Method, device and computer-readable storage medium for calibrating reversing trajectory lines of motor vehicles

Abstract

This invention provides a method, apparatus, and computer-readable storage medium for calibrating a motor vehicle reversing trajectory. The method includes the following steps: importing the vehicle's hardware data into a pre-constructed simulated reversing scene to generate a three-dimensional motion model of the vehicle; adding simulated reversing trajectory lines of the vehicle at various steering wheel angles on the ground of the simulated reversing scene; simulating the vehicle reversing along the simulated reversing trajectory line corresponding to the current steering wheel angle within the simulated reversing scene based on the three-dimensional motion model; obtaining an original simulated image by capturing the simulated reversing trajectory line corresponding to the current steering wheel angle using a simulated reversing camera; correcting image distortion in the original simulated image to obtain a corrected simulated image; and extracting a target reversing trajectory line of the vehicle at the corresponding steering wheel angle from each corrected simulated image. This embodiment can effectively improve the calibration efficiency and accuracy of reversing trajectory lines.

Description

Technical Field

[0001] The present invention relates to the field of motor vehicle assisted driving technology, and in particular to a method, device and computer-readable storage medium for calibrating a motor vehicle reversing trajectory. Background Technology

[0002] Existing motor vehicles are usually equipped with reversing trajectory lines for the driver to refer to when reversing. Before the vehicle leaves the factory, the reversing trajectory lines usually need to be marked in the vehicle's imaging system.

[0003] Currently, one existing method for drawing reversing trajectory lines for motor vehicles mainly relies on a calibration site with reversing trajectory lines drawn at different steering wheel rotation angles. The specific principle includes: first, controlling the steering wheel of a motor vehicle parked at the initial position of the reversing trajectory line to rotate by a corresponding angle, and then reversing along a reversing trajectory line. At the same time, during the reversing process, the reversing camera on the motor vehicle captures the reversing trajectory line on the ground. Finally, the reversing trajectory line in the image captured by the reversing camera is extracted and added to the motor vehicle reversing image system to complete the calibration.

[0004] However, the inventors found in practice that the above method requires controlling the vehicle to move along the reversing trajectory line. When the vehicle deviates from the trajectory line, the reversing camera cannot accurately capture the reversing trajectory line, which ultimately reduces the accuracy of the calibrated reversing trajectory line. In addition, after capturing each reversing trajectory line, the vehicle needs to be controlled to return to the initial position of the reversing trajectory line. However, repeatedly adjusting the vehicle to return to the initial position takes a lot of time, resulting in low calibration efficiency. Summary of the Invention

[0005] The technical problem to be solved by the embodiments of the present invention is to provide a method for calibrating the reversing trajectory line of a motor vehicle, which can effectively improve the calibration efficiency and accuracy of the reversing trajectory line.

[0006] A further technical problem to be solved by the embodiments of the present invention is to provide a vehicle reversing trajectory calibration device, which can effectively improve the calibration efficiency and accuracy of reversing trajectory lines.

[0007] A further technical problem to be solved by the embodiments of the present invention is to provide a computer-readable storage medium for storing a computer medium that can effectively improve the calibration efficiency and calibration accuracy of reversing trajectory lines.

[0008] To solve the above-mentioned technical problems, the present invention first provides the following technical solution: a method for calibrating a reversing trajectory line of a motor vehicle, comprising the following steps:

[0009] The hardware data of the motor vehicle is imported into a pre-built simulated reversing scene to generate a three-dimensional motion model of the motor vehicle. The hardware data includes the three-dimensional dimensions of the motor vehicle body and the installation data of the reversing camera.

[0010] Based on the predetermined initial position of the motor vehicle in the simulated reversing scenario and the pre-stored two-dimensional reversing trajectory lines of the motor vehicle's steering wheel at different turning angles, simulated reversing trajectory lines of the motor vehicle at each turning angle are added to the ground of the simulated reversing scenario.

[0011] Based on the three-dimensional motion model, the vehicle is simulated to reverse along the simulated reversing trajectory line corresponding to the current steering wheel angle in the simulated reversing scene according to different steering wheel angles. During the driving process, the reversing camera is simulated to capture the simulated reversing trajectory line corresponding to the current steering wheel angle to obtain the original simulated image.

[0012] By combining the pre-stored distortion parameters of the reversing camera, the original simulated image is subjected to image distortion correction to obtain a corrected simulated image; and

[0013] A target reversing trajectory line is extracted from each of the calibration simulation images when the steering wheel of the motor vehicle turns at the corresponding angle, and the target reversing trajectory line is output to the reversing image system of the motor vehicle to complete the calibration of the reversing trajectory line.

[0014] Furthermore, the simulated reversing scenario is obtained by constructing optical simulation software.

[0015] Furthermore, the simulated reversing scenario also includes simulated markers at predetermined positions on the simulated reversing trajectory line, and the target reversing trajectory line is extracted from the corrected simulation image by identifying each simulated marker.

[0016] Furthermore, the two-dimensional reversing trajectory line is calculated based on the turning radius of the vehicle and the steering wheel angle of the vehicle.

[0017] Furthermore, the installation data of the reversing camera includes at least the installation angle and installation height on the vehicle.

[0018] On the other hand, in order to solve the above-mentioned further technical problems, the present invention provides the following technical solution: a motor vehicle reversing trajectory calibration device, which is connected to the reversing image system of a motor vehicle, the motor vehicle reversing trajectory calibration device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements the motor vehicle reversing trajectory calibration method as described in any one of the above.

[0019] Furthermore, in order to solve the aforementioned technical problems, the present invention provides the following technical solution: a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the motor vehicle reversing trajectory calibration method as described in any one of the above.

[0020] After adopting the above technical solution, the embodiments of the present invention have at least the following beneficial effects: The embodiments of the present invention generate a three-dimensional motion model of a motor vehicle in a simulated reversing scenario, and then, based on the predetermined initial position of the motor vehicle in the simulated reversing scenario and the pre-stored two-dimensional reversing trajectory lines of the motor vehicle's steering wheel at different turning angles, add simulated reversing trajectory lines of the motor vehicle's steering wheel at different turning angles on the ground of the simulated reversing scenario. Further, based on the three-dimensional motion model, the motor vehicle is simulated to reverse along the simulated reversing trajectory line corresponding to the current steering wheel turning angle in the simulated reversing scenario, thereby simulating the reversing camera to capture the simulated reversing trajectory line. It is not necessary to actually control the motor vehicle in the calibration site. The whole process only needs to be generated in the simulated reversing scenario, which can also effectively improve the accuracy of calibration. Then, the image distortion correction is performed on the original simulated image to obtain the corrected simulated image for the reversing image system of the motor vehicle. Finally, a target reversing trajectory line of the motor vehicle's steering wheel at the corresponding turning angle is extracted from each corrected simulated image and output to the reversing image system of the motor vehicle to complete the calibration of the reversing trajectory line. The overall calibration process is relatively simple and the calibration efficiency is higher. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating the steps of an optional embodiment of the method for calibrating the reversing trajectory of a motor vehicle according to the present invention.

[0022] Figure 2 This is a schematic diagram of the original simulation image of an optional embodiment of the motor vehicle reversing trajectory calibration method of the present invention.

[0023] Figure 3 This is a schematic diagram of a calibration simulation image for an optional embodiment of the motor vehicle reversing trajectory calibration method of the present invention.

[0024] Figure 4 This is a schematic diagram of an optional embodiment of the motor vehicle reversing trajectory calibration device of the present invention.

[0025] Figure 5 This is a functional block diagram of an optional embodiment of the motor vehicle reversing trajectory calibration device of the present invention. Detailed Implementation

[0026] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the following illustrative embodiments and descriptions are only used to explain the present invention and are not intended to limit the present invention. Moreover, the embodiments and features in the embodiments of the present application can be combined with each other unless otherwise specified.

[0027] like Figure 1 As shown, an optional embodiment of the present invention provides a method for calibrating the reversing trajectory of a motor vehicle, comprising the following steps:

[0028] S1: Import the hardware data of the motor vehicle into a pre-built simulated reversing scene to generate a three-dimensional motion model of the motor vehicle. The hardware data includes the three-dimensional dimensions of the motor vehicle body and the installation data of the reversing camera.

[0029] S2: Based on the predetermined initial position of the motor vehicle in the simulated reversing scenario and the pre-stored two-dimensional reversing trajectory lines of the motor vehicle's steering wheel at different turning angles, add simulated reversing trajectory lines of the motor vehicle at each turning angle on the ground of the simulated reversing scenario.

[0030] S3: Based on the three-dimensional motion model, the vehicle is simulated to reverse along the simulated reversing trajectory line corresponding to the current steering wheel angle in the simulated reversing scene at different steering wheel angles. During the reversing process, the reversing camera is simulated to capture the simulated reversing trajectory line corresponding to the current steering wheel angle to obtain the original simulated image, such as... Figure 2 As shown;

[0031] S4: Combine the pre-stored distortion parameters of the reversing camera to perform image distortion correction on the original simulated image to obtain a corrected simulated image, such as... Figure 3 As shown; and

[0032] S5: Extract a target reversing trajectory line of the vehicle's steering wheel at the corresponding turning angle from each of the calibration simulation images, and output the target reversing trajectory line to the vehicle's reversing image system to complete the calibration of the reversing trajectory line.

[0033] This invention generates a three-dimensional motion model of a motor vehicle within a simulated reversing scenario. Then, based on the vehicle's predetermined initial position within the simulated scenario and pre-stored two-dimensional reversing trajectory lines of the steering wheel at different turning angles, simulated reversing trajectory lines of the steering wheel at different turning angles are added to the ground of the simulated reversing scenario. Further, based on the three-dimensional motion model, the invention simulates the vehicle reversing along the simulated reversing trajectory lines corresponding to different steering wheel turning angles within the simulated reversing scenario. This simulates a reversing camera capturing the simulated reversing trajectory lines, eliminating the need to actually control the vehicle within the calibration area. The entire process only requires generation within the simulated reversing scenario, effectively improving calibration accuracy. Image distortion correction is then performed on the original simulated image to obtain a corrected simulated image for display by the vehicle's reversing image system. Finally, a target reversing trajectory line of the vehicle's steering wheel at the corresponding turning angle is extracted from each corrected simulated image and output to the vehicle's reversing image system, thus completing the reversing trajectory line calibration. The overall calibration process is relatively simple and highly efficient.

[0034] In practice, the steering wheel of a traditional motor vehicle can typically rotate 1.5 revolutions clockwise and counterclockwise from the origin position corresponding to the wheels facing directly forward, for a total of 3 revolutions, which is equivalent to -540 to +540 degrees. To improve the accuracy of reversing, a two-dimensional reversing trajectory line can be pre-calculated for every 5 to 10 degrees of steering wheel rotation, and a target reversing trajectory line can be simulated. Of course, to reduce the amount of data processing, a target reversing trajectory line can also be simulated for every 10 to 20 degrees of steering wheel rotation.

[0035] In an optional embodiment of the present invention, the simulated reversing scene is constructed using optical simulation software. In this embodiment, the simulated reversing scene is generated using optical simulation software, and a three-dimensional motion model of the vehicle is generated within the simulated reversing scene, allowing for a simple and convenient acquisition of the original simulated image from the simulated reversing scene. In specific implementations, the optical simulation software may be ANSYS SPEOS.

[0036] In an optional embodiment of the present invention, the simulated reversing scenario further includes simulated markers at predetermined positions along the simulated reversing trajectory line. The target reversing trajectory line is extracted from the calibrated simulated image by identifying each simulated marker. In this embodiment, by including simulated markers at predetermined positions along the simulated reversing trajectory line, it is convenient to extract the target reversing trajectory line from each calibrated simulated image after it has been generated, by identifying the vertices of the simulated markers in the calibrated simulated image. Furthermore, the simulated markers can be used to mark the distance information of the simulated reversing trajectory line for the driver's reference. Figure 2 and Figure 3As shown in the figure, the simulated calibration rod on the simulated reversing trajectory line is the simulated marker.

[0037] In an optional embodiment of the present invention, the two-dimensional reversing trajectory line is calculated based on the turning radius of the vehicle and the steering wheel angle. In this embodiment, the two-dimensional reversing trajectory line can be quickly obtained by combining the turning radius of the vehicle and the steering wheel angle using simple mathematical calculations, and the calculation process is simple.

[0038] In an optional embodiment of the present invention, the installation data of the reversing camera includes at least the installation angle and installation height on the vehicle. In this embodiment, the installation data of the reversing camera includes at least the installation angle and installation height, ensuring that the original simulated image obtained in the simulated reversing scenario matches the image captured by the actual reversing camera on the vehicle as closely as possible, which helps to improve the accuracy of calibration.

[0039] On the other hand, such as Figure 4 As shown, this embodiment of the invention provides a motor vehicle reversing trajectory calibration device 1, which is connected to the reversing image system 3 of the motor vehicle. The motor vehicle reversing trajectory calibration device 1 includes a processor 10, a memory 12, and a computer program stored in the memory 12 and configured to be executed by the processor 10. When the processor 10 executes the computer program, it implements the motor vehicle reversing trajectory calibration method as described in any of the above.

[0040] For example, the computer program can be divided into one or more modules / units, which are stored in the memory 12 and executed by the processor to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the motor vehicle reversing trajectory calibration device 1. For example, the computer program can be divided into... Figure 5 The functional modules in the motor vehicle reversing trajectory calibration device 1 include the model generation module 21, the trajectory line addition module 22, the original image acquisition module 23, the image correction module 24, and the trajectory line extraction module 25, which respectively perform the above steps S1-S5.

[0041] The vehicle reversing trajectory calibration device 1 can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The vehicle reversing trajectory calibration device 1 may include, but is not limited to, a processor 10 and a memory 12. Those skilled in the art will understand that the schematic diagram is merely an example of the vehicle reversing trajectory calibration device 1 and does not constitute a limitation on the device. It may include more or fewer components than shown in the diagram, or combine certain components, or use different components. For example, the vehicle reversing trajectory calibration device 1 may also include input / output devices, network access devices, buses, etc.

[0042] The processor 10 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor. The processor 10 is the control center of the vehicle reversing trajectory calibration device 1, connecting all parts of the device via various interfaces and lines.

[0043] The memory 12 can be used to store the computer program and / or modules. The processor 10 implements various functions of the motor vehicle reversing trajectory calibration device 1 by running or executing the computer program and / or modules stored in the memory 12 and calling the data stored in the memory 12. The memory 12 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as image recognition function, image overlay function, etc.), etc.; the data storage area may store data created according to the use of the calibration device (such as image data, etc.). In addition, the memory 12 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0044] If the functions described in the embodiments of the present invention are implemented in the form of software functional modules or units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the embodiments of the present invention can implement all or part of the processes in the methods described above, or they can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by the processor 10, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0045] In another aspect, embodiments of the present invention provide a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the motor vehicle reversing trajectory calibration method as described in any of the preceding claims.

[0046] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0047] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the scope of protection of the present invention.

Claims

1. A method for calibrating the reversing trajectory of a motor vehicle, characterized in that, The method includes the following steps: The hardware data of the motor vehicle is imported into a pre-built simulated reversing scene to generate a three-dimensional motion model of the motor vehicle. The hardware data includes the three-dimensional dimensions of the motor vehicle body and the installation data of the reversing camera. Based on the predetermined initial position of the motor vehicle in the simulated reversing scenario and the pre-stored two-dimensional reversing trajectory lines of the motor vehicle's steering wheel at different turning angles, simulated reversing trajectory lines of the motor vehicle at each turning angle are added to the ground of the simulated reversing scenario. Based on the three-dimensional motion model, the vehicle is simulated to reverse along the simulated reversing trajectory line corresponding to the current steering wheel angle in the simulated reversing scene according to different steering wheel angles. During the driving process, the reversing camera is simulated to capture the simulated reversing trajectory line corresponding to the current steering wheel angle to obtain the original simulated image. By combining the pre-stored distortion parameters of the reversing camera, the original simulated image is subjected to image distortion correction to obtain a corrected simulated image; and A target reversing trajectory line is extracted from each of the calibration simulation images when the steering wheel of the motor vehicle turns at the corresponding angle, and the target reversing trajectory line is output to the reversing image system of the motor vehicle to complete the calibration of the reversing trajectory line.

2. The method for calibrating the reversing trajectory line of a motor vehicle as described in claim 1, characterized in that, The simulated reversing scenario was constructed using optical simulation software.

3. The method for calibrating the reversing trajectory line of a motor vehicle as described in claim 1 or 2, characterized in that, The simulated reversing scenario also includes simulated markers at predetermined positions on the simulated reversing trajectory line. The target reversing trajectory line is extracted from the corrected simulation image by identifying each simulated marker.

4. The method for calibrating the reversing trajectory line of a motor vehicle as described in claim 1, characterized in that, The two-dimensional reversing trajectory line is calculated based on the turning radius of the vehicle and the angle of the steering wheel.

5. The method for calibrating the reversing trajectory line of a motor vehicle as described in claim 1, characterized in that, The installation data for the reversing camera includes at least the installation angle and installation height on the vehicle.

6. A motor vehicle reversing trajectory calibration device, connected to the motor vehicle's reversing camera system, characterized in that, The vehicle reversing trajectory calibration device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the vehicle reversing trajectory calibration method as described in any one of claims 1 to 5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the motor vehicle reversing trajectory calibration method as described in any one of claims 1 to 5.

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