CN109532671A - Track of vehicle processing method, device, electronic equipment and automobile - Google Patents
Track of vehicle processing method, device, electronic equipment and automobile Download PDFInfo
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- CN109532671A CN109532671A CN201811519737.9A CN201811519737A CN109532671A CN 109532671 A CN109532671 A CN 109532671A CN 201811519737 A CN201811519737 A CN 201811519737A CN 109532671 A CN109532671 A CN 109532671A
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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
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
-
- 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
- B60R2300/806—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 aiding parking
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- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of track of vehicle processing method, device, electronic equipment and automobile, is related to technical field of vehicle.This method comprises: obtaining the current location of current trajectory corresponding with vehicle and the vehicle；Determine that projection control information, the projection control information include the track to be projected corresponding with the current location in the current trajectory according to the current trajectory and the current location；Information is controlled according to the projection, the projection arrangement that is arranged on the vehicle is controlled and is projected out track image corresponding with the track to be projected in predeterminable area.In the present solution, the motion profile of vehicle can be projected out on the ground to corresponding track image using projection arrangement, the running track of vehicle is viewed convenient for the personnel outside car owner and vehicle, helps to promote the experience sense that car owner drives vehicle.
Description
Technical field
The present invention relates to technical field of vehicle, set in particular to a kind of track of vehicle processing method, device, electronics
Standby and automobile.
Background technique
In automatic parking technical field, vehicle usually can be automatically performed function of parking by unmanned.Existing
Technology in, for vehicle during driving process, running track can not usually feed back to user in time, be easy to influence car owner
Driving experience sense.For example, vehicle, in automatic parking, the parking route that automatic parking is planned can not usually be fed back in real time
Just whether user suspects so that car owner has the function of automatic parking, be unfavorable for car owner and confirm vehicle during automatic parking
It often completes to park, that is, car owner is low to the degree of belief of automatic parking function, to influence the driving experience sense of car owner.
Summary of the invention
The embodiment of the present invention provides a kind of track of vehicle processing method, device, electronic equipment and automobile.
To achieve the goals above, technical solution provided by the embodiment of the present invention is as follows:
In a first aspect, the embodiment of the present invention provides a kind of track of vehicle processing method, which comprises
Obtain the current location of current trajectory corresponding with vehicle and the vehicle；
Projection control information is determined according to the current trajectory and the current location, and the projection controls packet
Include the track to be projected corresponding with the current location in the current trajectory；
Information is controlled according to the projection, the projection arrangement being arranged on the vehicle is controlled and is projected out in predeterminable area
Track image corresponding with the track to be projected.Based on this, method provided in this embodiment can be by the motion profile of vehicle
It is projected out corresponding track image on the ground using projection arrangement, the fortune of vehicle is viewed convenient for the personnel outside car owner and vehicle
Row track is conducive to car owner and is parked by checking the driving trace of vehicle with determining whether vehicle normally completes, helps to mention
Rise the experience sense that car owner drives vehicle.
With reference to first aspect, in some alternative embodiments, the method also includes:
Acquire and show that the scene image of the vehicle periphery, the scene image include the track image.Based on this,
Method provided in an embodiment of the present invention checks the track image of projection convenient for car owner in the car, and car owner can be by checking track shadow
As determine vehicle situation of parking, facilitate car owner park occur abnormal when, handled in time, thus help to improve from
The dynamic safety parked.
With reference to first aspect, in some alternative embodiments, the method also includes:
It is determined from the scene image for drawing drawing area corresponding with the current trajectory；
The current trajectory is plotted on the drawing area, and display is plotted in institute in the scene image
The current trajectory after stating drawing area.Based on this, method provided in an embodiment of the present invention can be by calculated vehicle
Motion profile is shown in the same scene image with the track image for projecting to ground, in order to which car owner observes vehicle movement
Offset between track and track image is then based on the situation of parking that offset judges vehicle.
With reference to first aspect, in some alternative embodiments, the method also includes:
Judgement is plotted in the current trajectory after the drawing area and the track image in the scene figure
Whether the offset as in is more than preset threshold；
When the offset is more than the preset threshold, the prompt information for characterizing error of parking is issued.Based on this,
Method provided in an embodiment of the present invention can be by issuing prompt information when offset is more than the preset threshold, and car owner is based on
The prompt information can intuitively understand error of parking, and then carry out corrective operation in time, help to reduce due to parking error
The risk to cause the accident promotes the safety parked.
With reference to first aspect, in some alternative embodiments, acquire and show the scene image of the vehicle periphery,
Include:
Acquire the image of the vehicle periphery multiple directions；
The described image of multiple directions is spliced into panoramic scene image by default splicing strategy, and shows the panorama
Scene image.Based on this, method provided in an embodiment of the present invention can facilitate car owner more fully to look by panoramic scene image
The surrounding enviroment for seeing vehicle help to reduce the risk for leading to accident because omitting surrounding enviroment information.
With reference to first aspect, in some alternative embodiments, obtain corresponding with vehicle current trajectory and
Before the current location of the vehicle, the method also includes:
When receiving the trigger signal for characterizing the vehicle parking, the vehicle parking in current location is obtained
Auxiliary information, the auxiliary information of parking include the current vehicle speed of the vehicle, steering wheel when front hook, the vehicle it is current
The positional relationship of position and predetermined parking areas；
The current trajectory is generated by preset algorithm based on the auxiliary information of parking.Based on this, the present invention is real
The method for applying example offer can calculate the motion profile of vehicle according to the actual situation, be then based on the motion profile and thrown
Shadow, so that facilitating the improvement parking route that automatic parking is planned in the prior art usually can not feed back in real time user's
Technical problem.
With reference to first aspect, in some alternative embodiments, the current trajectory includes and the vehicle
The corresponding wheel trace of wheel, control the projection arrangement that is arranged on the vehicle be projected out in predeterminable area with it is described
The corresponding track image in track to be projected, comprising:
Projection arrangement corresponding with the wheel is controlled to be projected out on the predeterminable area and the wheel trace
Corresponding track image, wherein the predeterminable area is corresponding with the wheel.It is provided in an embodiment of the present invention based on this
Method can project the track of wheel, and user is facilitated intuitively to check to the traveling-position of vehicle, be convenient for car owner
The position of wheel is compared with other objects of reference, to judge whether vehicle normally parks.
With reference to first aspect, in some alternative embodiments, the vehicle includes projection corresponding with each wheel
Device, the method also includes:
Rotating direction based on wheel described in the vehicle control projection arrangement corresponding with the wheel unlatching or
It closes.Based on this, method provided in an embodiment of the present invention can neatly be controlled projection arrangement, help to reduce all
The total power consumption of projection arrangement.For example, control is located at the projection arrangement on preceding line direction on vehicle and opens when vehicle forward
It opens, rather than the projection arrangement on preceding line direction is in close state, to reduce the total power consumption of projection arrangement.
Second aspect, the embodiment of the present invention also provide a kind of track of vehicle processing unit, and described device includes:
Information acquisition unit, for obtaining the current location of current trajectory corresponding with vehicle and the vehicle；
Information determination unit, for determining projection control information according to the current trajectory and the current location,
The projection control information includes the track to be projected corresponding with the current location in the current trajectory；
Control unit is projected, for controlling information according to the projection, controls the projection arrangement being arranged on the vehicle
Track image corresponding with the track to be projected is projected out in predeterminable area.
In conjunction with second aspect, in some alternative embodiments, described device further includes Image Acquisition display unit, is used
In the scene image for acquiring and showing the vehicle periphery, the scene image includes the track image.
The third aspect, the embodiment of the present invention also provide a kind of electronic equipment, including intercouple memory module, processing mould
Block, communication module, the memory module is interior to store computer program, when the computer program is executed by the processing module
When, so that the electronic equipment executes above-mentioned method.Based on this, electronic equipment provided in an embodiment of the present invention can control throwing
Image device is projected out track corresponding with the motion profile of vehicle image on the ground, checks convenient for the personnel outside car owner and vehicle
To the running track of vehicle, help to promote the experience sense that car owner drives vehicle.
Fourth aspect, the embodiment of the present invention also provide a kind of automobile, including automobile body, projection arrangement and above-mentioned electronics
Equipment, the electronic equipment and the projection arrangement are arranged on the automobile body, and the electronic equipment and the projection fill
Control connection is set, is projected out rail corresponding with the track to be projected determined in predeterminable area for controlling the projection arrangement
Mark image.
5th aspect, the embodiment of the present invention also provide a kind of computer readable storage medium, in the readable storage medium storing program for executing
It is stored with computer program, when the computer program is run on computers, so that the computer executes above-mentioned side
Method.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, the embodiment of the present invention is cited below particularly, and match
Appended attached drawing is closed, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It should be appreciated that the following drawings illustrates only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the block diagram of electronic equipment provided in an embodiment of the present invention
Fig. 2 is the front view of automobile provided in an embodiment of the present invention.
Fig. 3 is the flow diagram of track of vehicle processing method provided in an embodiment of the present invention.
Fig. 4 is the schematic diagram of a scenario of projection device provided in an embodiment of the present invention.
Fig. 5 is the bottom view of automobile provided in an embodiment of the present invention.
Fig. 6 is the block diagram of track of vehicle processing unit provided in an embodiment of the present invention.
Icon: 10- automobile；11- wheel；20- electronic equipment；21- processing module；22- communication module；23- memory module；
30- projection arrangement；100- track of vehicle processing unit；110- information acquisition unit；120- information determination unit；130- projection control
Unit processed.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.It is logical
The component for the embodiment of the present invention being often described and illustrated herein in the accompanying drawings can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.In addition, term " the
One ", " second " etc. is only used for distinguishing description, is not understood to indicate or imply relative importance.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
In automatic parking technical field, vehicle usually can be automatically performed function of parking by unmanned.Existing
Technology in, for vehicle during driving process, running track can not usually feed back to user in time, be easy to influence car owner
Driving experience sense.For example, vehicle, in automatic parking, the parking route that automatic parking is planned can not usually be fed back in real time
Just whether user suspects so that car owner has the function of automatic parking, be unfavorable for car owner and confirm vehicle during automatic parking
It often completes to park, that is, car owner is low to the degree of belief of automatic parking function, to influence the driving experience sense of car owner.Automatic
During parking, the personnel of car owner and vehicle periphery can not judge the operating path of Vehicular automatic driving in time, exist automatic
The control signal because mistake may be outputed is driven, so that the situation in vehicle driving to the path of mistake, to easily cause
Accident.
In view of the above problems, present inventor proposes following embodiment to solve above-mentioned ask by the exploration that studies for a long period of time
Topic.With reference to the accompanying drawing, it elaborates to the embodiment of the present invention.In the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
Fig. 1 is please referred to, the embodiment of the present invention provides a kind of electronic equipment 20, which can be set in vehicle
On, it can be used in executing following track of vehicle processing methods.
In the present embodiment, electronic equipment 20 can directly or indirectly obtain the data information of vehicle, the data packets
Vehicle current vehicle speed, vehicle current gear information, steering wheel is included but is not limited to work as front hook, current vehicle position, preset and park
The information such as region.
In the present embodiment, electronic equipment 20 may include corresponding sensor, directly to acquire Various types of data information, from
And it is directly obtained above-mentioned Various types of data.Alternatively, electronic equipment 20 can be directly from for obtaining above-mentioned Various types of data
Acquisition component receives acquisition component Various types of data information collected.Alternatively, the available part number of electronic equipment 20 itself
It is believed that breath, then receives acquisition module same data message collected again.Wherein, acquisition module or sensor include but unlimited
In velocity sensor, speed probe, angular transducer, gyroscope, rangefinder/sensor, camera for measuring distance
Deng.Understandably, the quantity of acquisition module or sensor, type and model can be arranged according to the actual situation, not make here
It limits.
Referring to figure 2., as an alternative embodiment, electronic equipment 20 may include processing module 21, communication mould
Block 22, memory module 23 and track of vehicle processing unit 100, processing module 21, communication module 22, memory module 23 and vehicle
It is directly or indirectly electrically connected between each element of trajectory processing device 100, to realize the transmission or interaction of data.Example
Such as, these elements can be realized by one or more communication bus or signal wire be electrically connected between each other.
Processing module 21 can be a kind of IC chip, the processing capacity with signal.Above-mentioned processing module 21 can
To be general processor.For example, the processor can be central processing unit (Central Processing Unit, CPU), figure
Shape processor (Graphics Processing Unit, GPU), network processing unit (Network Processor, NP) etc.；Also
Can be digital signal processor (DSP), specific integrated circuit (ASIC), field programmable gate array (FPGA) or other can
Programmed logic device, discrete gate or transistor logic, discrete hardware components.It may be implemented or execute present invention implementation
Disclosed each method, step and logic diagram in example.
Communication module 22 is used to establish the communication connection of electronic equipment 20 Yu onboard system by network, and is received by network
Send out data.Wherein, onboard system can be regarded as being arranged on vehicle at least partly data information used for vehicles (for example,
The data such as speed, vehicle interior temperature) it is acquired or at least partly component in vehicle (for example, vehicle-carrying music player, vehicle-mounted
The components such as air-conditioning) operation conditions carry out control management system.The system can be hardware system or software systems, Huo Zhewei
The system that hardware system is combined with software systems.
Memory module 23 may be, but not limited to, random access memory, read-only memory, programmable read only memory,
Erasable Programmable Read Only Memory EPROM, electrically erasable programmable read-only memory etc..In the present embodiment, memory module 23 can be with
For storing the data such as the motion profile of vehicle, the image of acquisition, video.Certainly, memory module 23 can be also used for storage journey
Sequence, processing module 21 execute the program after receiving and executing instruction.
Further, track of vehicle processing unit 100 can be with the shape of software or firmware (firmware) including at least one
Formula is stored in memory module 23 or is solidificated in the software function in 20 operating system of electronic equipment (operating system, OS)
It can module.Processing module 21 is for executing the executable module stored in memory module 23, such as track of vehicle processing unit 100
Included software function module and computer program etc..
It is understood that structure shown in FIG. 1 is only a kind of structural schematic diagram of electronic equipment 20, electronic equipment 20 is also
It may include than more or fewer components shown in Fig. 1.Each component shown in Fig. 1 can use hardware, software, or its combination
It realizes.
Referring to figure 2., the embodiment of the present invention also provides a kind of automobile 10, which may include automobile body, projection
Device 30 and above-mentioned electronic equipment 20.Electronic equipment 20 and projection arrangement 30 are arranged on automobile body, electronic equipment 20 with
The control connection of projection arrangement 30, the track pair to be projected for being projected out and determining in predeterminable area for controlling projection arrangement 30
The track image answered.
Understandably, the electronic equipment 20 being arranged in automobile 10 can be used for executing following track of vehicle processing sides
Method.Wherein, which includes but is not limited to that (for example the mixing of electric car, blended electric power and gasoline is dynamic for new-energy automobile 10
Power automobile), general-utility car etc., unpiloted function may be implemented.For example, when parking and (referring to parking), which can be with
The automatic parking to automobile 10 is completed by pre-stored automated parking system.
Referring to figure 3., the embodiment of the present invention also provides a kind of track of vehicle processing method, which can
To be applied to above-mentioned electronic equipment 20, each step of track of vehicle processing method is executed by the electronic equipment 20 or realized.
In the present embodiment, track of vehicle processing method may comprise steps of:
Step S210 obtains the current location of current trajectory corresponding with vehicle and vehicle；
Step S220 determines that projection control information, projection control information include according to current trajectory and current location
Track to be projected corresponding with current location in current trajectory；
Step S230 controls information according to projection, controls the projection arrangement 30 being arranged on vehicle and throws in predeterminable area
Shadow goes out track corresponding with track to be projected image.
Each step of track of vehicle processing method shown in Fig. 3 will be described in detail below:
Step S210 obtains the current location of current trajectory corresponding with vehicle and vehicle.
In the present embodiment, current trajectory is commonly referred to as vehicle and determines between initial position and destination locations
Motion profile.Current location is the position of automobile 10 on the ground at current time, the position usually from parking area compared with
Closely.
For example, in automobile 10 in automatic parking, automobile when initial position can trigger 10 automatic parking of automobile for car owner
10 positions.Destination locations can be the parking position that user is determined based on the 10 surrounding image of automobile that automobile 10 acquires,
It or can be the position for parking of automobile 10 itself determination.Current trajectory is just the automobile 10 in automatic parking
When, calculated automobile 10 motion profiles of parking manoeuvres is completed between initial position and destination locations.The current kinetic
Track can be regarded as during automatic parking, and automobile 10 is moved to the motion profile of destination locations by initial position.Parking manoeuvres
Refer to and automobile 10 is docked into destination locations from initial position automatically.During automatic parking, current trajectory is by true for the first time
After fixing, will not usually change, current location can the movement based on automobile 10 and change.
As an alternative embodiment, the current trajectory of vehicle can be preparatory before executing step S210
It is determined, alternatively, the current trajectory of vehicle can be determined in real time during vehicle parking.For example, in step
Before S210, method can also include: to obtain vehicle in present bit when receiving the trigger signal for characterizing vehicle parking
The auxiliary information of parking set, auxiliary information of parking include but is not limited to the current vehicle speed of vehicle, steering wheel when front hook, vehicle
The positional relationship of current location and predetermined parking areas；Current fortune is generated by preset algorithm based on auxiliary information is parked
Dynamic rail mark.
In the present embodiment, the positional relationship of the current location of vehicle and predetermined parking areas may include vehicle
The distance between current location and the parking areas, vehicle at this time relative to the parking areas direction etc..Wherein, parking areas
It is properly termed as parking area or parking address or address of parking.
As an alternative embodiment, the collection mode for auxiliary information of parking can be with are as follows: monitor vehicle control general ability
In domain network (Controller Area Network, CAN) bus, intelligent control unit (Smart Control Unit,
SCU starting information), wherein SCU can be used as the controller of automatic parking function, after SCU starting, turn from electronics power-assisted
Vehicle steering angle is read to (Electric Power Steering, EPS) systemFrom vehicle control unit of electric vehicle
(Vehicle Control Unit, VCU) reads vehicle gear and speed v (judges, if advanced when speed is according to gear
Just, it is negative if it is reverse drive gear speed), change when the signal of EPS or VCU is sent, updates corresponding data immediately.
In the present embodiment, if desired car owner carries out automatic parking, can pass through the center control display in triggering vehicle
Screen is to generate the trigger signal for parking.When electronic equipment 20 receives the trigger signal, then acquires or obtained from other modules
Take auxiliary information of parking.It is then based on the auxiliary information of parking got, current trajectory is generated by preset algorithm.
Wherein, preset algorithm can be configured according to the actual situation.In order to make it easy to understand, below will be to current kinetic rail
The calculating of mark carries out citing description:
For example, vehicle tail location mid-shaft selected first is coordinate origin, indicate that vehicle wheelbase, w indicate left and right using l
Wheelspan, l and w are the known parameters of vehicle.It is indicated below the motion profile use of vehicle by the equation of independent variable of time t,
Indicate coordinate of each wheel 11 in t moment.
The motion profile of left rear wheel are as follows:
The motion profile of off hind wheel are as follows:
The motion profile of the near front wheel are as follows:
The motion profile of off-front wheel are as follows:
In formula, x (t) refer to wheel 11 in the abscissa value of t moment, y (t) refer to wheel 11 in the ordinate value of t moment,Refer to
The steering angle of wheel of vehicle 11, the steering angle can be determined by the angle calculation of steering wheel.Specifically, such as in formula
(1), in (2), xrl(t) refer to left rear wheel in the abscissa value of t moment, yrl(t) refer to left rear wheel in the ordinate value of t moment.Its
In, in the subscript of each formula, rl is writing a Chinese character in simplified form for rear left, indicates the left back meaning；Rr is writing a Chinese character in simplified form for rear right, table
The meaning after showing the right side；Fl is writing a Chinese character in simplified form for front left, indicates the left front meaning；Fr is writing a Chinese character in simplified form for front right, indicates right
The preceding meaning.The signal message being collected into and known parameters can be substituted into above-mentioned equation by electronic equipment 20, obtain vehicle when
Between Movement Locus Equation.
Projection arrangement 30 is mounted on the panel in 11 front of vehicle front and back end wheel, the corresponding projection dress of each wheel 11
Set 30.Track can be projected to ground using oblique projection mode by projection arrangement 30.For example, each projection arrangement 30 is according to such as figure
4 mode carries out laying projection.The Movement Locus Equation parameter determined can be generated corresponding movement rail by electronic equipment 20
Mark is then based on motion profile and generates projection control signal.Projection arrangement 30 can be based on when receiving projection control signal
Projection control signal generates corresponding light, then projects light on ground.
Projection arrangement 30 on the panel of vehicle front and back end installs main view can be as shown in Figure 5.Each projection arrangement 30 with
Wheel 11 can be located in same vertical line, and each projection arrangement 30 is used to the track for corresponding to wheel 11 projecting to ground
On.Certainly, the object of projection may not be ground, be also possible to other planes, can based on current vehicle position and
It determines.
Step S220 determines that projection control information, projection control information include according to current trajectory and current location
Track to be projected corresponding with current location in current trajectory.
In the present embodiment, the position that electronic equipment 20 can be current based on current trajectory and vehicle generates corresponding
Projection control information.Track to be projected in projection control information is usually one section of track piece in entire current trajectory
Section.For example, vehicle is during automatic parking, after vehicle moves to B point from A point, vehicle can be based on current kinetic rail in A point
Mark generates vehicle in the first track to be projected of A point；Vehicle can generate vehicle in B point in B point based on current trajectory
When vehicle movement to different position, rail to be projected corresponding with vehicle position is can be generated in second track to be projected
Mark.Wherein, the length of track to be projected can be arranged according to the actual situation, be not especially limited here.
Step S230 controls information according to projection, controls the projection arrangement 30 being arranged on vehicle and throws in predeterminable area
Shadow goes out track corresponding with track to be projected image.
In the present embodiment, electronic equipment 20 can control projection arrangement 30 and thrown after generating projection control information
Shadow.Wherein, projection arrangement 30 can be a part in electronic equipment 20, or independently of the module of electronic equipment 20.
For example, electronic equipment 20 can determine whether out track to be projected corresponding with vehicle location, then during vehicle parking
The control for being projected out track corresponding with track to be projected image for controlling projection arrangement 30 is generated based on the track to be projected
Signal.Projection arrangement 30 will be projected out track corresponding with track to be projected image to ground after receiving the control signal
On face.With the continuous movement of vehicle, track to be projected would generally be changed in real time, and projection arrangement 30 can be based on track to be projected
Adjustment projects to the track image on ground in real time.
Typically, track to be projected is one section of path segment in current trajectory, and the track of track image is
The track that track to be projected obtains after the processing of the means such as scaling, stretching, rotation.
Based on above-mentioned design, the motion profile of vehicle can be utilized projection arrangement 30 on ground by method provided in this embodiment
It is projected out corresponding track image on face, the running track of vehicle is viewed convenient for the personnel outside car owner and vehicle, is conducive to vehicle
Master is parked by checking the driving trace of vehicle with determining whether vehicle normally completes, to help to promote car owner's driving vehicle
Experience sense.For example, car owner based on track image view vehicle position and practical parking area deviation it is larger, Bian Huiji
When be operated manually, cause the accident or lose because parking mistake to avoid vehicle.
For example, vehicle may bump against other vehicles or personnel or other barriers, thus right in vehicle parking mistake
Car owner itself or other staff cause unnecessary loss.Method provided in this embodiment can enable car owner to find in time
Park mistake, to be saved in time, with improve because park error due to cause unnecessary loss the technical issues of.
As an alternative embodiment, current trajectory may include body movement track, the body movement rail
Mark can be the motion profile of the specified point on vehicle, which can be one or more, can according to the actual situation and
Setting.For example, specified point is the point of vehicle center, or regard the wheel 11 of vehicle as a reference point, which is should
Reference point.That is, current trajectory may include 11 motion profile of wheel corresponding with the wheel 11 of vehicle.Step S230 can be with
It include: that control and the corresponding projection arrangement 30 of wheel 11 are projected out track corresponding with 11 motion profile of wheel on predeterminable area
Image, wherein predeterminable area is corresponding with wheel 11.
In the present embodiment, the track that projection arrangement 30 is projected out can be corresponding with the motion profile of wheel 11.
Predeterminable area can be arranged according to the actual situation.For example, predeterminable area can be corresponding for the position L shown in Fig. 4 in Fig. 4
Region, the shape in the region include but is not limited to it is round, rectangular, can be arranged according to the actual situation, not make here specifically
It limits.Based on this, method provided in an embodiment of the present invention can be projected the track of wheel 11, facilitate user intuitively right
The traveling-position of vehicle is checked, is compared the position of wheel 11 with other objects of reference convenient for car owner, to judge vehicle
Whether normally park.For example, car owner can be grasped manually in time at this time if car owner views wheel 11 and moves to wall edge
Make, bumps against to avoid vehicle and wall.
As an alternative embodiment, method can also include: acquisition and the scene image for showing vehicle periphery, field
Scape image includes track image.
In the present embodiment, the scene image of acquisition can be acquired by a camera, can also be by multiple camera shootings
Head is acquired, and the picture splicing for then acquiring multiple cameras is at panoramic picture, here to the camera shooting of acquisition scene image
The quantity of head is not especially limited.
Understandably, center control display screen (referred to as, middle control screen) can be set on vehicle, control screen can be electronics in this
A part of equipment 20, or independently of the module of electronic equipment 20.The picture of camera acquisition can be shielded by middle control
It has been shown that, in order to car owner can steering position in the car intuitively check the track image of projection.Based on this, the present invention is real
The method for applying example offer checks the track image of projection convenient for car owner in the car, and car owner can be by checking that track image determines vehicle
Situation of parking, facilitate car owner park occur abnormal when, handled in time, to help to improve automatic parking
Safety.In addition, because user can obtain the location information of vehicle by display screen in real time, having in automatic parking
Help be promoted the driving experience sense of car owner.
For example, car owner is easy because distrusting automatic pool if car owner can not judge the operating path of Vehicular automatic driving in time
Vehicle function and caused by constrain mood.Method provided in this embodiment allows users to obtain vehicle by display screen in real time
Location information, facilitate promoted car owner and vehicle degree of belief, alleviate above-mentioned oppressive mood.
As an alternative embodiment, above-mentioned acquisition and the step of show the scene image of vehicle periphery, can wrap
It includes: the image of acquisition vehicle periphery multiple directions；The image of multiple directions is spliced into panoramic scene by default splicing strategy
Image, and show panoramic scene image.
In the present embodiment, the image of the camera acquisition of multiple directions can be spliced into 360 ° of vehicle periphery and look around scene
Image.That is, panoramic scene image can look around the image of scene for 360 ° of vehicle periphery.Based on this, the embodiment of the present invention is mentioned
The method of confession can facilitate car owner more fully to view the surrounding enviroment of vehicle, help to reduce by panoramic scene image
Lead to the risk of accident because omitting surrounding enviroment information.
As an alternative embodiment, method can also include: to be determined from scene image for drawing and working as
The corresponding drawing area of preceding motion profile；Current trajectory is plotted on drawing area, and shows and draws in scene image
Make the current trajectory after drawing area.
In the present embodiment, scene image normally comprises other regions on ground and non-ground (for example, other vehicles
, wall), at this point, electronic equipment 20 needs to determine drawing area for drawing motion profile from scene image, then
Motion profile is drawn on the drawing area.Generally, drawing area is the corresponding region in ground in scene image, that is,
It says, electronic equipment 20 can identify the ground region in scene image, corresponding in order to draw out on ground region
Motion profile.
Based on this, method provided in an embodiment of the present invention calculated vehicle movement track and can will project to ground
Track image is shown in the same scene image, in order to which car owner observes the offset between vehicle movement track and track image
Amount, is then based on the situation of parking that offset judges vehicle.
As an alternative embodiment, method can also include: that judgement is plotted in the current kinetic after drawing area
Whether track and offset of the track image in scene image are more than preset threshold；When offset is more than preset threshold, hair
Out for characterizing the prompt information for error of parking.
In the present embodiment, current trajectory will be plotted on scene image after deciding, and be shown
Show.Wherein, the preset threshold of offset can be configured according to the actual situation, be not especially limited here.Based on this, this hair
The method that bright embodiment provides can be by issuing prompt information when offset is more than preset threshold, and car owner is believed based on the prompt
Breath can intuitively understand error of parking, and then carry out corrective operation in time, help to reduce causing the accident because parking error
Risk, promote the safety parked.
In the present embodiment, be plotted in the track on scene image would generally the stationary objects in relative scene image keep
It is constant.For example, with the movement of vehicle, being plotted in vehicle in the track on scene image will travel during vehicle parking
Path segment can be remained unchanged relative to the position on ground.Understandably, current trajectory may include that vehicle is capable
The path segment in the path sailed, and the path segment in the path without traveling (will travel).Not travelling (will go
Sail) the path segment in path be just path segment that vehicle will travel.
As an alternative embodiment, vehicle may include projection arrangement 30 corresponding with each wheel 11.Method
It can also include: unlatching or the pass that the rotating direction based on wheel 11 in vehicle controls projection arrangement 30 corresponding with wheel 11
It closes.
For example, the rotating direction of wheel 11 can be regarded as rotating forward at this time if vehicle is travelled with forward gear；Vehicle is with the row that reverses gear
It sails, the rotating direction of wheel 11 can be regarded as inverting at this time.When wheel 11 rotates forward, electronic equipment 20 can control vehicle front
The corresponding projection arrangement 30 of two wheels 11 open, and the corresponding projection arrangement 30 of two vehicles for controlling rear of vehicle is in
Closed state.When wheel 11 inverts, electronic equipment 20 can control the corresponding projection arrangement of two wheels 11 of vehicle front
30 close, and the corresponding projection arrangement 30 of two vehicles for controlling rear of vehicle is in the open state.Based on this, the present invention is implemented
The method that example provides can neatly control projection arrangement 30, facilitate the total power consumption for reducing all projection arrangements 30.
Fig. 6 is please referred to, the embodiment of the present invention also provides a kind of track of vehicle processing unit 100, can be applied to above-mentioned
Electronic equipment 20, for executing or realizing each step of track of vehicle processing method.Wherein, track of vehicle processing unit 100 can
To include information acquisition unit 110, information determination unit 120 and projection control unit 130.
Information acquisition unit 110, for obtaining the current location of current trajectory corresponding with vehicle and vehicle.
Information determination unit 120, for determining projection control information, projection control according to current trajectory and current location
Information processed includes the track to be projected corresponding with current location in current trajectory.
Control unit 130 is projected, for controlling information according to projection, controls the projection arrangement 30 being arranged on vehicle pre-
If being projected out track corresponding with track to be projected image in region.
Optionally, current trajectory may include 11 motion profile of wheel corresponding with the wheel 11 of vehicle.Control with
The corresponding projection arrangement 30 of wheel 11 is projected out track corresponding with 11 motion profile of wheel image on predeterminable area, wherein
Predeterminable area is corresponding with wheel 11.
Optionally, track of vehicle processing unit 100 can also include Image Acquisition display unit, for acquiring and showing vehicle
Scene image around, scene image includes track image.
Optionally, Image Acquisition display unit can be also used for: the image of acquisition vehicle periphery multiple directions；By multiple sides
To image panoramic scene image is spliced by default splicing strategy, and show panoramic scene image.
Optionally, track of vehicle processing unit 100 can also include drawing determination unit and track drawing unit.It draws true
Order member, for being determined from scene image for drawing drawing area corresponding with current trajectory.Draw single in track
Member, for current trajectory to be plotted in drawing area.Image Acquisition display unit can be also used in scene image
Display is plotted in the current trajectory after drawing area.
Optionally, track of vehicle processing unit 100 can also include judging unit and prompt unit.Judging unit is used for
Judgement is plotted in the current trajectory after drawing area and whether offset of the track image in scene image is more than default
Threshold value.Prompt unit, for issuing the prompt information for characterizing error of parking when offset is more than preset threshold.
Optionally, track of vehicle processing unit 100 can also wrap track generation unit.Information acquisition unit 110 is in basis
Before current trajectory and current location determine projection control information, information acquisition unit 110 can also be used for receiving
When characterizing the trigger signal of vehicle parking, for obtaining vehicle in the auxiliary information of parking of current location.Auxiliary information of parking packet
Include the current vehicle speed of vehicle, steering wheel works as front hook, the positional relationship of the current location and predetermined parking areas of vehicle.
Track generation unit is used to generate current trajectory by preset algorithm based on auxiliary information is parked.
Optionally, vehicle may include projection arrangement 30 corresponding with each wheel 11, and projection control unit 130 can be with
Opening or closing for projection arrangement 30 corresponding with wheel 11 is controlled for the rotating direction based on wheel 11 in vehicle.
It should be noted that it is apparent to those skilled in the art that, for convenience and simplicity of description, on
The specific work process of the track of vehicle processing unit 100 of description is stated, each step corresponding process in preceding method can be referred to,
It no longer excessively repeats herein.
The embodiment of the present invention also provides a kind of computer readable storage medium.Computer journey is stored in readable storage medium storing program for executing
Sequence, when computer program is run on computers, so that computer is executed such as the track of vehicle processing side in above-described embodiment
Method.
Through the above description of the embodiments, those skilled in the art can be understood that the present invention can lead to
Hardware realization is crossed, the mode of necessary general hardware platform can also be added to realize by software, based on this understanding, this hair
Bright technical solution can be embodied in the form of software products, which can store in a non-volatile memories
In medium (can be CD-ROM, USB flash disk, mobile hard disk etc.), including some instructions are used so that a computer equipment (can be
Personal computer, server or network equipment etc.) execute method described in each implement scene of the present invention.
In conclusion the present invention provides a kind of track of vehicle processing method, device, electronic equipment and automobile.This method packet
It includes: obtaining the current location of current trajectory corresponding with vehicle and vehicle；It is true according to current trajectory and current location
Fixed projection control information, projection control information include the track to be projected corresponding with current location in current trajectory；Root
Information is controlled according to projection, the projection arrangement that control is arranged on vehicle is projected out corresponding with track to be projected in predeterminable area
Track image.In the present solution, the motion profile of vehicle can be projected out on the ground to corresponding track shadow using projection arrangement
Picture views the running track of vehicle convenient for the personnel outside car owner and vehicle, helps to promote the experience sense that car owner drives vehicle.
In embodiment provided by the present invention, it should be understood that disclosed devices, systems, and methods can also lead to
Other modes are crossed to realize.Devices, systems, and methods embodiment described above is only schematical, for example, in attached drawing
Flow chart and block diagram show that the system of multiple embodiments according to the present invention, the possibility of method and computer program product are real
Existing architecture, function and operation.In this regard, each box in flowchart or block diagram can represent module, a journey
A part of sequence section or code, a part of the module, section or code include one or more for realizing defined
The executable instruction of logic function.It should also be noted that in some implementations as replacement, function marked in the box
It can also occur in a different order than that indicated in the drawings.For example, two continuous boxes can actually be substantially in parallel
It executes, they can also be executed in the opposite order sometimes, and this depends on the function involved.It is also noted that block diagram and/
Or the combination of each box in flow chart and the box in block diagram and or flow chart, can with execute as defined in function or
The dedicated hardware based system of movement is realized, or can be realized using a combination of dedicated hardware and computer instructions.
In addition, each functional module in each embodiment of the present invention can integrate one independent part of formation together, it can also be with
It is modules individualism, an independent part can also be integrated to form with two or more modules.
It can replace, can be realized wholly or partly by software, hardware, firmware or any combination thereof.When
When using software realization, can entirely or partly it realize in the form of a computer program product.The computer program product
Including one or more computer instructions.It is all or part of when loading on computers and executing the computer program instructions
Ground is generated according to process or function described in the embodiment of the present invention.The computer can be general purpose computer, special purpose computer,
Computer network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or
Person is transmitted from a computer readable storage medium to another computer readable storage medium, for example, the computer instruction
Wired (such as coaxial cable, optical fiber, digital subscriber can be passed through from a web-site, computer, server or data center
Line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, server or data
It is transmitted at center.The computer readable storage medium can be any usable medium that computer can access and either wrap
The data storage devices such as server, the data center integrated containing one or more usable mediums.The usable medium can be magnetic
Property medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk
Solid State Disk (SSD)) etc..
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (13)
1. a kind of track of vehicle processing method, which is characterized in that the described method includes:
Obtain the current location of current trajectory corresponding with vehicle and the vehicle；
Projection control information is determined according to the current trajectory and the current location, and the projection control information includes institute
State the track to be projected corresponding with the current location in current trajectory；
Information is controlled according to the projection, the projection arrangement that control is arranged on the vehicle is projected out in predeterminable area and institute
State the corresponding track image in track to be projected.
2. the method according to claim 1, wherein the method also includes:
Acquire and show that the scene image of the vehicle periphery, the scene image include the track image.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
It is determined from the scene image for drawing drawing area corresponding with the current trajectory；
The current trajectory is plotted on the drawing area, and display is plotted in described draw in the scene image
The current trajectory behind region processed.
4. according to the method described in claim 3, it is characterized in that, the method also includes:
Judgement is plotted in the current trajectory after the drawing area and the track image in the scene image
Offset whether be more than preset threshold；
When the offset is more than the preset threshold, the prompt information for characterizing error of parking is issued.
5. according to the method described in claim 2, wrapping it is characterized in that, acquire and show the scene image of the vehicle periphery
It includes:
Acquire the image of the vehicle periphery multiple directions；
The described image of multiple directions is spliced into panoramic scene image by default splicing strategy, and shows the panoramic scene
Image.
6. the method according to claim 1, wherein obtaining corresponding with vehicle current trajectory and described
Before the current location of vehicle, the method also includes:
When receiving the trigger signal for characterizing the vehicle parking, the vehicle is obtained in the auxiliary of parking of current location
Information, the auxiliary information of parking include the current vehicle speed of the vehicle, steering wheel when the current location of front hook, the vehicle
With the positional relationship of predetermined parking areas；
The current trajectory is generated by preset algorithm based on the auxiliary information of parking.
7. the method according to claim 1, wherein the current trajectory includes the wheel with the vehicle
Corresponding wheel trace controls the projection arrangement being arranged on the vehicle and is projected out in predeterminable area with described wait throw
The corresponding track image in shadow track, comprising:
Control projection arrangement corresponding with the wheel is projected out corresponding with the wheel trace on the predeterminable area
Track image, wherein the predeterminable area be it is corresponding with the wheel.
8. method according to any one of claims 1-7, which is characterized in that the vehicle includes and each wheel pair
The projection arrangement answered, the method also includes:
Rotating direction based on wheel described in the vehicle controls opening or closing for projection arrangement corresponding with the wheel.
9. a kind of track of vehicle processing unit, which is characterized in that described device includes:
Information acquisition unit, for obtaining the current location of current trajectory corresponding with vehicle and the vehicle；
Information determination unit, it is described for determining projection control information according to the current trajectory and the current location
Projection control information includes the track to be projected corresponding with the current location in the current trajectory；
Control unit is projected, for controlling information according to the projection, controls the projection arrangement being arranged on the vehicle pre-
If being projected out track image corresponding with the track to be projected in region.
10. device according to claim 9, which is characterized in that described device further includes Image Acquisition display unit, is used for
Acquire and show that the scene image of the vehicle periphery, the scene image include the track image.
11. a kind of electronic equipment, which is characterized in that described including the memory module, processing module, communication module to intercouple
Computer program is stored in memory module, when the computer program is executed by the processing module, so that the electronics is set
Standby perform claim requires method described in any one of 1-8.
12. a kind of automobile, which is characterized in that including automobile body, projection arrangement and electronic equipment as claimed in claim 11,
The electronic equipment and the projection arrangement are arranged on the automobile body, and the electronic equipment and the projection arrangement control
Connection, is projected out track shadow corresponding with the track to be projected determined for controlling the projection arrangement in predeterminable area
Picture.
13. a kind of computer readable storage medium, which is characterized in that it is stored with computer program in the readable storage medium storing program for executing,
When the computer program is run on computers, so that the computer is executed such as any one of claim 1-8 institute
The method stated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811519737.9A CN109532671A (en) | 2018-12-12 | 2018-12-12 | Track of vehicle processing method, device, electronic equipment and automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811519737.9A CN109532671A (en) | 2018-12-12 | 2018-12-12 | Track of vehicle processing method, device, electronic equipment and automobile |
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