CN110733422B - Method and system for predicting dynamic track of external rearview mirror - Google Patents
Method and system for predicting dynamic track of external rearview mirror Download PDFInfo
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- CN110733422B CN110733422B CN201810792831.5A CN201810792831A CN110733422B CN 110733422 B CN110733422 B CN 110733422B CN 201810792831 A CN201810792831 A CN 201810792831A CN 110733422 B CN110733422 B CN 110733422B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/804—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for lane monitoring
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Abstract
The invention relates to the technical field of passenger car auxiliary driving, in particular to a method and a system for predicting dynamic track of an external rearview mirror. The system comprises a controller and an information acquisition module, wherein the controller acquires vehicle gear information, vehicle speed information and a steering angle of a vehicle through the information acquisition module; when the vehicle is in a reverse gear or the vehicle is in a forward gear and the speed of the vehicle is less than a set speed value, the controller generates an outer rearview mirror running track according to the steering angle of the vehicle, vehicle body parameters and the position of the outer rearview mirror relative to the vehicle body, so that the auxiliary driving of the passenger car is realized, and the problem that the outer rearview mirror of the passenger car is scratched when no track line is displayed to assist a driver to drive when the vehicle turns or backs the passenger car is solved.
Description
Technical Field
The invention relates to the technical field of passenger car auxiliary driving, in particular to a method and a system for predicting dynamic track of an external rearview mirror.
Background
The existing part of vehicles on the market has a 360-degree all-round system with a dynamic trajectory line, which is used for predicting the reversing trajectory of the vehicle and the advancing trajectory of the vehicle during turning to realize the reversing and steering assistance of the vehicle.
Disclosure of Invention
The invention aims to provide a method and a system for predicting a dynamic track of an external rearview mirror, which are used for solving the problem that the external rearview mirror of a passenger car is scratched because no track line display is available to assist a driver in driving when the passenger car turns or backs a car.
In order to realize the auxiliary driving of a passenger car and solve the problem that the external rearview mirror of the passenger car is not provided with a track line display to assist the driving of a driver to scratch the external rearview mirror of the passenger car when the passenger car turns or backs, the invention provides a dynamic track prediction method of the external rearview mirror, which comprises the following steps:
1) acquiring vehicle gear information and vehicle speed information, and acquiring steering angle information of the vehicle when the vehicle is in a reverse gear or the vehicle is in a forward gear and the vehicle speed is less than a set vehicle speed value;
2) and generating the running track of the external rear-view mirror according to the steering angle of the vehicle, the vehicle body parameters and the position of the external rear-view mirror relative to the vehicle body.
Further, in order to realize direct observation, real-time image information within a set distance around the vehicle is also acquired, the running track of the exterior rearview mirror is mapped to the real-time image, and the mapped real-time image is displayed.
Further, in the step 2), a front wheel corner is calculated according to the steering angle and the corner ratio, and an outside rear view mirror running track is calculated according to the front wheel corner, the vehicle body parameters and the position of the outside rear view mirror relative to the vehicle body.
Further, the trajectory equation of the right side exterior mirror is as follows:
wherein L is the wheelbase, LfIs front overhang, LrIs the length of the right side outer rear-view mirror, whIs the track width, wrFor the right side outer mirror to be laterally offset,
is the front wheel angle, v is the vehicle speed, t is the time, x (t) is the x-axis coordinate, and y (t) is the y-axis coordinate.
In order to realize the use of the method in the vehicle, the invention also provides an external rearview mirror dynamic track prediction system, which comprises a controller and an information acquisition module, wherein the controller acquires the gear information, the speed information and the steering angle of the vehicle through the information acquisition module; and when the vehicle is in a reverse gear or the vehicle is in a forward gear and the vehicle speed is less than a set vehicle speed value, the controller generates the running track of the external rear view mirror according to the steering angle of the vehicle, the vehicle body parameters and the position of the external rear view mirror relative to the vehicle body.
Furthermore, the system also comprises a display device and an image acquisition module, wherein the image acquisition module is used for acquiring real-time image information within a set distance around the vehicle; the controller maps the outer rearview mirror running track to a real-time image and outputs the mapped real-time image to the display device.
Further, the controller is also used for being connected with a steering system of the vehicle to calculate a corner ratio according to the acquired transmission ratio, calculate a corner of a front wheel according to a steering angle of the vehicle and the corner ratio, and calculate a running track of the outer rear view mirror according to the corner of the front wheel, vehicle body parameters and a position of the outer rear view mirror relative to the vehicle body.
Further, the display device is a display screen arranged at a central control position of the vehicle.
Drawings
FIG. 1 is a schematic diagram of the connection of an exterior mirror dynamic trajectory prediction system;
FIG. 2 is a flow chart of a method for predicting the dynamic trajectory of an exterior rear view mirror;
fig. 3 is a schematic diagram of the effect of dynamic trajectory prediction of the exterior rear view mirror.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention provides an external rearview mirror dynamic track prediction device, which comprises an information acquisition module and a controller, wherein as shown in figure 1, the information acquisition module is used for acquiring gear information and speed information of a vehicle, and preferably, the information acquisition module is a whole vehicle controller; the information acquisition module comprises a steering angle sensor, and the vehicle steering angle is acquired through the steering angle sensor, but the steering angle information can be acquired directly by the controller or acquired in a mode of firstly transmitting the steering angle information to the controller through the whole vehicle controller; in addition, the system also comprises a display device, wherein the output end of the controller is connected with the display device, and the display device is preferably a display screen arranged at a central control position of the vehicle, namely a central control display screen; in addition, the vehicle body parameters of the vehicle and the position information of the external rear view mirror relative to the vehicle body are fixed values and can be input and stored in the controller.
The controller is also connected with a steering system and used for acquiring a transmission ratio, calculating a steering angle ratio, and combining the steering angle ratio with the steering angle of a steering wheel to obtain the steering angle of the front wheels of the vehicle, namely the steering angle of the front wheels.
The controller also acquires real-time image information within a set distance around the vehicle; when the vehicle is in a reverse gear or the vehicle is in a forward gear and the vehicle speed is less than a set vehicle speed value, the controller generates an outer rear view mirror running track according to the front wheel rotation angle, vehicle body parameters and the position of the outer rear view mirror relative to the vehicle body and maps the outer rear view mirror running track to a real-time image; and finally, obtaining a mapped real-time image, and sending the mapped real-time image as output to a central control display screen.
The controller collects real-time images around the vehicle through the image collecting module, generally, the image collecting module is a panoramic looking-around system, and the panoramic looking-around system comprises a 360-degree controller, so that the controller can be the 360-degree controller, the arrangement of the controller is reduced, and only the program of the 360-degree controller needs to be added to realize corresponding functions.
The display device described above operates by a method for predicting the dynamic trajectory of an exterior mirror, as shown in fig. 2, comprising the steps of:
1) and obtaining the information of the gear position of the vehicle and the information of the speed of the vehicle, and obtaining the information of the steering angle of the vehicle when the vehicle is in a reverse gear or the vehicle is in a forward gear and the speed of the vehicle is less than a set value of the speed of the vehicle.
According to the acquired gear information of the vehicle and the speed of the vehicle, the calculation of the dynamic trajectory line of the rearview mirror and the fusion display of the dynamic trajectory line and the image can be started only when the vehicle is in reverse or the vehicle is in forward but the speed is lower. The above-mentioned vehicle speed set value may be 50 km/h.
2) And generating the running track of the external rear-view mirror according to the steering angle of the vehicle, the vehicle body parameters and the position of the external rear-view mirror relative to the vehicle body.
And calculating according to the steering angle and the steering angle ratio to obtain a front wheel corner, calculating according to the front wheel corner, the vehicle body parameters and the position of the external rear view mirror relative to the vehicle body to obtain an external rear view mirror track equation, and fitting the track equation to generate the running track of the external rear view mirror. The vehicle body parameters include inherent information of the vehicle such as front suspension, rear suspension, wheel base, vehicle width, longitudinal length of the rearview mirror, transverse length of the rearview mirror and the like.
For example, the trajectory equation for the right side outer mirror is as follows:
wherein L is the wheelbase, LfIs front overhang, LrIs the length of the right side outer rear-view mirror, whIs the track width, wrFor the right side outer mirror to be laterally offset,
front wheel steering, v vehicle speed, t time, x (t) x-axis coordinates, and y (t) y-axis coordinates.
The outer rearview mirror of the existing large bus is divided into two conditions, one is that the left outer rearview mirror is close to the bus body, and does not protrude outwards too much compared with the right outer rearview mirror, the running track of the left outer rearview mirror can be not considered under the condition, the other is that the left outer rearview mirror protrudes more relative to the bus body, under the condition, the running track of the left outer rearview mirror can also be considered, the running tracks are all set according to the actual condition, if the running track of the left outer rearview mirror is needed, the track equation of the left outer rearview mirror is as follows:
in the formula, LlIs the length of the left side outer rear view mirror, wlThe left side outer rear view mirror is laterally offset.
3) And acquiring real-time image information within a set distance around the vehicle, mapping the running track of the external rearview mirror to the real-time image and displaying the mapped real-time image.
Fusing the motion trail of the external rearview mirror obtained in the step with the real-time image, wherein the fusing mode is the prior art and is not described again; and obtaining a real-time image with a running track after fusion, and displaying the real-time image through a central control display to prompt the driver to pay attention. Furthermore, the real-time image is a video image, i.e. the image formed is continuous.
In addition, in addition to the running track of the external rearview mirror of the vehicle, according to actual requirements, the running tracks of the rear wheel and the tail part of the vehicle can be calculated and displayed by combining with a real-time image when the vehicle backs or advances, and the running tracks of the front wheel or the head part of the vehicle can be calculated and displayed by combining with the real-time image when the vehicle backs or advances.
The information acquisition in the steps can be performed in a certain sequence, all information acquisition can be performed simultaneously, and the finally obtained track and the real-time image are fused and then displayed.
As shown in fig. 3, the effect diagram of the dynamic track display is shown, wherein when the vehicle is in a reverse direction, the vehicle body 1 and the right side outside rear view mirror operation track line 2 are displayed in the central control display screen, and in addition, the operation track line 3 of the vehicle head and the operation track line 4 of the vehicle tail can be displayed. The left side outside rear-view mirror operation trajectory line may or may not be displayed when backing up. The surrounding of the vehicle body 1 is the acquired real-time image, namely the panoramic all-round information of the vehicle body. When the vehicle advancing speed is less than the speed set value, the forward running track lines of the vehicle head and the outer rearview mirrors and the panoramic all-around information of the vehicle body are displayed, and the detailed description is omitted.
The present invention has been described in relation to particular embodiments thereof, but the invention is not limited to the described embodiments. In the thought given by the present invention, the technical means in the above embodiments are changed, replaced, modified in a manner that is easily imaginable to those skilled in the art, and the functions are basically the same as the corresponding technical means in the present invention, and the purpose of the invention is basically the same, so that the technical scheme formed by fine tuning the above embodiments still falls into the protection scope of the present invention.
Claims (5)
1. A dynamic track prediction method for an external rearview mirror is characterized by comprising the following steps:
1) acquiring vehicle gear information and vehicle speed information, and acquiring steering angle information of the vehicle when the vehicle is in a reverse gear or the vehicle is in a forward gear and the vehicle speed is less than a set vehicle speed value;
2) generating an outer rear-view mirror running track according to the steering angle of the vehicle, the vehicle body parameters and the position of the outer rear-view mirror relative to the vehicle body;
calculating according to the steering angle and the steering angle ratio to obtain a front wheel steering angle, and calculating according to the front wheel steering angle, vehicle body parameters and the position of the external rear view mirror relative to the vehicle body to obtain an external rear view mirror running track;
the trajectory equation for the right side exterior mirror is as follows:
wherein L is the wheelbase, LfIs front overhang, LrIs the length of the right side outer rear-view mirror, whIs the track width, wrFor the right side outer mirror to be laterally offset,
is the front wheel angle, v is the vehicle speed, t is the time, x (t) is the x-axis coordinate, and y (t) is the y-axis coordinate.
2. The exterior mirror dynamic trajectory prediction method according to claim 1, further acquiring real-time image information within a set distance around the vehicle, mapping the exterior mirror running trajectory to a real-time image, and displaying the mapped real-time image.
3. The system for predicting the dynamic track of the exterior rearview mirror is characterized by comprising a controller and an information acquisition module, wherein the controller acquires gear information, speed information and a steering angle of a vehicle through the information acquisition module; when the vehicle is in a reverse gear or the vehicle is in a forward gear and the vehicle speed is less than a set vehicle speed value, the controller generates an outer rear-view mirror running track according to the steering angle of the vehicle, vehicle body parameters and the position of the outer rear-view mirror relative to the vehicle body;
the controller is also used for being connected with a steering system of the vehicle to calculate a corner ratio according to the acquired transmission ratio and calculate a corner of a front wheel according to a steering angle of the vehicle and the corner ratio, and the controller calculates a running track of the outer rearview mirror according to the corner of the front wheel, vehicle body parameters and the position of the outer rearview mirror relative to the vehicle body;
the trajectory equation for the right side exterior mirror is as follows:
wherein L is the wheelbase, LfIs front overhang, LrIs the length of the right side outer rear-view mirror, whIs the track width, wrFor the right side outer mirror to be laterally offset,
is the front wheel angle, v is the vehicle speed, t is the time, x (t) is the x-axis coordinate, and y (t) is the y-axis coordinate.
4. The exterior mirror dynamic trajectory prediction system of claim 3, further comprising a display device and an image acquisition module for obtaining real-time image information within a set distance around the vehicle; the controller maps the outer rearview mirror running track to a real-time image and outputs the mapped real-time image to the display device.
5. The exterior mirror dynamic trajectory prediction system of claim 4, wherein the display device is a display screen disposed at a central control of the vehicle.
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| CN201810792831.5A CN110733422B (en) | 2018-07-18 | 2018-07-18 | Method and system for predicting dynamic track of external rearview mirror |
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| CN201810792831.5A CN110733422B (en) | 2018-07-18 | 2018-07-18 | Method and system for predicting dynamic track of external rearview mirror |
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| CN110733422B true CN110733422B (en) | 2021-05-04 |
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| CN115071562A (en) * | 2021-03-16 | 2022-09-20 | 上海博泰悦臻网络技术服务有限公司 | Vehicle scratch and rub early warning method and system, storage medium and vehicle-mounted terminal |
| CN115320710B (en) * | 2022-09-15 | 2024-04-26 | 长城汽车股份有限公司 | Wheel alignment reminding method, alignment reminding system and vehicle |
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| EP2626268A2 (en) * | 2012-02-09 | 2013-08-14 | Robert Bosch Gmbh | Device for protecting the outside mirror of a motor vehicle from collision with obstacles on the side |
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Address after: 450061 Yutong Road, Guancheng District, Zhengzhou City, Henan Province Patentee after: Yutong Bus Co., Ltd Address before: 450061 Yutong Road, Guancheng District, Zhengzhou City, Henan Province Patentee before: Zhengzhou Yutong Bus Co., Ltd |