CN112519670A - Reversing indication method and reversing indication system for motor vehicle and motor vehicle - Google Patents
Reversing indication method and reversing indication system for motor vehicle and motor vehicle Download PDFInfo
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- CN112519670A CN112519670A CN201910873178.XA CN201910873178A CN112519670A CN 112519670 A CN112519670 A CN 112519670A CN 201910873178 A CN201910873178 A CN 201910873178A CN 112519670 A CN112519670 A CN 112519670A
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- 238000006243 chemical reaction Methods 0.000 claims description 5
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- 231100001261 hazardous Toxicity 0.000 claims 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/22—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for reverse drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
- B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
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- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a reversing indication method for a motor vehicle, which comprises the following steps: acquiring data information about an included angle formed by the longitudinal direction of a vehicle body and the orientation of wheels; performing operation processing on the data information to generate data information of an image of the current backing track; converting the data information of the image of the current backing track into the data information of an intermediate image needing to be projected by a projection device; and sending a projection instruction to the projection device according to the data information of the intermediate image, so that the projection device projects an image of the current backing track on the ground. The invention also relates to a reversing indication system for a motor vehicle and a motor vehicle. According to the invention, the image of the current reversing track is projected to the ground, so that other traffic participants can clearly know the reversing track to be driven and the reversing area occupied by the motor vehicle, and therefore, the judgment is immediately made, and the motor vehicle can quickly avoid the safety area outside the projected image.
Description
Technical Field
The invention relates to a reversing indication method and a reversing indication system for a motor vehicle and the motor vehicle.
Background
Generally, when the motor vehicle is reversing, the reversing light automatically lights up and flashes, and sometimes has a warning such as a turn signal or sound. At this time, the traffic participants (such as pedestrians and other vehicles) near the motor vehicle learn that the motor vehicle is going to drive in reverse, but the specific reverse route cannot be clearly determined. For example, in a large parking lot, the routes of reversing and turning of large, medium and small buses are different, that is, the larger the turning radius of the larger bus, the larger the reversing area, and the smaller the turning radius of the smaller bus, the smaller the reversing area. In a severe case, a reversing turning route and a reversing turning area of a large passenger car are relatively large, and in a limited space, a safe area where a pedestrian at the rear can choose to avoid is very small. For pedestrians behind motor vehicles, how to safely avoid the pedestrian is a difficult problem.
For other traffic participants in the environment outside the motor vehicle, reversing indication methods for motor vehicles are used in the prior art, which include: the prompt of reversing the lamp or combining the prompt of the direction lamp and the sound. However, these methods do not provide significant improvement over the aforementioned phenomena. For pedestrians or other vehicles, the information of reversing the vehicle can be obtained only from the reversing light or the sound emitted by the vehicle in reversing, but the specific reversing track cannot be known. Particularly, when the evasive space is limited, the pedestrian may be scratched by the vehicle or even knocked down because the specific reversing track of the motor vehicle cannot be judged.
In view of this, a technical problem to be solved by those skilled in the art is to provide a more complete reverse indication method to provide convenience to other traffic participants in the environment outside the motor vehicle and to improve safety.
Disclosure of Invention
Therefore, the invention aims to provide a reversing indication method for a motor vehicle, which can enable other traffic participants to clearly and accurately identify the current reversing track of the motor vehicle and avoid the current reversing track in time; particularly, under the condition of a small avoidance range, the safe area can be accurately and quickly avoided.
In order to solve the technical problems, the invention adopts the technical scheme that: a reverse indication method for a motor vehicle is provided, which comprises the following steps: acquiring data information about an included angle formed by the longitudinal direction of a vehicle body and the orientation of wheels; performing operation processing on the data information to generate data information of an image of the current backing track; converting the data information of the image of the current backing track into the data information of an intermediate image needing to be projected by a projection device; and sending a projection instruction to the projection device according to the data information of the intermediate image, so that the projection device projects an image of the current backing track on the ground.
According to the invention, by projecting the image of the current reversing track to the ground, other traffic participants such as pedestrians or other vehicles can clearly know the reversing track to be driven and the reversing area occupied by the motor vehicle, so that the judgment can be immediately made and the motor vehicle can quickly avoid the safety area outside the projected image.
Preferably, the data information on the angle formed by the longitudinal direction of the vehicle body and the orientation of the wheels is acquired by acquiring the rotation angle of the steering wheel. According to one technical scheme of the invention, in the process of backing and parking, a driver usually rotates a steering wheel to a certain rotation angle, and according to the rotation angle, a driving wheel of a motor vehicle forms an included angle (more than or equal to 0 degrees) with the longitudinal direction of a vehicle body, and data information of the included angles is acquired. Then, the current track of the wheels, especially the rear wheels of the motor vehicle can be calculated by combining the parameters of the motor vehicle (such as the distance between two driving wheels, the distance between a front wheel and a rear wheel, the turning radius of the motor vehicle, the current steering speed of the motor vehicle and the like), and the current reversing track of the motor vehicle can be further obtained by integrating. The obtaining of the angle of rotation of the steering wheel is easily achieved, whereby said data information can be obtained in a simple and reliable manner.
Preferably, the projection device is arranged at a fixed position of the vehicle body such that the projection device is at a height from the ground sufficient to present an image of the current reversing trajectory on the ground behind the motor vehicle. According to the present invention, the "projection apparatus" should be understood as any projection device, projection component, projection module, etc. capable of realizing a projection function, such as a projector, but not limited thereto. In addition, the projection device can also be arranged in the middle or at the two ends of the rear part of the vehicle body; the projection device may include a plurality of projectors, which are respectively disposed at different positions of the vehicle body. These different embodiments are not limiting, as long as a clear image of the current reversing trajectory can be projected behind the vehicle body.
Preferably, the intermediate image is a projection image of the projection device in a virtual projection plane perpendicular to the projection direction. In general, when the projection direction of the projection device (i.e. the emission direction of the light source) is perpendicular to the corresponding projection plane, the projected image is most clear. Preferably, the virtual projection plane intersects with an edge of the image of the current reverse path projected on the ground, the edge being close to the vehicle, so that the data information of the intermediate image can be calculated relatively easily from the data information of the image of the current reverse path. In the application of the present invention, the projection direction of the projection device forms a small angle with the actual projection plane, i.e. the ground, because the projection device mounted on the vehicle body is close to the ground, for example, the distance from the rear bumper to the ground, and the image to be projected is required to be large in size, for example, the image width is at least close to the vehicle body width, and the image length is preferably up to 3 meters, so as to ensure that the pedestrians and vehicles behind can avoid in time. In this case, a suitable projection instruction about the reverse trajectory may be input to the projection device via the conversion of the intermediate image to present the reverse trajectory in conformity with the actual size.
Specifically, the image data to be actually projected is converted into projection image data theoretically appearing in a plane perpendicular to the projection direction, that is, an intermediate image, and the initial image data to be input to the projection device is converted based on this. According to this principle, a projection instruction is issued to the projection device. Therefore, the projection instruction is image information including the initial image data.
Further preferably, the image of the current reverse track may be two curves showing the wheel track, or may be other specific graphs as long as the current reverse track can be clearly shown. It should be understood that references to "curved" in the context of the present invention also include references to "straight" tracks that may be present in straight-ahead reverse. By displaying the current backing track, other traffic participants can clearly see the route of the motor vehicle about to run and avoid danger in time.
In addition, the projection device can simultaneously project a danger area image, for example in the form of a frame, on the ground, which has a larger area and completely encloses the image of the current reversing trajectory. Other traffic participants can determine the safe area to avoid according to the dangerous area image so as to prevent the traffic participants from being scratched or even knocked down by vehicles in time.
Since the driver of a motor vehicle usually adjusts the steering wheel continuously during reversing, the image of the current reversing trajectory does not necessarily reflect the actual reversing trajectory of the motor vehicle perfectly. Considering the deviation between the current backing track and the actual backing track, the size of the image of the dangerous area should be selected to be larger so as to ensure the safety of other traffic participants. For example, the size of the image of the hazard zone may be determined according to the size of the image of the current reverse trajectory, for example at least twice the area of a rectangle enveloping the current reverse trajectory. In addition, the size of the image of the danger area may also be related to the speed at which the vehicle is reversing, the size of the image of the danger area being larger when the vehicle speed is higher and smaller when the vehicle speed is lower. This is because when the speed of the motor vehicle is high, the time available for evasion by other traffic participants is short, and the large-size danger area image can prompt other traffic participants to be alerted of danger and evade danger early.
The invention also aims to provide a reverse indication system for a motor vehicle, which is used for executing the reverse indication method for the motor vehicle. This indication system backs a car includes: the data acquisition module is used for acquiring data information about an included angle formed by the longitudinal direction of the vehicle body and the orientation of the wheels; the data processing module is used for carrying out operation processing on the data information to generate an image of the current backing track; the image conversion module is used for converting the image of the current reversing track into an intermediate image which needs to be projected by the projection device; and the instruction module is used for sending a projection instruction to the projection device according to the data information of the intermediate image. This indication system backs a car still includes: and the projection device projects the image of the current backing track to the ground according to the projection instruction. The aforementioned preferred embodiments of the reversing indication method for a motor vehicle according to the invention are also applicable to the reversing indication system for a motor vehicle according to the invention.
The invention also aims to provide a motor vehicle comprising the reversing indication system for the motor vehicle.
The reversing indication method and system for the motor vehicle and the motor vehicle effectively improve the reversing indication performance of the motor vehicle, particularly bring convenience to other traffic participants, and solve the problems of collision and the like caused by untimely avoidance due to the fact that a reversing track cannot be clearly identified.
Drawings
The invention is explained in detail below with reference to the drawings. Wherein:
FIG. 1 illustrates a flow chart of one embodiment of a reverse indication method for a motor vehicle of the present invention;
FIG. 2 is a schematic view of one embodiment of an image of a current reverse trajectory implemented in accordance with a reverse indication method for a motor vehicle of the present invention;
FIG. 3 illustrates a schematic view of one embodiment of a reverse indication system for a motor vehicle of the present invention; and
fig. 4 shows a schematic view of an embodiment of the motor vehicle assembly of the invention equipped with a projection device.
Detailed Description
Fig. 1 shows a flow chart of an exemplary embodiment of a reversing indication method for a motor vehicle according to the invention. In this embodiment, the reversing indication method includes the steps of: acquiring data information about an included angle formed by a longitudinal direction of a vehicle body and the orientation of wheels (step 101); performing operation processing on the data information to generate data information of an image of the current backing track (step 102); converting the data information of the image of the current backing track into the data information of an intermediate image required to be projected by the projection device (step 103); and sending a projection instruction to the projection device according to the data information of the intermediate image, so that the projection device projects an image of the current reversing track on the ground (step 104).
In step 101, data information about an angle formed by a longitudinal direction of a vehicle body and an orientation of a wheel is acquired. This step 101 is achieved in particular by acquiring the angle of rotation of the steering wheel. For example, during the process of backing up and parking, usually, a driver firstly rotates a steering wheel to a certain rotation angle, and according to the rotation angle, a driving wheel of a motor vehicle forms an included angle (more than or equal to 0 ℃) with the longitudinal direction of a vehicle body, so that data information of the included angle is obtained.
In step 102, the data information is subjected to arithmetic processing to generate data information of an image of the current reverse trajectory. The calculation here includes a calculation of the current reverse trajectory for each wheel, particularly the rear wheel. In addition to the acquired angle data information, the arithmetic processing may also require the use of parameters of the motor vehicle itself, such as: the distance between the two drive wheels, the distance between the front and rear wheels, the turning radius of the vehicle, the current steering speed of the vehicle, etc. The image of the current reverse trajectory is the "real-time reverse trajectory image" that is actually to be presented on the ground. The image of the current reverse track changes in real time along with the change of the included angle formed by the longitudinal direction of the vehicle body and the direction of the wheels (further along with the change of the rotating angle of the steering wheel). The image of the current reversing track can be two curves for displaying the track of the wheel, or other specific graphs as long as the current reversing track can be clearly displayed.
In step 103, the data information of the image of the current reverse track is converted into the data information of the intermediate image that needs to be projected by the projection device. According to a preferred embodiment, the intermediate image is a projection image presented by the projection means in a virtual projection plane perpendicular to the projection direction (as will be described in more detail below in connection with fig. 4).
In step 104, a projection instruction is sent to the projection device according to the data information of the intermediate image, so that the projection device projects an image of the current reverse path, for example, an image of the current reverse path represented by a curve, on the ground. In addition, the projection device can simultaneously project a danger zone image, for example in the form of a frame, on the ground, which has a larger area and completely encloses the image of the current reversing trajectory. The size of the image of the hazard zone may be determined in accordance with the size of the image of the current reverse trajectory, for example at least twice the area of a rectangle enveloping the current reverse trajectory. In addition, the size of the image of the danger area may also be related to the speed of the vehicle, which is larger when the vehicle speed is higher, and smaller when the vehicle speed is lower.
The projection instruction is image information including initial image data. The initial image data corresponds to the intermediate image and the image of the current reversing trajectory and optionally the image of the hazard area finally projected on the ground. According to the present invention, the "projection apparatus" should be understood as any projection device, projection component, projection module, etc. capable of realizing a projection function, such as a projector, but not limited thereto.
Fig. 2 shows a schematic view of an embodiment of a current reverse indication image implemented according to the reverse indication method for a motor vehicle of the present invention. The current reverse indication image displayed in this embodiment includes: the box area shown by the dashed line, i.e. the image of the danger area, and the two bold curves in the middle of the box area, i.e. the image 2061 of the current reversing trajectory. Thus, the other traffic participants can clearly know that the block area is a dangerous area, and the two curves are the driving routes of the wheels. Furthermore, "curve" is to be understood in the present context in a broad sense to also include the possibility of a straight line, since a motor vehicle also includes a straight-ahead reversing situation during reversing. This embodiment also shows the location of the projection device 206, i.e., mounted in the middle area of the rear of the vehicle body, but is not limited thereto. Arrow R shows the longitudinal direction of the vehicle body and arrow R shows the wheel orientation of the front wheel 100, which here serves as the driving wheel, and in connection with fig. 1, in step 101 the data information obtained comprises the angle α of the longitudinal direction R of the vehicle body to the wheel orientation R.
FIG. 3 shows a schematic view of one embodiment of a reverse indication system for a motor vehicle of the present invention. The reverse indication system 200 for a motor vehicle can execute the reverse indication method for a motor vehicle of the present invention. The characteristics and functions corresponding to the implementation of the reversing indication method of the invention are also applicable to the reversing indication system of the invention. In this embodiment, the reverse indication system 200 includes: a data acquisition module 201 for acquiring an included angle formed by the longitudinal direction of the vehicle body and the orientation of the wheels; the data processing module 202 is used for performing operation processing on the data information to generate data information of an image of the current backing track; a conversion module 204 for converting the data information of the image of the current backing track into the data information of the intermediate image to be projected; and an instruction module 205 for issuing a projection instruction to the projection device 206 based on the data information of the intermediate image. The reversing indication system 200 further includes: and a projection device 206 for projecting the image of the current reversing track and the optional dangerous area image to the ground according to the projection instruction.
Fig. 4 shows a schematic view of an embodiment of a motor vehicle according to the invention assembled with a projection device. The reversing indicator system for a motor vehicle according to the invention described above is integrated in the motor vehicle. In this embodiment, the projection device 206 is disposed at a fixed position of the vehicle body, and the height h of the projection device 206 from the ground is sufficient to present the current reverse indication image on the ground behind the motor vehicle. The height h is selected to be different according to the installation position of the projection device 206 on different vehicles. This requires presetting when the reversing indicator system is assembled on the motor vehicle.
At the same time, fig. 4 also shows the basic principle of the invention. The dimensions of the various elements in the figures are not intended as limitations on the present invention; for clarity of illustration, the various parts are not shown in actual scale, some are shown exaggerated, and some are shown reduced. In order to project the current reverse indication image 2061 on the ground, the projection direction of the projection device 206 forms an angle β with the ground. The included angle β is small, for example less than 15 degrees, because the projection device 206 mounted on the vehicle body is close to the ground, for example, about the distance from the rear bumper to the ground, and the size of the image to be projected is required to be large, for example, the width of the image is at least similar to the width of the vehicle body, and the length is at least 3 meters, so as to ensure the safety distance between the pedestrian and the vehicle behind. In this case, a suitable projection instruction (i.e., initial image data corresponding to the intermediate image 2062) regarding the reverse trajectory may be input to the projection device 206 via the conversion of the intermediate image 2062 to present an image 2061 of the current reverse trajectory that coincides with the actual size.
In general, the projection image is most clear when the projection direction of the projection device 206 (i.e. the emission direction of the light source) is perpendicular to the corresponding projection plane. The intermediate image 2062 is therefore preferably a projection image of the projection device 206 in a virtual projection plane b-b perpendicular to the projection direction, which projection plane b-b intersects the reversing indication image on the ground at the edge of the reversing indication image close to the vehicle.
In this embodiment, the intermediate image 2062 and the image 2061 of the current reverse track projected on the ground are two curves showing the track of the wheel, and may be other specific figures as long as the current reverse track can be clearly shown. In addition, since the driver of the motor vehicle usually adjusts the steering wheel continuously during the backing process, data information of an included angle formed by the longitudinal direction of the vehicle body and the direction of the wheels needs to be acquired continuously so as to correct the image of the current backing track.
The principles and embodiments of the present invention have been described above by way of specific examples, which are only illustrative and not intended to limit the scope of the present invention. It should be noted that any modifications and variations to the present invention may occur to those skilled in the art without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (10)
1. A reverse indication method for a motor vehicle, the reverse indication method comprising the steps of:
-acquiring data information about an angle (α) of a longitudinal direction (R) of the vehicle body with respect to a wheel orientation (R);
-performing an arithmetic processing on the data information to generate data information of an image (2061) of a current reversing trajectory;
-converting the data information of the image (2061) of the current reverse trajectory into data information of an intermediate image (2062) that needs to be projected by the projection means (206);
-issuing projection instructions to the projection means (206) according to the data information of the intermediate image (2062) so that the projection means (206) projects an image of the current reversing trajectory on the ground.
2. The reversing indication method according to claim 1, wherein data information on an angle (α) formed by a longitudinal direction of a vehicle body and an orientation of wheels is acquired by acquiring a rotation angle of a steering wheel.
3. The reversing indication method according to claim 1 or 2, characterized in that the projection device (206) is arranged at a fixed position of the vehicle body such that the projection device is at a height from the ground sufficient to present an image (2061) of the current reversing trajectory on the ground behind the motor vehicle.
4. The reversing indication method according to claim 1 or 2, characterized in that the intermediate image (2062) is a projection image presented by the projection device (206) in a virtual projection plane perpendicular to a projection direction.
5. The reversing indication method according to claim 4, wherein the virtual projection plane intersects an edge of the image of the current reversing trajectory projected on the ground near the vehicle.
6. A method according to claim 1 or 2, characterized in that the projection means (206) are capable of projecting images of the danger area simultaneously on the ground in addition to the image of the current reversing trajectory.
7. The reversing indication method according to claim 6, wherein the hazardous area image has a rectangular shape and completely surrounds an image of a current reversing trajectory.
8. The reversing indication according to claim 7, wherein the size of the danger zone image is determinable from the size of the image of the current reversing trajectory, preferably the size of the danger zone image is related to the speed of the vehicle, the size of the danger zone image being larger when the vehicle speed is higher and smaller when the vehicle speed is lower.
9. Reversing indication system (200) for a motor vehicle for performing a reversing indication method for a motor vehicle according to any of claims 1 to 8, the reversing indication system comprising:
-a data acquisition module (201) to acquire data information about the angle the longitudinal direction of the vehicle body makes with the wheel orientation;
-a data processing module (202) to arithmetically process the data information to generate an image (2061) of a current reverse trajectory;
-an image conversion module (204) for converting the image (2061) of the current reverse trajectory into an intermediate image (2062) to be projected by the projection means (206); and
-an instruction module (205) for issuing projection instructions to the projection device (206) based on the data information of the intermediate image (2062);
the reversing indication system further comprises: and a projection device (206) for projecting an image (2061) of the current reversing track to the ground according to the projection instruction.
10. Motor vehicle comprising a reversing indication system (200) for a motor vehicle according to claim 9.
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| CN201910873178.XA CN112519670B (en) | 2019-09-17 | 2019-09-17 | Reversing indication method and reversing indication system for motor vehicle and motor vehicle |
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| CN201910873178.XA CN112519670B (en) | 2019-09-17 | 2019-09-17 | Reversing indication method and reversing indication system for motor vehicle and motor vehicle |
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| CN112519670B (en) | 2024-03-05 |
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