CN108248688A - Auxiliary line setting method of moving backward and reversing aid system - Google Patents
Auxiliary line setting method of moving backward and reversing aid system Download PDFInfo
- Publication number
- CN108248688A CN108248688A CN201611245215.5A CN201611245215A CN108248688A CN 108248688 A CN108248688 A CN 108248688A CN 201611245215 A CN201611245215 A CN 201611245215A CN 108248688 A CN108248688 A CN 108248688A
- Authority
- CN
- China
- Prior art keywords
- barrier
- vehicle
- reversing
- auxiliary line
- track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Image Processing (AREA)
Abstract
The present invention relates to vehicles to assist control field, provides a kind of reversing auxiliary line setting method and reversing aid system.Reversing auxiliary line setting method of the present invention includes：Wheel is in the estimated track of big ground level when calculating vehicle backing according to steering wheel angle and vehicle body parameter；When the rear for detecting the vehicle is there are during barrier, the position of the barrier is determined；And according to the position of the identified barrier adjustment estimated track.Reversing auxiliary line setting method of the present invention is by detecting the rear of vehicle there are barrier and determining the position of the barrier, so as to adjusting estimated track according to the position of identified barrier, effectively prevent travelling and strikes obstacles according to path line during vehicle backing.
Description
Technical field
The present invention relates to vehicle aided control technology field, more particularly to a kind of reversing auxiliary line setting method and reversing are auxiliary
Auxiliary system.
Background technology
Vehicle currently on the market generally has backup camera configuration, understands rear view of vehicle obstacle in order to facilitate driver
Relationship between object and vehicle movement track, part backup camera have dynamic vehicle trace simulation miscellaneous function line, camera
Steering wheel angular signal is received using CAN bus technology, with reference to body informations such as vehicle commander, wheelspan, wheelbases, calculates wheel of vehicle
It is expected that trace information.It transfers fixation locus picture and is superimposed to after back-up video signal to export to vehicle-carrying display screen jointly and shown
Show, auxiliary driver carries out safe reversing.
Although the above-mentioned prior art can provide reversing auxiliary line to driver, this auxiliary line is only capable of displaying vehicle
The track of process, no normal direction driver are provided to the information in relation to Trajectory Safety during reversing.
In view of the above-mentioned problems, it there is no good solution in the prior art.
Invention content
In view of this, the present invention is directed to propose a kind of reversing auxiliary line setting method, higher to provide a kind of safety
Reversing auxiliary line.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
A kind of reversing auxiliary line setting method, the reversing auxiliary line setting method include：
Wheel is in the estimated track of big ground level when calculating vehicle backing according to steering wheel angle and vehicle body parameter；
When the rear for detecting the vehicle is there are during barrier, the position of the barrier is determined；And
According to the position of the identified barrier adjustment estimated track.
Further, the reversing auxiliary line setting method includes：Existed using the rear of vehicle described in ultrasound examination
Barrier and the position for determining the barrier.
Further, the step of position adjustment of barrier determined by the basis estimated track includes：
When on the position of the barrier is located at the estimated track of two wheels of the vehicle or between when, adjust institute
Estimated track is stated by the end of the position of the barrier；And
When except the position of the barrier is located at the estimated track of two wheels of the vehicle, keep described estimated
Track.
Further, the reversing auxiliary line setting method includes：
Estimated track after adjustment is shown in the picture, including：
Calculate the transformation between the position coordinates of the big ground level shown by the pixel coordinate and image in the image of display
Matrix；
Whole position coordinates on the estimated track after the adjustment are projected into described image using the transformation matrix
In pixel coordinate；And
Projected to pixel coordinate is highlighted in the displayed image.
Further, the reversing auxiliary line setting method includes：When the position of the barrier is located at the vehicle
On the estimated track of two wheels or between alarm.
Relative to the prior art, reversing auxiliary line setting method of the present invention has the advantage that：
(1) reversing auxiliary line setting method of the present invention is by detecting the rear of vehicle there are barrier and determining institute
The position of barrier is stated, so as to which with adjusting estimated track according to the position of identified barrier, vehicle backing can be effectively prevent
When according to path line traveling and strikes obstacles.
(2) reversing auxiliary line setting method of the present invention, can be accurate using sonar contact principle by ultrasonic wave
Judge whether the accurate location of barrier and barrier.
(3) reversing auxiliary line setting method of the present invention breaks the barriers and it is expected that position relationship between track,
Just a pair estimated track is adjusted only when on barrier is located at estimated track or between two estimated tracks, can not only be had
Effect prompting influences the barrier of reversing safety, while can eliminate the influence for the estimated track of barrier pair for not influencing reversing safety
Avoid the attention for therefore disperseing driver.
It is auxiliary to provide a kind of higher reversing of safety another object of the present invention is to propose a kind of reversing aid system
Auxiliary system.
In order to achieve the above objectives, the technical proposal of the invention is realized in this way：
A kind of reversing aid system, including camera and display, wherein, the display is used to show the camera
The rear view of vehicle image of shooting, the reversing aid system further include：
Processor, wheel is in big ground level when being configured to calculate vehicle backing according to steering wheel angle and vehicle body parameter
It is expected that track；
Detector is configured to when the rear for detecting the vehicle is there are during barrier, determine the position of the barrier
It puts；And
The processor is further configured to the position adjustment estimated rail of the barrier according to determined by the detector
Mark.
Further, the detector is ultrasonic radar sensor, is configured to use vehicle described in ultrasound examination
Rear there are barrier and determine the barrier position.
Further, the processor is configured to：
When on the position of the barrier is located at the estimated track of two wheels of the vehicle or between when, adjust institute
Estimated track is stated by the end of the position of the barrier；And
When except the position of the barrier is located at the estimated track of two wheels of the vehicle, keep described estimated
Track.
Further, the processor is further configured to：
Calculate the position coordinates of the big ground level shown by the pixel coordinate and image in the image that the display is shown
Between transformation matrix；And
Whole position coordinates on the estimated track after the adjustment are projected into described image using the transformation matrix
In pixel coordinate；And
The display is configured to highlight projected to pixel coordinate in the displayed image.
Further, the processor is further configured to：
When the position of the barrier be located on the estimated track of two wheels of the vehicle or between alarm.
The reversing aid system is with above-mentioned reversing auxiliary line setting method relative to advantage phase possessed by the prior art
Together, details are not described herein.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
The attached drawing for forming the part of the present invention is used to provide further understanding of the present invention, schematic reality of the invention
Mode and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is the reversing auxiliary line setting method flow chart described in embodiment of the present invention；
Fig. 2 is the reversing auxiliary line setting method flow chart described in embodiment of the present invention；
Fig. 3 is the flow signal that estimated track is adjusted in the reversing auxiliary line setting method described in embodiment of the present invention；
Fig. 4 is the reversing aid system composition schematic diagram described in embodiment of the present invention.
Reference sign：
401- cameras, 402- displays, 403- processors, 404- detectors.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can
To be combined with each other.
First the principle of the present invention is briefly described.
With the polytechnic development of bodywork system, the relevant information of vehicle body can be applied to vehicle-mounted camera.In the market one
Image recognition technology and comprehensive vehicle body radar information may be used in the backup camera of a little vehicles, applied to knowledges such as vehicle, pedestrians
Not, the barrier that will identify that is superimposed in display image after being marked and driver is warned, some backup cameras
It can show that the distance of barrier.
Since camera output is two-dimensional image information, although auxiliary line is simulated with track of vehicle, for tool
There is the distance relation that can not be intuitively shown in the obstructions chart picture of certain altitude between barrier and vehicle, path line is this
In the case of give people a kind of feeling of " hanging ", distance perspective is not strong.
Image recognition technology can recognize that car and obstruction, and be shown in the image of output, if but not no basis
Track of vehicle simulates auxiliary line, distinguishes the dangerous obstacles there are security risk and the not dangerous obstacle there is no security risk
Object, then non-hazardous barrier can also be labeled and be warned, cause to mislead to driver.
Therefore, it is single using track of vehicle simulation auxiliary line technology or image recognition technology, there is the shortcomings that inevitable.
The method and system that embodiment of the present invention provides can effectively integrate vehicle body radar information and track of vehicle simulation auxiliary line skill
Art, can preferably detect car and obstruction at the advantages of giving full play to its respectively, pass through track of vehicle and simulate auxiliary line and delimit peace
Region-wide and danger zone ensure that not dangerous barrier avoids unnecessary alarm, and realize that track of vehicle simulates auxiliary line
Length is adjusted according to dangerous obstacles, i.e., by the way that the variation of line length is guided intuitively to show barrier and separation between vehicles
Variation so as to which driver is supplied to more more intuitively to move backward information, is improved the safety moved backward.
The present invention will be described in detail below with reference to the accompanying drawings and with reference to embodiment.
Fig. 1 is the reversing auxiliary line setting method flow chart described in embodiment of the present invention.As shown in Figure 1, the present invention is real
The reversing auxiliary line setting method that the mode of applying provides, can include：
In step S101, wheel is in the pre- of big ground level when calculating vehicle backing according to steering wheel angle and vehicle body parameter
Count track；
For example, vehicle body parameter can include but is not limited to the vehicles such as length of wagon, body width, wheelspan, wheelbase
By the size combination vehicle body parameter of steering wheel angle, vehicle example in reversing can be determined by calculation in physical dimensional parameters
As rear wheel by by track, i.e., estimated track.As an example, the above process can combine automobile gear level and carry out, for example, working as
Electronic control unit or processor of the automobile gear level in vehicle when reversing gear proceed by above-mentioned estimated trajectory calculation process.
In embodiment, steering wheel angle can be obtained by CAN bus from the rotary angle transmitter that steering wheel is servo-actuated.
In step s 102, when the rear for detecting the vehicle is there are during barrier, the position of the barrier is determined；
And
For example, the detection of barrier can be carried out by radar for backing car or ultrasonic radar sensor.Implementing
In mode, can use vehicle described in ultrasound examination there are barriers at rear, institute can be determined by sonar contact technology
The position of barrier, such as the position in big ground level and the position relative to vehicle etc. are stated, the adjustment for estimated track
Foundation is provided.
In step s 103, according to the position of the identified barrier adjustment estimated track.
For example, adjusting estimated track according to the position of identified barrier can include shortening estimated path length
And estimated path length is kept, whether vehicle backing can be travelled according to the position of barrier and cause safety problem to sentence
It is disconnected.
By the above-mentioned reversing auxiliary line setting method of the present invention, by detecting the rear of vehicle there are barrier and determining
The position of the barrier, so as to adjusting estimated track according to the position of identified barrier, vehicle be effectively prevent to fall
It is travelled and strikes obstacles according to path line during vehicle.
By ultrasonic wave, the standard of accurate judgement whether there are obstacles and barrier is capable of using sonar contact principle
True position.
Fig. 2 is the reversing auxiliary line setting method flow chart described in embodiment of the present invention.As shown in Fig. 2, the present invention is real
According to the step of the position of the identified barrier adjustment estimated track in the reversing auxiliary line setting method that the mode of applying provides
It is rapid to include may further include：
In step s 201, when the position of the barrier is located on the estimated track of two wheels of the vehicle or
Between when, adjust the estimated track by the end of the position of the barrier；And
In step S202, when the position of the barrier is located at except the estimated track of two wheels of the vehicle
When, keep the estimated track.
It for example, can be according to vehicle program track or the position of trace simulation auxiliary line by big ground level or camera
The range of output image is divided into place of safety and hazardous area, perimeter of the place of safety for two tracks, and hazardous area is containing two
The interior zone of track.Correspondingly, the barrier in hazardous area can be considered as dangerous obstacles, and will be in the barrier of place of safety
Object is hindered to be considered as not dangerous barrier.
In embodiments, for dangerous obstacles, alarm can be given, and can be with for the barrier of place of safety
Only prompting is not alarmed, so as to avoid excessive unnecessary alarm；Track of vehicle simulation to be adjusted according to dangerous obstacles auxiliary simultaneously
Index contour length is consistent the distance between the length of path line and barrier and vehicle, driver is made to get information about obstacle
The range information of object.For example, on the estimated track of two wheels that the position that can work as the barrier is located at the vehicle
Alarm between or.
It breaks the barriers and it is expected that position relationship between track, only when barrier is located on estimated track or two pre-
Just a pair estimated track is adjusted when between meter track, can not only effectively prompt to influence the barrier of reversing safety, while energy
Enough influences for eliminating the estimated track of barrier pair for not influencing reversing safety avoid the attention for therefore disperseing driver.
In practical operation, it can be shown in vehicle-mounted middle control display or other display devices observed convenient for driver
The image of vehicle rear, while the estimated track after adjustment can be shown that this process can be according to changes in coordinates in the picture
Principle is realized, can specifically be included：First, the big ground level shown by the pixel coordinate and image in the image of display is calculated
Transformation matrix between position coordinates；Then, using the transformation matrix by whole positions on the estimated track after the adjustment
The pixel coordinate in coordinate projection to described image is put, so that it is determined that the pixel in image and pair of position in vehicle rear image
It should be related to；And projected to pixel coordinate is highlighted in the displayed image.In embodiments, institute is highlighted
The pixel coordinate projected to can be by being highlighted or the figures such as representing corresponding to the pixel coordinate of track with same color
As technique of expression is realized.
Fig. 3 is the flow signal that estimated track is adjusted in the reversing auxiliary line setting method described in embodiment of the present invention.
As shown in figure 3, in embodiments, the big Horizon shown by the pixel coordinate and image in the image of display can be calculated first
Transformation matrix between the position coordinates in face；Then pass through ultrasonic radar sensor detected vehicle rear whether there are obstacles；
Then, if there is barrier, the pixel coordinate of wheel trajectories line can be calculated using the barrier as maximum distance, and according to this
Coordinate adjusts the length of auxiliary line and position；If there is no barrier, then can with the pre-determined distance line farthest from the tailstock,
Such as 3m is boundary, calculates the pixel coordinate of wheel trajectories line.Finally, by the pixel coordinate of the path line calculated over the display
Display.
The other side of embodiment of the present invention, it is proposed that a kind of reversing aid system, to provide a kind of safety more
High reversing aid system.Fig. 4 is the reversing aid system composition schematic diagram described in embodiment of the present invention.
As shown in figure 4, the reversing aid system that embodiments of the present invention provide, including camera 401 and display
402, wherein, the display 402 is used to show the rear view of vehicle image that the camera 401 is shot, the reversing auxiliary system
System can also include：Processor 403, wheel is big when being configured to calculate vehicle backing according to steering wheel angle and vehicle body parameter
The estimated track of ground level；Detector 404 is configured to when the rear for detecting the vehicle is there are during barrier, determine institute
State the position of barrier；And the processor 403, it is further configured to the position of the barrier according to determined by the detector
Adjust the estimated track.
In embodiments, the component in above-mentioned reversing aid system can be connected by CAN bus and transmit data.Its
In, steering wheel angle can be obtained by CAN bus from the rotary angle transmitter that steering wheel is servo-actuated, and vehicle body parameter can be stored in
In the memory being connect with CAN or in the internal storage or caching of processor 403.
In embodiments, detector 404 can be radar for backing car or ultrasonic radar sensor, may be configured to make
There are the positions of barrier and the determining barrier at the rear of vehicle described in ultrasound examination.
In embodiments, processor 402 is further configured to perform following action and comes according to determined by the detector
The position adjustment estimated track of barrier：When the position of the barrier is located at the estimated rail of two wheels of the vehicle
On mark or between when, adjust the estimated track by the end of the position of the barrier；And when the position of the barrier
When except the estimated track of two wheels of the vehicle, the estimated track is kept.
In addition, in embodiments, the processor 403 can be configured to：Calculate the figure that the display is shown
Transformation matrix between the position coordinates of the big ground level shown by pixel coordinate and image as in；And utilize the transformation
Whole position coordinates on estimated track after the adjustment are projected to the pixel coordinate in described image by matrix；It is and described
Display is configured to highlight projected to pixel coordinate in the displayed image.
In embodiments, can include in above-mentioned reversing aid system alarm and processor 403 can also by with
It is set to：When on the position of the barrier is located at the estimated track of two wheels of the vehicle or between when trigger alarm
Alarm.
The foregoing is merely the better embodiments of the present invention, are not intended to limit the invention, all the present invention's
Within spirit and principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of reversing auxiliary line setting method, which is characterized in that the reversing auxiliary line setting method includes：
Wheel is in the estimated track of big ground level when calculating vehicle backing according to steering wheel angle and vehicle body parameter；
When the rear for detecting the vehicle is there are during barrier, the position of the barrier is determined；And
According to the position of the identified barrier adjustment estimated track.
2. reversing auxiliary line setting method according to claim 1, which is characterized in that the reversing auxiliary line setting method
Including：
Using vehicle described in ultrasound examination rear there are barrier and determine the barrier position.
3. reversing auxiliary line setting method according to claim 1, which is characterized in that barrier determined by the basis
The position adjustment estimated track the step of include：
When on the position of the barrier is located at the estimated track of two wheels of the vehicle or between when, adjustment is described pre-
Track is counted by the end of the position of the barrier；And
When except the position of the barrier is located at the estimated track of two wheels of the vehicle, the estimated rail is kept
Mark.
4. reversing auxiliary line setting method according to claim 1, which is characterized in that the reversing auxiliary line setting method
Including：
Estimated track after adjustment is shown in the picture, including：
Calculate the transformation matrix between the position coordinates of the big ground level shown by the pixel coordinate and image in the image of display；
Whole position coordinates on the estimated track after the adjustment are projected in described image using the transformation matrix
Pixel coordinate；And
Projected to pixel coordinate is highlighted in the displayed image.
5. reversing auxiliary line setting method according to claim 1, which is characterized in that the reversing auxiliary line setting method
Including：
When the position of the barrier be located on the estimated track of two wheels of the vehicle or between alarm.
6. a kind of reversing aid system, including camera and display, wherein, the display is used to show that the camera is clapped
The rear view of vehicle image taken the photograph, which is characterized in that the reversing aid system further includes：
Processor, wheel is in the estimated of big ground level when being configured to calculate vehicle backing according to steering wheel angle and vehicle body parameter
Track；
Detector is configured to when the rear for detecting the vehicle is there are during barrier, determine the position of the barrier；With
And
The processor is further configured to the position adjustment estimated track of the barrier according to determined by the detector.
7. reversing aid system according to claim 6, which is characterized in that the detector is sensed for ultrasonic radar
Device is configured to the rear using vehicle described in ultrasound examination there are barrier and determines the position of the barrier.
8. reversing aid system according to claim 6, which is characterized in that the processor is configured to：
When on the position of the barrier is located at the estimated track of two wheels of the vehicle or between when, adjustment is described pre-
Track is counted by the end of the position of the barrier；And
When except the position of the barrier is located at the estimated track of two wheels of the vehicle, the estimated rail is kept
Mark.
9. reversing aid system according to claim 6, which is characterized in that
The processor is further configured to：
Between the position coordinates for calculating the big ground level shown by the pixel coordinate and image in the image that the display is shown
Transformation matrix；And
Whole position coordinates on the estimated track after the adjustment are projected in described image using the transformation matrix
Pixel coordinate；And
The display is configured to highlight projected to pixel coordinate in the displayed image.
10. reversing aid system according to claim 6, which is characterized in that the processor is further configured to：
When the position of the barrier be located on the estimated track of two wheels of the vehicle or between alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611245215.5A CN108248688A (en) | 2016-12-29 | 2016-12-29 | Auxiliary line setting method of moving backward and reversing aid system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611245215.5A CN108248688A (en) | 2016-12-29 | 2016-12-29 | Auxiliary line setting method of moving backward and reversing aid system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108248688A true CN108248688A (en) | 2018-07-06 |
Family
ID=62719888
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611245215.5A Pending CN108248688A (en) | 2016-12-29 | 2016-12-29 | Auxiliary line setting method of moving backward and reversing aid system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108248688A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109472843A (en) * | 2018-10-29 | 2019-03-15 | 上海伟世通汽车电子***有限公司 | A kind of auxiliary line generation method |
| CN110610135A (en) * | 2019-08-19 | 2019-12-24 | 中国第一汽车股份有限公司 | Display method, device, equipment and storage medium |
| CN110969068A (en) * | 2018-09-30 | 2020-04-07 | 北京奇虎科技有限公司 | Method and device for drawing vehicle backing line |
| CN111098742A (en) * | 2018-10-26 | 2020-05-05 | 华为技术有限公司 | Alignment method, device, system and medium based on wireless charging system |
| CN111197992A (en) * | 2018-11-20 | 2020-05-26 | 北京嘀嘀无限科技发展有限公司 | Enlarged intersection drawing method and system and computer-readable storage medium |
| CN111674465A (en) * | 2020-05-25 | 2020-09-18 | 长城汽车股份有限公司 | Reversing control method and system and vehicle |
| CN112238864A (en) * | 2019-07-17 | 2021-01-19 | 北京双髻鲨科技有限公司 | Method and device for processing backing track |
| CN112550274A (en) * | 2019-09-26 | 2021-03-26 | 上海汽车集团股份有限公司 | Safety corner calculation method and device, electronic equipment and storage medium |
| CN114919662A (en) * | 2022-06-16 | 2022-08-19 | 岚图汽车科技有限公司 | Method and device for establishing dynamic reversing auxiliary line and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101059351A (en) * | 2006-04-19 | 2007-10-24 | 财团法人车辆研究测试中心 | Vehicle backing track assistant method |
| US20110115615A1 (en) * | 2009-11-19 | 2011-05-19 | Robert Bosch Gmbh | Rear-view multi-functional camera system |
| CN102795174A (en) * | 2012-08-29 | 2012-11-28 | 深圳市航盛电子股份有限公司 | Vehicle-mounted car-backing simulation system |
| CN104859545A (en) * | 2015-06-05 | 2015-08-26 | 寅家电子科技（上海）有限公司 | Backup path line automatic adjustment device and method |
| CN104890670A (en) * | 2014-03-06 | 2015-09-09 | 鸿富锦精密工业（深圳）有限公司 | Driving assistance system and driving assistance method |
| CN105128745A (en) * | 2015-09-21 | 2015-12-09 | 浙江吉利汽车研究院有限公司 | Method and device for achieving car-backing dynamic track line |
| CN105683000A (en) * | 2013-10-23 | 2016-06-15 | 歌乐株式会社 | Automatic parking control device, and parking assist device |
-
2016
- 2016-12-29 CN CN201611245215.5A patent/CN108248688A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101059351A (en) * | 2006-04-19 | 2007-10-24 | 财团法人车辆研究测试中心 | Vehicle backing track assistant method |
| US20110115615A1 (en) * | 2009-11-19 | 2011-05-19 | Robert Bosch Gmbh | Rear-view multi-functional camera system |
| CN102795174A (en) * | 2012-08-29 | 2012-11-28 | 深圳市航盛电子股份有限公司 | Vehicle-mounted car-backing simulation system |
| CN105683000A (en) * | 2013-10-23 | 2016-06-15 | 歌乐株式会社 | Automatic parking control device, and parking assist device |
| CN104890670A (en) * | 2014-03-06 | 2015-09-09 | 鸿富锦精密工业（深圳）有限公司 | Driving assistance system and driving assistance method |
| CN104859545A (en) * | 2015-06-05 | 2015-08-26 | 寅家电子科技（上海）有限公司 | Backup path line automatic adjustment device and method |
| CN105128745A (en) * | 2015-09-21 | 2015-12-09 | 浙江吉利汽车研究院有限公司 | Method and device for achieving car-backing dynamic track line |
Non-Patent Citations (1)
| Title |
|---|
| 孔韦韦等: "《图像融合技术 ——基于多分辨率非下采样理论与方法[M]》", 31 July 2015, 西安电子科技大学出版社 * |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110969068A (en) * | 2018-09-30 | 2020-04-07 | 北京奇虎科技有限公司 | Method and device for drawing vehicle backing line |
| CN111098742A (en) * | 2018-10-26 | 2020-05-05 | 华为技术有限公司 | Alignment method, device, system and medium based on wireless charging system |
| CN109472843A (en) * | 2018-10-29 | 2019-03-15 | 上海伟世通汽车电子***有限公司 | A kind of auxiliary line generation method |
| CN109472843B (en) * | 2018-10-29 | 2022-09-16 | 上海伟世通汽车电子***有限公司 | Auxiliary line generation method |
| CN111197992B (en) * | 2018-11-20 | 2021-12-07 | 北京嘀嘀无限科技发展有限公司 | Enlarged intersection drawing method and system and computer-readable storage medium |
| CN111197992A (en) * | 2018-11-20 | 2020-05-26 | 北京嘀嘀无限科技发展有限公司 | Enlarged intersection drawing method and system and computer-readable storage medium |
| CN112238864A (en) * | 2019-07-17 | 2021-01-19 | 北京双髻鲨科技有限公司 | Method and device for processing backing track |
| CN112238864B (en) * | 2019-07-17 | 2022-07-01 | 北京双髻鲨科技有限公司 | Reversing track processing method and device |
| CN110610135A (en) * | 2019-08-19 | 2019-12-24 | 中国第一汽车股份有限公司 | Display method, device, equipment and storage medium |
| CN112550274A (en) * | 2019-09-26 | 2021-03-26 | 上海汽车集团股份有限公司 | Safety corner calculation method and device, electronic equipment and storage medium |
| CN111674465A (en) * | 2020-05-25 | 2020-09-18 | 长城汽车股份有限公司 | Reversing control method and system and vehicle |
| WO2021238863A1 (en) * | 2020-05-25 | 2021-12-02 | 长城汽车股份有限公司 | Reversing control method and system and vehicle |
| CN111674465B (en) * | 2020-05-25 | 2022-01-04 | 长城汽车股份有限公司 | Reversing control method and system and vehicle |
| CN114919662A (en) * | 2022-06-16 | 2022-08-19 | 岚图汽车科技有限公司 | Method and device for establishing dynamic reversing auxiliary line and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108248688A (en) | Auxiliary line setting method of moving backward and reversing aid system | |
| CN110316182B (en) | Automatic parking system and method | |
| EP3016835B1 (en) | Vehicle control system | |
| JP6748212B2 (en) | Vehicle-trailer retraction system with targetless hitch angle detection and trailer shape learning | |
| JP5389002B2 (en) | Driving environment recognition device | |
| CN105683000B (en) | Automatic stopping control device and parking aid | |
| US9610974B2 (en) | Differential control user interface for reversing vehicle and trailer system | |
| CN107111742B (en) | Identification and prediction of lane restrictions and construction areas in navigation | |
| EP3016836B1 (en) | Vehicle control system | |
| US9725040B2 (en) | Vehicle object detection system | |
| CN104554259B (en) | Active automatic Pilot accessory system and method | |
| CN108928343A (en) | A kind of panorama fusion automated parking system and method | |
| CN103707812B (en) | Visual guidance system | |
| CN104442813A (en) | Collision warning for vehicle | |
| CN107444406A (en) | Vehicle DAS (Driver Assistant System) and method | |
| CN106043299A (en) | Vehicle control apparatus | |
| EP2340980A1 (en) | Parking assistant system | |
| KR20120035122A (en) | Method for carrying out a parking process of a motor vehicle and device for controlling a parking process of a motor vehicle | |
| CN105830131A (en) | Device for detecting the lateral position of a pedestrian relative to the trajectory of the vehicle | |
| CN111469764B (en) | Prediction control method based on mathematical model | |
| CN108427119A (en) | The method for realizing low obstructions tracing detection based on ultrasonic sensor | |
| JP2022502642A (en) | How to evaluate the effect of objects around the means of transportation on the driving operation of the means of transportation | |
| CN111443348B (en) | Obstacle detection system based on mathematical model | |
| CN112793507A (en) | Blind area early warning braking system based on inertial device perception vehicle right turn motion characteristic | |
| CN108226931A (en) | A kind of vehicle traveling detection system for obstacle and control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180706 |
|
| RJ01 | Rejection of invention patent application after publication |