Vehicle auxiliary alignment system, method and device

Abstract

The invention provides a vehicle auxiliary alignment system, method and device, and aims to solve the technical problems of time consumption and precision in vehicle alignment. The system comprises a target deployed on a target vehicle; the target camera is deployed on the vehicle and collects a real-time target pattern in the alignment process; the first target tracker and the first signal feedback element are respectively arranged on the own vehicle and the target vehicle and are matched to form first distance data; correspondingly, the second target tracker is matched with the second signal feedback element to form second distance data; the controller is used for storing the basic data and calibration data under the alignment state of the target vehicle and the vehicle, judging the alignment error between the vehicle and the target vehicle in the alignment process according to the calibration data and forming error correction data; and the display terminal orderly displays the calibration image, the real-time image information, the error correction prompt information and the alignment state information in the alignment process according to a display strategy. An error rapid convergence process in the alignment process is established, and the alignment efficiency and precision are ensured.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle auxiliary alignment system, method and device. Background Art

[0002] As a kind of transportation equipment, vehicles often need to be aligned with target devices or target vehicles during use to complete engineering tasks. For example, when a tractor is connected to a trailer, the tractor and trailer often need to be aligned so that the two can be connected smoothly; some tasks require mechanical devices installed on different vehicles to work together, which requires the relative parking accuracy between vehicles. In the process of aligning the vehicle with the target, it depends on the driver's subjective visual perception, or on the constant prompting of the driver by the support personnel outside the vehicle, and then the vehicle is operated and controlled accordingly. It often takes multiple adjustments to confirm the alignment, which takes a long time and the alignment accuracy is difficult to guarantee. In extreme cases, the vehicle may collide with the target due to improper operation. Summary of the invention

[0003] In view of the above problems, the embodiments of the present invention provide a vehicle auxiliary alignment system, method and device to solve the technical problems that vehicle alignment takes a long time and alignment accuracy is difficult to ensure.

[0004] The vehicle auxiliary alignment system according to an embodiment of the present invention comprises:

[0005] A target, which is deployed on a target vehicle to form a two-dimensional pattern;

[0006] A target camera, arranged on the vehicle, for collecting a real-time target pattern toward the target during the alignment process;

[0007] A first target tracker is arranged on the vehicle and located on one side of the target camera, and is used for controlled emission and collection of a first ToF signal to form first distance data;

[0008] A first signal feedback element is used to be deployed on the target vehicle opposite to the first target tracker to form a dominant reflection interface for reflecting the first ToF signal;

[0009] A second target tracker is arranged on the other side of the vehicle target camera and is spaced apart from the first target tracker, and is used for controlled emission and collection of a second ToF signal to form second distance data;

[0010] A second signal feedback element is used to be deployed on the target vehicle opposite to the second target tracker to form a dominant reflection interface for reflecting the second ToF signal;

[0011] A controller, used to store basic data, calibration data when the target vehicle and the self-vehicle are in an aligned state, determine the alignment error between the self-vehicle and the target vehicle during the alignment process according to the calibration data, and form error correction data according to the alignment error;

[0012] The display terminal is used to display the calibration image and real-time image information, error correction prompt information and alignment status information in the alignment process in an orderly manner according to the display strategy.

[0013] In one embodiment of the present invention, the ToF signal type includes infrared, laser or wireless directional signal, and the first target tracker and the second target tracker are axially symmetrically arranged on both sides of the target camera.

[0014] The vehicle auxiliary alignment method implemented by the present invention comprises:

[0015] Forming calibration data according to the axial image, distance and angle features between the self-vehicle and the target vehicle in the alignment state, the calibration data including the axial calibration patterns, distance calibration data and angle calibration data of the self-vehicle and the target vehicle;

[0016] During the alignment process, the calibration pattern is matched with the axial target pattern of the target vehicle collected in real time for image feature matching, and the lateral operation of the self-vehicle is performed according to the image feature error to adjust the axial centering of the self-vehicle and the target vehicle;

[0017] During the alignment process, the distance characteristics are matched between the target vehicle and the redundant distance data collected in real time by the ego vehicle according to the distance calibration data, and the ego vehicle is operated according to the distance characteristic error to adjust the alignment distance between the ego vehicle and the target vehicle;

[0018] During the alignment process, the angle features are matched based on the angle calibration data and the distance redundant data collected in real time, and the ego vehicle is operated based on the angle feature error to adjust the alignment angle between the ego vehicle and the target vehicle;

[0019] A digital interactive display environment is formed in the display terminal. During the alignment process, the relative position and posture of the self-vehicle and the target vehicle are displayed through the digital interactive display environment. The calibration image and real-time image information, error elimination correction information and alignment status information are displayed along with the self-vehicle operation.

[0020] In one embodiment of the present invention, the forming of calibration data includes:

[0021] Determine the position of the calibration pattern on the display terminal in the alignment state, which is used for comparison with the real-time axial target pattern collected by the vehicle target camera during the alignment process;

[0022] Determine the distance between the target vehicle and the self-vehicle and the tolerable distance error threshold when in the alignment state;

[0023] Determine the tolerance threshold of the angle error between the target vehicle and the self-vehicle and the steering wheel rotation in the alignment state.

[0024] In one embodiment of the present invention, the performing lateral operation of the vehicle according to the axial image feature error includes:

[0025] During the alignment process, the characteristic error between the target pattern of the target vehicle collected in real time and the calibration pattern is judged, and the target pattern is made to fall into the contour of the calibration pattern of the self-vehicle by manipulating the lateral movement of the self-vehicle to complete the axial alignment of the self-vehicle and the target vehicle.

[0026] In one embodiment of the present invention, the self-driving operation according to the distance characteristic error includes:

[0027] Acquire first distance data and second distance data between the vehicle and the target vehicle;

[0028] If the sum of the first distance and the second distance is greater than twice the calibration distance, the vehicle is prompted to move toward the target vehicle, and the moving distance is the difference between the average of the first distance and the second distance and the distance calibration data;

[0029] If the sum of the first distance and the second distance is less than twice the calibrated distance, the vehicle is prompted to move away from the target vehicle, and the moving distance is the difference between the calibrated distance and the average of the first distance and the second distance;

[0030] When the moving distance is less than the distance error threshold pr, it indicates that the vehicle meets the alignment distance requirement.

[0031] In one embodiment of the present invention, the self-driving operation according to the angle characteristic error includes:

[0032] Acquire first distance data and second distance data between the self-vehicle and the target vehicle and simultaneously acquire spacing data of corresponding distance sensors;

[0033] When the first distance is greater than the second distance, the vehicle is operated to turn in the direction of reducing the first distance, and the steering wheel rotation angle is: q = k*arcsin((d1-d2) / L), d1 is the first distance, d2 is the second distance, L is the distance between the two distance sensors, k is the angle adjustment coefficient, and q is the steering wheel rotation angle;

[0034] When the first distance is smaller than the second distance, the vehicle is operated to turn in a direction that increases the first distance, and the steering wheel rotation angle is: q = k*arcsin((d2-d1) / L);

[0035] When the turning angle is less than the angle error threshold, it indicates that the vehicle meets the alignment angle requirement.

[0036] In one embodiment of the present invention, the display of the relative position and posture of the self-vehicle and the target vehicle, display of the calibration image and real-time image information, error elimination correction information and alignment status information along with the self-vehicle operation includes:

[0037] Displaying the calibration pattern as a reference pattern, taking the real-time axial target pattern captured by the ego vehicle camera caused by the movement of the ego vehicle as a controlled moving pattern, and moving the ego vehicle during the alignment process so that the axial target pattern gradually overlaps with the calibration pattern;

[0038] During the alignment process, the correction prompts of distance and angle are displayed according to the vehicle operation;

[0039] During the alignment process, the alignment status prompt is displayed according to the vehicle operation.

[0040] The vehicle auxiliary alignment device according to an embodiment of the present invention comprises:

[0041] A memory, used to store program codes corresponding to the above-mentioned vehicle auxiliary alignment method processing process;

[0042] A processor is used to execute the program code.

[0043] The vehicle auxiliary alignment device according to an embodiment of the present invention comprises:

[0044] A state calibration module, used to form calibration data according to the axial image, distance and angle features between the self-vehicle and the target vehicle in the alignment state, the calibration data including the axial calibration pattern, distance calibration data and angle calibration data of the self-vehicle and the target vehicle;

[0045] The axial alignment module is used to match the image features of the calibration pattern of the self-vehicle with the axial target pattern of the target vehicle collected in real time during the alignment process, perform lateral operation of the self-vehicle according to the image feature error, and adjust the axial centering of the self-vehicle and the target vehicle;

[0046] The distance alignment module is used to match the distance characteristics of the target vehicle and the redundant distance data collected in real time between the ego vehicle and the target vehicle according to the distance calibration data during the alignment process, perform ego vehicle operations according to the distance characteristic errors, and adjust the alignment distance between the ego vehicle and the target vehicle;

[0047] An angle alignment module is used to match angle features according to angle calibration data and distance redundant data collected in real time during the alignment process, perform ego vehicle operations according to angle feature errors, and adjust the alignment angle between the ego vehicle and the target vehicle;

[0048] The alignment interaction module is used to form a digital interactive display environment in the display terminal. During the alignment process, the relative position and posture of the self-vehicle and the target vehicle are displayed through the digital interactive display environment, and the calibration image and real-time image information, error elimination correction information and alignment status information are displayed along with the self-vehicle operation.

[0049] The vehicle auxiliary alignment system, method and device of the embodiment of the present invention form a supervision mechanism for the axis, distance and angle during the vehicle alignment process, establish a rapid error convergence process during the alignment process, and ensure the alignment efficiency and accuracy. The axial alignment limited error range is established by axially comparing the calibration pattern with the real-time pattern, and the error range of the angle and distance is reduced by redundant distance data within the limited axial error range to complete the rapid correction of the vehicle posture. It can serve as the error perception basis for both manual and automatic correction methods, has a wide range of alignment flexibility, and can be applied to various types of vehicle alignment scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 The figure shows a functional structure diagram of a vehicle auxiliary alignment system according to an embodiment of the present invention.

[0051] Figure 2 Shown is a schematic diagram of the layout structure of a vehicle auxiliary alignment system according to an embodiment of the present invention.

[0052] Figure 3 FIG. 1 is a flow chart of a vehicle auxiliary alignment method according to an embodiment of the present invention.

[0053] Figure 4 Shown is a schematic diagram of a digital interactive display interface during an alignment operation in a vehicle auxiliary alignment method according to an embodiment of the present invention.

[0054] Figure 5 FIG. 1 is a schematic diagram of the structure of a vehicle auxiliary alignment device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] The functional structure of the vehicle auxiliary alignment system according to an embodiment of the present invention is as follows: Figure 1 As shown, the layout structure is as follows Figure 2 As shown. Combined Figure 1 and Figure 2 As shown, this embodiment includes:

[0057] Target 01 is used to be deployed on the target vehicle to form a two-dimensional pattern. It is opposite to the target camera deployed on the vehicle.

[0058] The target is used as an image acquisition object during the alignment process. The two-dimensional pattern reflects the axial characteristics of the vehicle. The two-dimensional pattern usually includes a reference pattern and a contour pattern of quantitative differences. When the target vehicle and the self-vehicle are in alignment, the viewing axis of the target camera and the determined reference point or reference range of the two-dimensional pattern form an axial overlap.

[0059] The target camera 02 is arranged on the vehicle and is used to collect real-time target patterns toward the target during the alignment process.

[0060] Those skilled in the art can understand that the target vehicle and the self-vehicle in the alignment state need to satisfy quantitative factors such as axial position, relative distance and relative angle. The offset difference of the axial reference position between the target vehicle and the self-vehicle during the alignment process can be quantified by comparing the calibration pattern reflecting the self-vehicle axis established in the alignment state with the real-time target pattern of the target vehicle. The target camera is usually equipped with a display screen, and the auxiliary lines related to the viewing axis displayed on the display screen can be used as the calibration pattern of the self-vehicle axis.

[0061] The first target tracker 03 is installed on the vehicle and located on one side of the target camera, and is controlled to emit and collect the first ToF (Time of flight) signal to form the first distance data. A distance sensor is usually used.

[0062] Taking the framing axis of the target camera as the projection direction, the first target tracker and the target camera have a certain distance in the same projection plane. Those skilled in the art can understand that the first target tracker can use a general ToF sensor to obtain the first distance data by transmitting and receiving ToF signals. The signal types of the ToF sensor include but are not limited to infrared, laser or wireless directional signals.

[0063] The first signal feedback element 04 is used to be deployed on the target vehicle opposite to the first target tracker to form a dominant reflection interface for reflecting the first ToF (Time of flight) signal.

[0064] The first signal feedback element may be a mirror or a reflector to ensure that the ToF signal is not excessively attenuated during the reflection process.

[0065] The second target tracker 05 is arranged on the vehicle, located on the other side of the target camera and spaced apart from the first target tracker, and is used for controlled emission and collection of a second ToF (Time of flight) signal to form second distance data. A distance sensor is usually used.

[0066] The second target tracker and the target camera are at a certain distance in the same projection plane. Those skilled in the art will appreciate that the second target tracker may use a general ToF sensor to obtain the second distance data by transmitting and receiving ToF signals. The signal types of the ToF sensor include but are not limited to infrared, laser or wireless directional signals.

[0067] The second signal feedback element 06 is used to be deployed on the target vehicle opposite to the second target tracker, to form a dominant reflection interface for reflecting the second ToF (Time of flight) signal, and to record the distance between the first target tracker and the second target tracker or between the first signal feedback element and the second signal feedback element.

[0068] In one embodiment of the present invention, the second target tracker and the first target tracker are axially symmetrically arranged on both sides of the target camera. Correspondingly, the second signal feedback element and the first signal feedback element are arranged at corresponding positions on the target vehicle. In the aligned state, the distance information represented by the first distance data and the second distance data is the same.

[0069] The controller 07 is used to store basic data and calibration data when the target vehicle and the self-vehicle are in an aligned state, determine the alignment error between the self-vehicle and the target vehicle during the alignment process according to the calibration data, and form error correction data according to the alignment error.

[0070] The basic data includes but is not limited to the distance record between the first target tracker and the second target tracker, and the distance record between the first signal feedback element and the second signal feedback element. As the basic data of the distance sensor in the system, the distance record can also be input through manual feedback.

[0071] Those skilled in the art will appreciate that the alignment state between the target vehicle and the self-vehicle may be a state when the tractor and trailer are successfully connected, or a state when mechanical devices mounted on different vehicles cooperate successfully, or a state when the target vehicle and the self-vehicle maintain an accurate parking posture.

[0072] The calibration data includes the relative distance and relative angle between the target vehicle and the self-vehicle when they are in the alignment state, and the calibration pattern that feedbacks the axial characteristics when in the alignment state. The calibration data is used as a reference to judge the alignment errors of the axial direction, distance and angle during the alignment process, and the correction data for eliminating the errors is formed according to the alignment errors. The correction data can be used to form prompt information for eliminating the alignment errors for the driver's reference, or to form control instructions to control the working conditions of the drive assembly, steering assembly and brake assembly of the self-vehicle.

[0073] Those skilled in the art can understand that the target vehicle and the self-vehicle in the alignment state have mutual constraints, and have a certain relative distance, relative angle and relative axis. The self-vehicle reference pattern in the alignment state is axially aligned and mapped with the target pattern of the target vehicle, so that the self-vehicle reference pattern forms a calibration pattern, and the axial offset difference between the target vehicle and the self-vehicle is determined by comparing the real-time target pattern with the calibration pattern during the alignment process.

[0074] The display terminal 08 is used to display the calibration image and real-time image information, error correction prompt information and alignment status information in the alignment process in an orderly manner according to the display strategy.

[0075] The image and error correction data are output according to the alignment strategy, and the calibration image and real-time image information are formatted and displayed according to the preset display strategy. At the same time, the error correction data is formatted into prompt information for manual operation, and combined with the human-computer interaction structure (for the vehicle's drive assembly, steering assembly and brake assembly), manual correction prompts for the alignment process are provided.

[0076] The vehicle auxiliary alignment system of the embodiment of the present invention forms a supervision mechanism for the axis, distance and angle during the vehicle alignment process, establishes a rapid error convergence process during the alignment process, and ensures the alignment efficiency and accuracy. The axial error limited error range is established by axially comparing the calibration pattern with the real-time pattern, and the error range of the angle and distance is reduced by redundant distance data within the limited axial error range to complete the rapid correction of the vehicle posture. It can serve as the error perception basis for both manual and automatic correction methods, has a wide range of alignment flexibility, and can be applied to various types of vehicle alignment scenarios.

[0077] A vehicle auxiliary alignment method according to an embodiment of the present invention is as follows Figure 3 As shown. Figure 3 The method of this embodiment, which is formed by utilizing the signal acquisition-processing-display capability provided by the vehicle auxiliary alignment system of the above embodiment, includes:

[0078] Step 100: Calibration data is formed according to the axial image, distance and angle features between the self-vehicle and the target vehicle in the aligned state, and the calibration data includes the axial calibration patterns, distance calibration data and angle calibration data of the self-vehicle and the target vehicle.

[0079] Those skilled in the art can understand that when the purpose of aligning the two vehicles is achieved, there is an optimal distance (or distance range) and angle (or angle range) between the adjacent parts of the two vehicles, and at the same time, the alignment of the local relative parts on the adjacent parts of the two vehicles can determine the alignment of the contours of the two vehicles. The optimal distance and angle can be used as distance calibration data and angle calibration data. The distance calibration data and angle calibration data also include related judgment threshold data, judgment logic data and judgment association data. The overlap of the relative reference pattern in the local relative parts can reflect the axial centering when the overall contours of the two vehicles are aligned, and the relative reference pattern is used as an axial calibration pattern. The degree of overlap of the relative reference pattern reflects the axial characteristics that characterize the degree of alignment between the three-dimensional contours of the two vehicles.

[0080] Step 200: During the alignment process, the calibration pattern is matched with the axial target pattern of the target vehicle collected in real time for image features, and the lateral operation of the self-vehicle is performed according to the image feature error to adjust the axial centering of the self-vehicle and the target vehicle.

[0081] During the alignment process, the axial target pattern of the target vehicle (as the calibration pattern) is used as a relatively unchanged reference position. As the vehicle is operated during the alignment process, there is a continuous error change between the calibration pattern reflected by the self-vehicle display terminal and the axial target pattern of the target vehicle. The purpose of the lateral operation of the self-vehicle is to reduce the error of the image features reflecting the axial alignment between the two patterns. When the calibration pattern of the self-vehicle coincides with the target pattern (or basically coincides within a certain error range), the axial centering is met and the contours of the two vehicles are basically aligned.

[0082] Step 300: During the alignment process, distance feature matching is performed between the target vehicle and the redundant distance data collected in real time by the ego vehicle according to the distance calibration data, and the ego vehicle is operated according to the distance feature error to adjust the alignment distance between the ego vehicle and the target vehicle.

[0083] Those skilled in the art can understand that the point-to-point distance between the target vehicle and the self-vehicle through a set of relative points cannot obtain the reliable distance between the two adjacent end faces. Only the redundant distance obtained through at least two sets of relative points can basically determine the relative posture between the two adjacent end faces. The larger the spacing between the sets of relative points, the more conducive to quantifying the relative distance between the two adjacent end faces. The purpose of the self-vehicle operation is to reduce the distance characteristic error between the distance calibration data and the distance redundant data until the distance between the self-vehicle and the target vehicle meets the alignment distance and the threshold of the alignment distance.

[0084] Step 400: During the alignment process, angle feature matching is performed based on the angle calibration data and the distance redundant data collected in real time, and the ego vehicle is operated based on the angle feature error to adjust the alignment angle between the ego vehicle and the target vehicle.

[0085] Those skilled in the art can understand that the basic relative posture between two adjacent end faces can be quantified by two distance redundant data. The relative posture can be characterized by the angle between the two adjacent end faces. A trigonometric function relationship between distance and angle can be established based on the two sets of distance sensor distance data that form the two distance redundant data and the error vector between the two redundant distances. The purpose of the self-vehicle operation is to reduce the angle characteristic error until the axial angle between the self-vehicle and the target vehicle meets the alignment angle and the threshold of the alignment angle.

[0086] Step 500: A digital interactive display environment is formed in the display terminal. During the alignment process, the relative position and posture of the self-vehicle and the target vehicle are displayed through the digital interactive display environment, and the calibration image and real-time image information, error elimination correction information and alignment status information are displayed along with the self-vehicle operation.

[0087] The digital interactive display environment forms a graphical dynamic display of the operation results during the alignment process. The display content includes but is not limited to:

[0088] The pattern matching process, matching error information, and suggested correction information when matching the axial features of the two vehicles;

[0089] Matching calibration information, matching error information, and suggested correction information when matching the distance characteristics of two vehicles;

[0090] Matching calibration information, matching error information, and suggested correction information when matching the angle features of the two vehicles.

[0091] The vehicle auxiliary alignment method of the embodiment of the present invention realizes vehicle auxiliary alignment by aligning the calibration patterns of the two vehicles. The distance between the two vehicles is adjusted by the collected distance redundant data to realize distance alignment. The angle deflection of the two vehicles is adjusted by the angle between the two vehicles formed by the collected distance redundant data to realize angle alignment. An interactive display environment is provided to form a comprehensive display of operation process data feedback, and the operation purpose, operation error and operation suggestion are accompanied by the operation process, which helps to improve the driver's operation level. The method is simple and real-time, and can effectively improve the efficiency and accuracy of vehicle alignment.

[0092] like Figure 3 As shown, in one embodiment of the present invention, step 100 includes:

[0093] Step 110: Determine the position of the calibration pattern in the display terminal in the alignment state, for comparison with the axial target pattern captured by the vehicle target camera during the alignment process.

[0094] In one embodiment of the present invention, a (cross-shaped) contour pattern is formed on a display terminal to characterize image features and error tolerance thresholds during axial feature matching; the contour pattern is a target pattern captured by a camera when the self-vehicle and the target vehicle are in alignment, and an error threshold is added to the contour.

[0095] In the alignment state, the target camera of the vehicle captures the linear pattern of the target vehicle, and the projection of the linear pattern in the display terminal falls into the contour pattern. On the basis of satisfying the axial feature matching, the axial calibration pattern can adopt other forms.

[0096] Step 120: Determine the distance between the target vehicle and the vehicle itself and a tolerable distance error threshold in the alignment state.

[0097] The purpose of the alignment state is to meet the requirements of the combination or spacing of the two vehicles. In the alignment state, there is a reasonable range of distance between the target vehicle and the self-vehicle, and the reasonable distance range can be determined by calibrating the tolerable distance error threshold. The distance between the two vehicles can be obtained using several collection methods, and the location, type and spacing of the collection method settings can be used as part of the distance calibration data.

[0098] Step 130: Determine the angle error tolerance threshold between the target vehicle and the self-vehicle and the steering wheel rotation in the alignment state.

[0099] Those skilled in the art can understand that there is an angle requirement between the two axles in a certain alignment state. There is also a reasonable range for the angle between the target vehicle and the vehicle in the alignment state. The reasonable angle range can be determined by forming an error tolerance threshold by calibrating the angle and the angle range of the steering wheel rotation.

[0100] The vehicle auxiliary alignment method of the embodiment of the present invention forms calibration data by collecting determined working conditions and alignment margins in the alignment state, thereby providing a rich data measurement basis for the control accuracy and control efficiency of the subsequent alignment process.

[0101] like Figure 3 As shown, in one embodiment of the present invention, step 200 includes:

[0102] Step 210: During the alignment process, the characteristic error between the target pattern of the target vehicle collected in real time and the calibration pattern is determined, and the target pattern is made to fall into the contour of the calibration pattern of the self-vehicle by manipulating the lateral movement of the self-vehicle to complete the axial alignment of the self-vehicle and the target vehicle.

[0103] In one embodiment of the present invention, the calibration pattern is associated with the captured image of the target camera and is deployed on a screen associated with the target camera image output.

[0104] The vehicle auxiliary alignment method of the embodiment of the present invention uses the image acquisition technology to establish a real-time processing process for axial feature matching between the calibration pattern and the target pattern of the target vehicle, and provides an axial feature error feedback mechanism based on image recognition for the self-vehicle operation. The axial feature matching can be achieved based on the driver's experience or form an automatic feedback and control process, which expands the flexibility of technical application.

[0105] like Figure 3 As shown, in one embodiment of the present invention, step 300 includes:

[0106] Step 310: Obtain first distance data and second distance data between the vehicle and the target vehicle.

[0107] Step 320: If the sum of the first distance d1 and the second distance d2 is greater than twice the calibration distance d0, the vehicle is prompted to move toward the target vehicle, and the moving distance p is prompted to be the difference between the average value of the first distance d1 and the second distance d2 and the distance calibration data d0.

[0108] Step 330: If the sum of the first distance d1 and the second distance d2 is less than twice the calibrated distance d0, the vehicle is prompted to move away from the target vehicle, and the moving distance p is prompted to be the difference between the calibrated distance and the average value of the first distance d1 and the second distance d2.

[0109] Step 340: When the moving distance p is less than the distance error threshold pr, it is prompted that the vehicle meets the alignment distance requirement.

[0110] The vehicle auxiliary alignment method of the embodiment of the present invention utilizes redundant distance information to meet the accurate distance measurement between the contours of two vehicles, utilizes the measurement difference to characterize the relative distance between the overall contours of the two vehicles, and improves the accuracy and efficiency of the self-vehicle alignment operation process.

[0111] like Figure 3 As shown, in one embodiment of the present invention, step 400 includes:

[0112] Step 410: Acquire the first distance data and the second distance data between the vehicle and the target vehicle and simultaneously acquire the spacing data of the corresponding distance sensors.

[0113] Step 420: When the first distance d1 is greater than the second distance d2, the vehicle is operated to turn in a direction to reduce the first distance d1, and the steering wheel rotation angle is: q = k*arcsin((d1-d2) / L), L is the distance between the two distance sensors (i.e., the first target tracker and the second target tracker or the first feedback element and the second feedback element), and k is the angle adjustment coefficient. k is related to the vehicle steering assembly structure. q is the steering wheel rotation angle.

[0114] Step 430: When the first distance d1 is smaller than the second distance d2, the vehicle is operated to turn in a direction to increase the first distance d1, and the steering wheel turning angle is: q=k*arcsin((d2-d1) / L).

[0115] Step 440: When the rotation angle q is less than the angle error threshold qr, it is indicated that the vehicle meets the alignment angle requirement.

[0116] The vehicle auxiliary alignment method of the embodiment of the present invention utilizes redundant distance information to meet the accurate angle measurement between the contours of two vehicles, and utilizes the measurement difference to characterize the relative angle of the two vehicle axes, thereby improving the accuracy and efficiency of the self-vehicle alignment operation process.

[0117] like Figure 3 As shown, in one embodiment of the present invention, step 500 includes:

[0118] Step 510: Display the calibration pattern as a reference pattern, and use the real-time axial target pattern captured by the vehicle camera caused by the movement of the vehicle as a controlled moving pattern. During the alignment process, move the vehicle so that the axial target pattern gradually overlaps with the calibration pattern.

[0119] The digital interactive display interface during the alignment operation in the vehicle auxiliary alignment method according to an embodiment of the present invention is as follows: Figure 4 As shown. Combined Figure 3 As shown, the display terminal interface includes a real-time axial target pattern, the target pattern includes a real-time linear pattern, the calibration pattern includes a linear contour pattern, and the linear pattern and the contour pattern form a relative real-time movement with the vehicle operation.

[0120] Step 520: During the alignment process, correction prompts for distance and angle are displayed according to the vehicle operation.

[0121] like Figure 4 As shown, the interface of the display terminal includes error correction prompts for distance and angle during vehicle operation and misalignment patterns.

[0122] Step 530: During the alignment process, an alignment status prompt is displayed according to the vehicle operation.

[0123] like Figure 4 As shown, the display terminal interface includes correction prompt texts for distance and angle during vehicle operation and switchable alignment patterns.

[0124] The vehicle auxiliary alignment method of the embodiment of the present invention forms digital interactive graphic feedback accompanying the operation process, which satisfies the timely prompt and reliable feedback of the driver's operation behavior, is conducive to making up for the defects of human technology and forming good human-computer interaction accuracy.

[0125] A vehicle auxiliary alignment device according to an embodiment of the present invention comprises:

[0126] A memory, used to store program codes corresponding to the processing process of the vehicle auxiliary alignment method in the above embodiment;

[0127] The processor is used to execute the program code corresponding to the processing process of the vehicle auxiliary alignment method in the above embodiment.

[0128] The processor may be a DSP (Digital Signal Processor) digital signal processor, an FPGA (Field-Programmable Gate Array) field programmable gate array, an MCU (Microcontroller Unit) system board, a SoC (system on a chip) system board, or a PLC (Programmable Logic Controller) minimum system including I / O.

[0129] A vehicle auxiliary alignment device according to an embodiment of the present invention is as follows Figure 5 As shown. Figure 5 In this embodiment, the present invention includes:

[0130] A state calibration module 10, for forming calibration data according to the axial image, distance and angle features between the self-vehicle and the target vehicle in the alignment state, the calibration data including the axial calibration pattern, distance calibration data and angle calibration data of the self-vehicle and the target vehicle;

[0131] The axial alignment module 20 is used to match the calibration pattern with the axial target pattern of the target vehicle collected in real time during the alignment process, perform lateral operation of the self-vehicle according to the image feature error, and adjust the axial centering of the self-vehicle and the target vehicle;

[0132] The distance alignment module 30 is used to match the distance characteristics of the target vehicle and the redundant distance data collected in real time from the ego vehicle according to the distance calibration data during the alignment process, perform ego vehicle operation according to the distance characteristic error, and adjust the alignment distance between the ego vehicle and the target vehicle;

[0133] An angle alignment module 40 is used to match angle features according to angle calibration data and distance redundant data collected in real time during the alignment process, perform ego vehicle operation according to angle feature errors, and adjust the alignment angle between the ego vehicle and the target vehicle;

[0134] The alignment interaction module 50 is used to form a digital interactive display environment in the display terminal. During the alignment process, the relative position and posture of the self-vehicle and the target vehicle are displayed through the digital interactive display environment, and the calibration image and real-time image information, error elimination correction information and alignment status information are displayed along with the self-vehicle operation.

[0135] like Figure 5 As shown, in one embodiment of the present invention, the state calibration module 10 includes:

[0136] The pattern calibration unit 11 is used to determine the position of the calibration pattern in the display terminal in the alignment state, and is used to compare it with the axial target pattern collected by the target camera of the vehicle during the alignment process;

[0137] A distance calibration unit 12, used to determine the distance between the target vehicle and the self-vehicle and a tolerable distance error threshold when in an alignment state;

[0138] The angle calibration unit 13 is used to determine the angle between the target vehicle and the self-vehicle and the angle error tolerance threshold of the steering wheel rotation when in the alignment state.

[0139] like Figure 5 As shown, in one embodiment of the present invention, the axial alignment module 20 includes:

[0140] The operation adjustment unit 21 is used to determine the characteristic error between the target pattern and the calibration pattern of the target vehicle collected in real time during the alignment process, and to complete the axial alignment of the self-vehicle and the target vehicle by manipulating the lateral movement of the self-vehicle to make the target pattern fall into the contour of the self-vehicle calibration pattern.

[0141] like Figure 5 As shown, in one embodiment of the present invention, the distance alignment module 30 includes:

[0142] A distance acquisition unit 31 is used to acquire first distance data and second distance data between the vehicle and the target vehicle;

[0143] The proximity adjustment unit 32 is used to prompt the vehicle to move toward the target vehicle if the sum of the first distance and the second distance is greater than twice the calibration distance, and prompt the moving distance to be the difference between the average of the first distance and the second distance and the distance calibration data;

[0144] A distance adjustment unit 33 is used to prompt the vehicle to move away from the target vehicle if the sum of the first distance and the second distance is less than twice the calibration distance, and prompt the moving distance to be the difference between the calibration distance and the average value of the first distance and the second distance;

[0145] The distance confirmation unit 34 is used to prompt the vehicle to meet the alignment distance requirement when the moving distance is less than the distance error threshold pr.

[0146] like Figure 5 As shown, in one embodiment of the present invention, the angle alignment module 40 includes:

[0147] An associated angle unit 41 is used to obtain the first distance data and the second distance data between the self-vehicle and the target vehicle and obtain the spacing data of the corresponding distance sensor at the same time;

[0148] The angle forward unit 42 is used to operate the vehicle to rotate in a direction to reduce the first distance when the first distance is greater than the second distance. The steering wheel rotation angle is: q=k*arcsin((d1-d2) / L), d1 is the first distance, d2 is the second distance, L is the calibration distance between the two distance sensors (i.e., the first target tracker and the second target tracker or the first feedback element and the second feedback element), k is the angle adjustment coefficient, and q is the steering wheel rotation angle;

[0149] The angle reversing unit 43 is used to operate the vehicle to rotate in a direction to increase the first distance when the first distance is smaller than the second distance, and the steering wheel rotation angle is: q=k*arcsin((d2-d1) / L);

[0150] The angle confirmation unit 44 is used to prompt the vehicle to meet the alignment angle requirement when the rotation angle is less than the angle error threshold.

[0151] like Figure 5 As shown, in one embodiment of the present invention, the alignment interaction module 50 includes:

[0152] An interface establishment unit 51 is used to display the calibration pattern as a reference pattern, and to use the real-time axial target pattern captured by the ego vehicle camera caused by the movement of the ego vehicle as a controlled moving pattern, and to move the ego vehicle during the alignment process so that the axial target pattern gradually overlaps with the calibration pattern;

[0153] An error feedback unit 52, used to display correction prompts of distance and angle according to the vehicle operation during the alignment process;

[0154] The correction feedback unit 53 is used to display an alignment status prompt according to the vehicle operation during the alignment process.

[0155] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A vehicle auxiliary alignment system, characterized in that: include: A target, which is used to be deployed on a target vehicle to form a two-dimensional pattern; A target camera, disposed on the vehicle, for collecting a real-time target pattern toward the target during the alignment process; A first target tracker is arranged on the vehicle and located on one side of the target camera, and is used for controlled emission and collection of a first ToF signal to form first distance data; A first signal feedback element is used to be deployed on the target vehicle opposite to the first target tracker to form a dominant reflection interface for reflecting the first ToF signal; A second target tracker is arranged on the vehicle, located on the other side of the target camera and spaced apart from the first target tracker, and is used for controlled emission and collection of a second ToF signal to form second distance data; A second signal feedback element is used to be deployed on the target vehicle opposite to the second target tracker to form a dominant reflection interface for reflecting the second ToF signal; A controller, used to store basic data, calibration data when the target vehicle and the self-vehicle are in an aligned state, determine the alignment error between the self-vehicle and the target vehicle during the alignment process according to the calibration data, and form error correction data according to the alignment error; The display terminal is used to display the calibration image and real-time image information, error correction prompt information and alignment status information in the alignment process in an orderly manner according to the display strategy.

2. The vehicle auxiliary alignment system according to claim 1, characterized in that: The ToF signal type includes infrared, laser or wireless directional signal, and the first target tracker and the second target tracker are axially symmetrically arranged on both sides of the target camera.

3. A vehicle auxiliary alignment method, characterized in that: include: Forming calibration data according to the axial image, distance and angle features between the self-vehicle and the target vehicle in the alignment state, the calibration data including the axial calibration patterns, distance calibration data and angle calibration data of the self-vehicle and the target vehicle; During the alignment process, the calibration pattern is matched with the axial target pattern of the target vehicle collected in real time for image feature matching, and the lateral operation of the vehicle is performed according to the image feature error to adjust the axial centering of the vehicle and the target vehicle. During the alignment process, the distance characteristics are matched between the target vehicle and the redundant distance data collected in real time by the ego vehicle according to the distance calibration data, and the ego vehicle is operated according to the distance characteristic error to adjust the alignment distance between the ego vehicle and the target vehicle; During the alignment process, the angle features are matched based on the angle calibration data and the distance redundant data collected in real time, and the ego vehicle is operated according to the angle feature error to adjust the alignment angle between the ego vehicle and the target vehicle; A digital interactive display environment is formed in the display terminal. During the alignment process, the relative position and posture of the self-vehicle and the target vehicle are displayed through the digital interactive display environment. The calibration image and real-time image information, error elimination correction information and alignment status information are displayed along with the self-vehicle operation.

4. The vehicle auxiliary alignment method according to claim 3, characterized in that: The forming of calibration data comprises: Determine the position of the calibration pattern on the display terminal in the alignment state, which is used for comparison with the real-time axial target pattern collected by the vehicle target camera during the alignment process; Determine the distance between the target vehicle and the self-vehicle and the tolerable distance error threshold when in the alignment state; Determine the tolerance threshold of the angle error between the target vehicle and the self-vehicle and the steering wheel rotation in the alignment state.

5. The vehicle auxiliary alignment method according to claim 3, characterized in that: The performing of the lateral operation of the vehicle according to the axial image feature error comprises: During the alignment process, the characteristic error between the target pattern of the target vehicle collected in real time and the calibration pattern is judged, and the target pattern is made to fall into the contour of the calibration pattern of the self-vehicle by manipulating the lateral movement of the self-vehicle to complete the axial alignment of the self-vehicle and the target vehicle.

6. The vehicle auxiliary alignment method according to claim 3, characterized in that: The self-driving operation according to the distance characteristic error includes: Acquire first distance data and second distance data between the vehicle and the target vehicle; If the sum of the first distance and the second distance is greater than twice the calibration distance, the vehicle is prompted to move toward the target vehicle, and the moving distance is the difference between the average of the first distance and the second distance and the distance calibration data; If the sum of the first distance and the second distance is less than twice the calibrated distance, the vehicle is prompted to move away from the target vehicle, and the moving distance is the difference between the calibrated distance and the average of the first distance and the second distance; When the moving distance is less than the distance error threshold pr, it indicates that the vehicle meets the alignment distance requirement.

7. The vehicle auxiliary alignment method according to claim 3, characterized in that: The self-driving operation according to the angle characteristic error includes: Acquire first distance data and second distance data between the self-vehicle and the target vehicle and simultaneously acquire spacing data of corresponding distance sensors; When the first distance is greater than the second distance, the vehicle is operated to turn in the direction of reducing the first distance, and the steering wheel rotation angle is: q = k*arcsin((d1-d2) / L), d1 is the first distance, d2 is the second distance, L is the distance between the two distance sensors, k is the angle adjustment coefficient, and q is the steering wheel rotation angle; When the first distance is smaller than the second distance, the vehicle is operated to turn in a direction that increases the first distance, and the steering wheel rotation angle is: q = k*arcsin((d2-d1) / L); When the turning angle is less than the angle error threshold, it indicates that the vehicle meets the alignment angle requirement.

8. The vehicle auxiliary alignment method according to claim 3, characterized in that: The display of the relative position and posture of the self-vehicle and the target vehicle, the display of the calibration image and real-time image information, the correction information for eliminating errors and the alignment status information accompanying the self-vehicle operation include: Displaying the calibration pattern as a reference pattern, taking the real-time axial target pattern captured by the ego vehicle camera caused by the movement of the ego vehicle as a controlled moving pattern, and moving the ego vehicle during the alignment process so that the axial target pattern gradually overlaps with the calibration pattern; During the alignment process, the correction prompts of distance and angle are displayed according to the vehicle operation; during the alignment process, the alignment status prompts are displayed according to the vehicle operation.

9. A vehicle auxiliary alignment device, characterized in that: include: A memory, used to store program codes corresponding to the processing process of the vehicle auxiliary alignment method according to any one of claims 3 to 8; A processor is used to execute the program code.

10. A vehicle auxiliary alignment device, characterized in that: include: A state calibration module, used to form calibration data according to the axial image, distance and angle features between the self-vehicle and the target vehicle in the alignment state, the calibration data including the axial calibration pattern, distance calibration data and angle calibration data of the self-vehicle and the target vehicle; The axial alignment module is used to match the image features of the calibration pattern of the self-vehicle with the axial target pattern of the target vehicle collected in real time during the alignment process, perform lateral operation of the self-vehicle according to the image feature error, and adjust the axial centering of the self-vehicle and the target vehicle; The distance alignment module is used to match the distance characteristics of the target vehicle and the redundant distance data collected in real time between the ego vehicle and the target vehicle according to the distance calibration data during the alignment process, perform ego vehicle operations according to the distance characteristic errors, and adjust the alignment distance between the ego vehicle and the target vehicle; An angle alignment module is used to match angle features according to angle calibration data and distance redundant data collected in real time during the alignment process, perform ego vehicle operations according to angle feature errors, and adjust the alignment angle between the ego vehicle and the target vehicle; The alignment interaction module is used to form a digital interactive display environment in the display terminal. During the alignment process, the relative position and posture of the self-vehicle and the target vehicle are displayed through the digital interactive display environment, and the calibration image and real-time image information, error elimination correction information and alignment status information are displayed along with the self-vehicle operation.

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