamic reversing trajectory provided in the embodiment of the present application.

[0030] Figure 2 FIG. 1 is a flow chart of a method for realizing a dynamic reversing trajectory provided by an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0031] Step 210: Acquire the current rotation angle of the steering wheel in real time.

[0032] Step 220: Obtain the curve equation coefficient corresponding to the current rotation angle from the pre-stored curve equation coefficients corresponding to a plurality of predetermined rotation angles, so as to obtain the target coefficient.

[0033] Step 230: Calculate the coordinates of multiple current curve pixel points of the current reversing curve in the reversing image using the curve equation according to the target coefficient.

[0034] Step 240: performing curve fitting based on the coordinates of multiple current curve pixel points to obtain the current reversing curve.

[0035] Here, the current rotation angle refers to the rotation angle of the steering wheel of the vehicle at the current moment, which can be obtained by acquiring angle information of a steering wheel angle sensor via a controller area network (CAN) bus inside the vehicle.

[0036] The curve equation coefficient refers to the conversion relationship between the steering wheel rotation angle and the curvature of the reverse curve.

[0037] The reversing image is an image output by the image sensor of the rear-view camera. Those skilled in the art will appreciate that the image output by the image sensor is composed of a plurality of pixels, and the plane composed of the pixels can be used as a coordinate plane, and each pixel coordinate represents a position coordinate, and the pixel coordinates of the reversing curve in the plane composed of the pixels in the reversing image can be used as the position coordinates of the reversing curve.

[0038] In the implementation method of the dynamic reversing trajectory provided in the embodiment of the present application, the implementation device of the dynamic reversing trajectory pre-stores a plurality of predetermined rotation angles and their corresponding curve equation coefficients. When the current rotation angle of the steering wheel is obtained, the curve equation coefficient corresponding to the current rotation angle is found from the device, and according to the curve equation coefficient (i.e., the target coefficient), the curve equation can be used to calculate the coordinates of the multiple current curve pixels of the current reversing curve in the reversing image. Finally, the corresponding curve can be fitted according to the calculated coordinates of the multiple current curve pixels, that is, the current reversing curve is obtained. Since the rotation angle of the steering wheel is obtained in real time, when the rotation angle of the steering wheel changes, the corresponding curve equation coefficient can be called according to the new rotation angle, that is, the trajectory of the reversing line is adjusted in real time as the angle of the steering wheel changes, and finally a dynamically changing reversing trajectory is obtained. This embodiment only needs to call different curve equation coefficients to change the curvature of the reversing curve at different turning angles, that is, to achieve dynamic adjustment of the reversing trajectory. The implementation method is simple, the system configuration is simplified, and the cost is reduced. The reversing trajectory obtained by this solution is intuitive and three-dimensional, which can more effectively assist the driver to reverse to a safe area. In addition, this method only needs to store the curve equation coefficients, saving storage resources.

[0039] In one embodiment of the present application, before obtaining the current rotation angle of the steering wheel, the method further includes the following steps:

[0040] a. Acquire a simulated reversing curve corresponding to a predetermined rotation angle formed on a simulated image of the same size as the reversing image.

[0041] Regarding the rotation angle of the steering wheel, it can be understood by those skilled in the art that when the car does not rotate, the rotation angle of the steering wheel is the minimum, which is 0°; when the steering wheel rotates, it is divided into two situations: left rotation and right rotation. Generally, the maximum rotation angles of left rotation and right rotation are 40° to 45°. In either case of left rotation or right rotation, multiple rotation angles can be divided between the minimum rotation angle and the maximum rotation angle to obtain multiple predetermined rotation angles. Among them, the preset interval for dividing the predetermined rotation angle can be set differently according to specific needs, such as 0.05°, 0.2°, 1° or 2°, etc., and this application does not limit this. It can be understood that the smaller the preset interval, the finer the division of the angle between the minimum rotation angle and the maximum rotation angle of the steering wheel, and the more predetermined rotation angles and their corresponding simulated reverse curves of different shapes are obtained, that is, the finer the division of simulated reverse curves of different curvatures, the higher the accuracy.

[0042] For example, by dividing the angle between the minimum rotation angle of 0° and the maximum rotation angle of 40° of the steering wheel into preset intervals of 0.2°, 200 predetermined rotation angles between 0° and 40° can be obtained.

[0043] For each predetermined rotation angle, a corresponding simulated reversing curve can be drawn on a simulated image of the same size as the reversing image, and the shape of the simulated reversing curve can be set according to actual needs. That is, in the embodiment of the present application, the simulated reversing curves corresponding to each predetermined rotation angle are drawn in the simulated image in advance, so that the device for realizing the dynamic reversing trajectory of the embodiment of the present application can obtain the simulated reversing curve formed on the simulated image. The simulated reversing curve can be selected as one or two. In one embodiment, two simulated reversing curves on the left and right are selected for each predetermined rotation angle. Figure 3 to Figure 5 They are respectively the simulated reverse curves set in the embodiment of the present application when the steering wheel is not turned, turned to the left at the maximum turning angle, and turned to the right at the maximum turning angle. Figure 3 to Figure 5 It can be seen that when the steering wheel is not turned, the corresponding simulated reversing curves are set to two straight lines, and when the steering wheel is turned to the left at the maximum turning angle and to the right at the maximum turning angle, the corresponding simulated reversing curves are set to two curves.

[0044] b. Obtain the coordinates of multiple simulated curve pixel points on the simulated reversing curve.

[0045] The simulated curve pixel points are the pixel points on the simulated reverse curve in the simulated image. Specifically, taking a simulated image with a resolution of 480*640 (each horizontal line includes 640 pixels, a total of 480 lines, that is, the number of scan columns is 640 columns and the number of rows is 480 rows) as an example, if the pixel points in the simulated image are arranged from left to right and from top to bottom, the following is obtained:

[0046] The coordinates of the first pixel are (1, 1);

[0047] The coordinates of the second pixel are (1, 2);

[0048] The coordinates of the third pixel are (1, 3);

[0049] …

[0050] The coordinates of the 640th pixel are (1, 640);

[0051] The coordinates of the 641th pixel are (2, 1);

[0052] The coordinates of the 642nd pixel are (2, 2);

[0053] …

[0054] The coordinates of the last pixel are (480, 640).

[0055] That is to say, in the pixel plane, a coordinate system is established with the upper left corner of the image as the origin, the row coordinates of the pixel as the horizontal coordinate X, and the column coordinates of the pixel as the vertical coordinate Y. In this coordinate system, the coordinates of each pixel can be expressed as:

[0056] (1,1)(1,2)…(1,640)

[0057] (2,1)(2,2)…(2,640)

[0058] …………

[0059] (480,1)(480,2)…(480,640)

[0060] Since each point on the simulated reversing curve has a corresponding pixel point in the pixel plane and its coordinates are determined, when the simulated reversing curve is formed on the simulated image, the coordinates of the simulated curve pixel points on the simulated reversing curve are also determined. Obtaining the coordinates of multiple simulated curve pixel points on the simulated reversing curve means selecting the coordinates of multiple pixel points on the simulated reversing curve in the simulated image, and these simulated curve pixel points are used as points to be fitted for curve fitting.

[0061] In one embodiment, multiple simulated curve pixel points can be selected at equal intervals on the simulated reversing curve to obtain points to be fitted, and the coordinates of the multiple simulated curve pixel points can be obtained. The selected spacing and the number of pixel points can be set differently according to specific needs, and this application does not limit this. It can be understood that the smaller the selected spacing, the more the number of simulated curve pixel points, and the higher the fitting accuracy obtained.

[0062] In the embodiment of the present application, since two simulated reversing curves are selected for each turning angle, it is necessary to select multiple simulated curve pixel points on the two simulated reversing curves as a group of points to be fitted, and obtain the coordinates of the multiple simulated curve pixel points on the two simulated reversing curves. Figure 6 and Figure 7 Shown are schematic diagrams of sampling a simulated reversing curve corresponding to a maximum left turning angle and a maximum right turning angle provided by an embodiment of the present invention.

[0063] c. According to the coordinates of the pixel points of the multiple simulated curves, the curve equation coefficients corresponding to the simulated reverse curve are obtained by using a curve fitting method, thereby obtaining the curve equation coefficients corresponding to the predetermined rotation angle.

[0064] Specifically, polynomial (such as univariate high-order polynomial) curve fitting can be performed on multiple simulation curve pixel points to obtain curve equation coefficients corresponding to the simulated reverse curve, thereby obtaining the curve equation coefficients corresponding to the predetermined rotation angle.

[0065] In one embodiment, no matter it is a simulated reversing curve or a current reversing curve, the corresponding curve equation is the following curve equation:

[0066] X=A n *Y n +A n-1 *Y n-1 +…+A 1 *Y+A 0 …………(1)

[0067] Among them, X represents the horizontal coordinate of the pixel point on the reversing curve, Y represents the vertical coordinate of the pixel point on the reversing curve, and A n It represents the coefficient of the curve equation. It can be understood that different shapes of reverse curves have different corresponding coefficients of the curve equation.

[0068] After obtaining the coordinates of multiple simulated curve pixel points, substitute the coordinates of multiple simulated curve pixel points into the above curve equation. At this time, for the above curve equation, n represents the number of simulated curve pixel points, X represents the horizontal coordinate of the simulated curve pixel point, and Y represents the horizontal coordinate of the simulated curve pixel point. n ~Y represents the ordinate of n simulated curve pixel points, A n ~A represents the coefficient of the curve equation (1), and thus the coefficient of the curve equation corresponding to the simulated reverse curve can be obtained by curve fitting through multiple known coordinates on the simulated reverse curve.

[0069] It can be seen that by substituting the horizontal and vertical coordinates of a set of points to be fitted (n simulated curve pixel points) into the above polynomials, the coefficient A of the corresponding curve equation can be obtained by solving the univariate high-order equation group. 0,A 1 ,…,A n-1 ,A n , which can be obtained by Matlab fitting.

[0070] d. Repeat steps a to c to obtain the curve equation coefficients corresponding to multiple different predetermined rotation angles;

[0071] e. Store each predetermined rotation angle and its corresponding curve equation coefficient.

[0072] That is, the curve equation coefficients at each predetermined rotation angle can be determined by executing steps a to c, and then the storage module is used to store each predetermined rotation angle and its corresponding curve equation coefficient for later retrieval and application.

[0073] In this way, after obtaining the current rotation angle of the steering wheel, the pre-stored curve equation coefficient corresponding to the rotation angle can be retrieved, and the curve equation coefficient can be substituted into the above curve equation (1), so that the curve equation is determined, and then the corresponding current reversing curve in the reversing image is calculated according to the curve equation (1) after the coefficient is substituted. The process is equivalent to the process of obtaining multiple coordinates that satisfy the curve equation through the curve equation with the determined coefficient. Specifically, the coordinates of the pixel points corresponding to the current reversing curve in each row of the image can be obtained in the form of row scanning (because when scanning a row of the image, the column coordinates of the pixel points in the row have been determined, and the row coordinates of the pixel points corresponding to the reversing curve in the row can be obtained by simply substituting the column coordinates into the curve equation), so as to fit the reversing trajectory according to the determined position coordinates, that is, the corresponding reversing curve is obtained, and the trajectory of the reversing curve is adjusted in real time with the change of the rotation angle of the steering wheel to form a dynamic reversing trajectory. At the same time, this trajectory is superimposed on the reversing image to obtain and display the reversing trajectory image to assist the driver in reversing.

[0074] The method obtains the corresponding curve equation coefficients by fitting a plurality of simulated curve pixel points selected on the simulated reversing curve through a univariate high-order polynomial. The implementation algorithm is simple, and the storage of the curve equation coefficients and the drawing of the reversing trajectory can be achieved through the storage unit and the drawing unit integrated in the image sensor. The configuration is simple and flexible, and the cost performance of the image sensor chip can also be improved.

[0075] Figure 8 FIG. 1 is a device for realizing a dynamic reversing trajectory provided by an embodiment of the present invention, such as Figure 8 As shown, the device 800 includes:

[0076] Angle acquisition module 801, configured to acquire the current rotation angle of the steering wheel in real time;

[0077] The target coefficient acquisition module 802 is configured to acquire the curve equation coefficient corresponding to the current rotation angle from the pre-stored curve equation coefficients corresponding to the plurality of predetermined rotation angles, so as to obtain the target coefficient;

[0078] The current coordinate calculation module 803 is configured to calculate the coordinates of multiple current curve pixel points of the current reversing curve in the reversing image using the curve equation according to the target coefficient; and

[0079] The fitting module 804 is configured to perform curve fitting based on the coordinates of multiple current curve pixel points to obtain the current reversing curve.

[0080] In the implementation device 800 of the dynamic reversing trajectory provided by the embodiment of the present application, after the angle acquisition module 801 acquires the current rotation angle of the steering wheel, the target coefficient acquisition module 802 acquires the curve equation coefficient corresponding to the current rotation angle from the curve equation coefficients corresponding to the pre-stored multiple predetermined rotation angles to obtain the target coefficient, and then the current coordinate calculation module 803 uses the curve equation to calculate the multiple current curve pixel point coordinates of the current reversing curve in the reversing image, and finally the fitting module 804 fits the corresponding curve according to the calculated multiple current curve pixel point coordinates, that is, the current reversing curve is obtained. Since the present device acquires the rotation angle of the steering wheel in real time, when the rotation angle of the steering wheel changes, the corresponding curve equation coefficient can be retrieved according to the new rotation angle, that is, the trajectory of the reversing line is adjusted in real time as the angle of the steering wheel changes, and finally a dynamically changing reversing trajectory is obtained. The device can change the curvature of the reversing curve at different turning angles by simply calling different curve equation coefficients, that is, it realizes the dynamic adjustment of the reversing trajectory. The implementation method is simple, the system configuration is simplified, and the cost is reduced. The reversing trajectory obtained by this solution is intuitive and three-dimensional, which can more effectively assist the driver to reverse to a safe area. In addition, the device only needs to store the curve equation coefficients, saving storage resources.

[0081] In one embodiment of the present application, Figure 8 As shown, the device 800 also includes:

[0082] A simulated backing curve acquisition module 805 is configured to acquire a simulated backing curve corresponding to a predetermined rotation angle formed on a simulated image of the same size as the backing image;

[0083] A simulation coordinate acquisition module 806, configured to acquire coordinates of a plurality of simulation curve pixel points on the simulated reverse curve;

[0084] A simulation coefficient acquisition module 807 is configured to acquire the coefficients of the curve equation corresponding to the simulated reverse curve by using a curve fitting method according to the coordinates of the pixel points of the multiple simulation curves, thereby obtaining the coefficients of the curve equation corresponding to the predetermined rotation angle; and

[0085] The storage module 808 is configured to store each predetermined rotation angle and its corresponding curve equation coefficient.

[0086] In one embodiment, the simulation coefficient acquisition module 807 uses the following curve equation to perform polynomial curve fitting on multiple simulation curve pixel points:

[0087] X=A n *Y n +A n-1 *Y n-1 +…+A 1 *Y+A 0 ;

[0088] Among them, X represents the horizontal coordinate of the pixel point on the reversing curve, Y represents the vertical coordinate of the pixel point on the reversing curve, and A n Represents the coefficients of the curve equation.

[0089] It should be noted that, for each predetermined rotation angle, the simulated reversing curve acquisition module 805 can obtain the simulated reversing curve corresponding to the predetermined rotation angle, and then determine the curve equation coefficient under the predetermined rotation angle through the simulation coordinate acquisition module 806 and the simulation coefficient acquisition module 807, and then use the storage module 808 to store the curve equation coefficients corresponding to multiple different predetermined rotation angles for the target coefficient acquisition module 802 to retrieve and apply.

[0090] In the device provided in this embodiment, the simulation coefficient acquisition module 807 obtains the corresponding curve equation coefficient by fitting a plurality of simulation curve pixel points selected on the simulated reversing curve through a univariate high-order polynomial. The implementation algorithm is simple, and the storage module 804 for storing the curve equation coefficient and the simulation reversing curve acquisition module 805 can be implemented by a unit integrated inside the image sensor. The configuration is simple and flexible, and the cost performance of the image sensor chip is also improved.

[0091] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0092] It should be understood that the modules recorded in the device 800 correspond to the various steps in the method described above. Therefore, the operations and features described above for the method are also applicable to the device 800 and the units contained therein, and will not be repeated here. The device 800 can be pre-implemented in a browser or other security application of an electronic device, or can be loaded into the browser or its security application of the electronic device by downloading or the like. The corresponding units in the device 800 can cooperate with the units in the electronic device to implement the solution of the embodiment of the present application.

[0093] For the several modules or units mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0094] Reference below Fig. 9 , which shows a schematic diagram of the structure of a computer system 100 of a server or terminal device suitable for implementing an embodiment of the present application.

[0095] like Fig. 9 As shown, the computer system 100 includes a central processing unit (CPU) 101, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 102 or a program loaded from a storage part 108 into a random access memory (RAM) 103. In the RAM 103, various programs and data required for the operation of the system 100 are also stored. The CPU 101, the ROM 102, and the RAM 103 are connected to each other through a bus 104. An input / output (I / O) interface 105 is also connected to the bus 104.

[0096] The following components are connected to the I / O interface 105: an input section 106 including a keyboard, a mouse, etc.; an output section 107 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 108 including a hard disk, etc.; and a communication section 109 including a network interface card such as a LAN card, a modem, etc. The communication section 109 performs communication processing via a network such as the Internet. A drive 110 is also connected to the I / O interface 105 as needed. A removable medium 111, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 110 as needed, so that a computer program read therefrom is installed into the storage section 108 as needed.

[0097] In particular, according to an embodiment of the present application, the above reference flow chart Figure 2The described process can be implemented as a computer software program. For example, the present application includes a computer program product, which includes a computer program carried on a machine-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 109, and / or installed from the removable medium 111. When the computer program is executed by the central processing unit (CPU) 101, the above-mentioned functions defined in the system of the present application are executed.

[0098] It should be noted that the computer-readable medium shown in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0099] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to the various embodiments disclosed in the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of the code, and the aforementioned module, program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0100] The units or modules involved in the embodiments described in the present disclosure may be implemented by software or hardware. The units or modules described may also be set in a processor, for example, may be described as: a processor includes an angle acquisition module 801, a target coefficient acquisition module 802, a current coordinate calculation module 803, and a fitting module 804. The names of these modules do not, in some cases, constitute a limitation on the units or modules themselves, for example, the angle acquisition module 801 may also be described as a "module for acquiring angles in real time".

[0101] As another aspect, the present application further provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable storage medium stores one or more programs, and when the above programs are used by one or more processors to execute the configuration method described in the present application.

[0102] For example, electronic devices can implement Figure 2 Shown: Step 210 - Step 240 .

[0103] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. A method for realizing a dynamic reversing trajectory, characterized in that: The method comprises: Get the current rotation angle of the steering wheel in real time; Obtaining a curve equation coefficient corresponding to the current rotation angle from curve equation coefficients corresponding to a plurality of pre-stored predetermined rotation angles, so as to obtain a target coefficient; According to the target coefficient, using the curve equation to calculate the coordinates of multiple current curve pixel points of the current reversing curve in the reversing image; Performing curve fitting based on the coordinates of the multiple current curve pixel points to obtain a current reversing curve; Wherein, the curve equation is: X = A n *AND n + A n-1 *AND n-1 +…+ A1*Y + A0; Among them, X represents the horizontal coordinate of the pixel point on the reversing curve, Y n Represents the ordinate of the pixel point on the reversing curve, A n represents the coefficient of the curve equation, and n represents the number of pixel points on the reversing curve.

2. The method according to claim 1, characterized in that Before getting the current rotation angle of the steering wheel, it also includes: a. acquiring a simulated reversing curve corresponding to a predetermined rotation angle formed on a simulated image of the same size as the reversing image; b. Obtaining coordinates of multiple simulated curve pixel points on the simulated reversing curve; c. according to the coordinates of the plurality of simulated curve pixel points, using a curve fitting method to obtain the coefficients of the curve equation corresponding to the simulated reversing curve, thereby obtaining the coefficients of the curve equation corresponding to the predetermined rotation angle; d. Repeat steps a to c to obtain the curve equation coefficients corresponding to multiple different predetermined rotation angles; e. Store each predetermined rotation angle and its corresponding curve equation coefficient.

3. The method according to claim 2, characterized in that The acquiring coordinates of a plurality of simulated curve pixel points on the simulated reverse curve comprises: determining a plurality of simulated curve pixel points with equal spacing on the simulated reverse curve, and acquiring the coordinates of the plurality of simulated curve pixel points.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: The current reversing curve is superimposed on the reversing image, and the reversing image is displayed.

5. A device for realizing a dynamic reversing trajectory, characterized in that: The device comprises: An angle acquisition module, configured to acquire the current rotation angle of the steering wheel in real time; a target coefficient acquisition module, configured to acquire the curve equation coefficient corresponding to the current rotation angle from the pre-stored curve equation coefficients corresponding to a plurality of predetermined rotation angles, so as to obtain the target coefficient; a current coordinate calculation module configured to calculate the coordinates of a plurality of current curve pixel points of the current reversing curve in the reversing image using a curve equation according to the target coefficient; A fitting module, configured to perform curve fitting based on the coordinates of the plurality of current curve pixel points to obtain a current reversing curve; Wherein, the curve equation is: X = A n *AND n + A n-1 *AND n-1 +…+ A1*Y + A0; Among them, X represents the horizontal coordinate of the pixel point on the reversing curve, Y n Represents the ordinate of the pixel point on the reversing curve, A n represents the coefficient of the curve equation, and n represents the number of pixel points on the reversing curve.

6. The device according to claim 5, characterized in that The device also includes: A simulated reversing curve acquisition module, configured to acquire a simulated reversing curve corresponding to a predetermined rotation angle formed on a simulated image of the same size as the reversing image; A simulation coordinate acquisition module, configured to acquire coordinates of a plurality of simulation curve pixel points on the simulated reverse curve; a simulation coefficient acquisition module configured to acquire the coefficients of the curve equation corresponding to the simulated reverse curve by using a curve fitting method according to the coordinates of the plurality of simulated curve pixel points, thereby obtaining the curve equation coefficients corresponding to the predetermined rotation angle; and The storage module is configured to store each predetermined rotation angle and its corresponding curve equation coefficient.

7. The device according to claim 5 or 6, characterized in that The device also includes: The display module is configured to superimpose the current reversing curve onto the reversing image and display the reversing image.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 4 are implemented.

9. A computer storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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