CN202847561U - Car-backing image system - Google Patents
Car-backing image system Download PDFInfo
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- CN202847561U CN202847561U CN 201220359027 CN201220359027U CN202847561U CN 202847561 U CN202847561 U CN 202847561U CN 201220359027 CN201220359027 CN 201220359027 CN 201220359027 U CN201220359027 U CN 201220359027U CN 202847561 U CN202847561 U CN 202847561U
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Abstract
The utility model relates to a car-backing image system which is characterized by comprising a wide angle car-backing camera, a steering wheel corner sensor, a car-backing image control system and a displayer. The car-backing image control system is used to control the wide angle car-backing camera to obtain a vehicle rear image and respectively send the vehicle rear image to a car-backing track projecting unit and a car-backing image overlook transformation unit. A car-backing track calculating unit is used to collect steering wheel angle calculation backing tracks and distance tag lines and send the steering wheel angle calculation backing tracks and the distance tag lines to the car-backing track projecting unit which projects the steering wheel angle calculation backing tracks and the distance tag lines to a image and sends the image overlapped with the steering wheel angle calculation backing tracks and the distance tag lines to the displayer. The vehicle rear image of the car-backing image overlook transformation unit is transformed into an overlook image. The car-backing track and the distance tag lines are projected to the overlook image and sent to the displayer. The car-backing image system can be widely applied to the process of backing a car and provide accurate referential information to a driver.
Description
Technical field
The utility model relates to a kind of reversing aid system, particularly about a kind of reverse image system for the reversing reference information is provided to chaufeur.
Background technology
Along with the rapid increase of Chinese automobile recoverable amount, the place of parking such as road, parking area is day by day crowded, and the utilizable space of parking is also fewer and feweri.Meanwhile, handle also increasing year by year of unskilled new hand in the crowd of drivers of rapid growth, because the impact of vehicle structure and driver's seat limitation, reversing becomes one of Major Difficulties of vehicle drive.Studies show that of Univ Michigan-Ann Arbor USA, the accident that causes of parking accounts for 44% of all kinds of accidents, and wherein about 50% the accident of parking is owing to reversing causes.This shows that reversing is a major reason that causes car accident.For above-mentioned condition, various types of reversing aid systems are able to widespread use.
Present modal reversing aid system has two classes: Reverse Sensor and reverse image.Reverse radar system is comprised of ultrasonic probe, controller, telltale and buzzer phone usually, when vehicle hangs up reverse gear, ultrasonic probe emission super sonic, super sonic reflects after running into obstacle, after receiving backward wave, probe just can calculate obstacle distance, and driving display or buzzer warning, avoid bumping.Reverse image is at automobile tail a wide-angle camera to be installed, and chaufeur can be observed car rear situation by wide-angle camera.Existing most of reverse image system can show static trajectory by video superimpose, i.e. the extended line of vehicle body both sides in the reversing image.Part reverse image system can also calculate the running orbit of vehicle under this corner by gathering steering wheel angle, and shows in the reversing image, provides abundanter information to chaufeur, reduces and drives difficulty.
But, there is very large distortion in the image that existing reverse image system adopts wide-angle camera to take and obtains, chaufeur is difficult to from image judge that vehicle is to the distance of rear obstacle, the obstacle that certain altitude is particularly arranged apart from ground, reason owing to pattern distortion, the distance that chaufeur is felt by image is far away than actual distance, if show that according to image carrying out car backing operation then may bump.In order to reduce the generation of reversing accident, the distance perspective in the urgent need to some householder methods raising reverse images makes chaufeur understand easily vehicle location, ensures reversing safety.
Summary of the invention
For the problems referred to above, the purpose of this utility model provides a kind of can output according to the chaufeur selection and moves backward common view field image or overlook view field image, and in the reverse image of two visual fields that vehicle backing track and range mark line can be added to, the reverse image system of the distance perspective of Effective Raise reverse image.
For achieving the above object, the utility model is taked following technical scheme: a kind of reverse image system, it is characterized in that: it comprises that one is arranged on the wide-angle backup camera of rear view of vehicle, one steering wheel angle sensor, one reverse image control system and a telltale, described reverse image control system is obtained automobile gears, steering wheel angle and chaufeur reverse image visual field by the vehicle-mounted CAN bus and is selected information, and described reverse image control system also is connected with telltale with described wide-angle backup camera respectively; Described reverse image control system comprises that a backing track calculating unit, a backing track projecting cell and a reverse image overlook converter unit; Described reverse image control system is controlled that described wide-angle backup camera obtains the rear view of vehicle image and it is sent to respectively described backing track projecting cell and reverse image is overlooked converter unit, described backing track calculating unit gathers steering wheel angle sensor calculated signals backing track and range mark line, and sends it to described backing track projecting cell; Described backing track projecting cell according to the Transformation Relation of Projection of earth axes and image coordinate system with backing track and range mark line projection to image, and the image that will be superimposed with backing track line and range mark line sends to the demonstration that described telltale is finished common visual field reverse image; Described reverse image is overlooked converter unit according to the Transformation Relation of Projection of earth axes and image coordinate system, be overhead view image with the rear view of vehicle image conversion, simultaneously with backing track and range mark line projection to overhead view image, and the overhead view image that will be superimposed with backing track line and range mark line sends to described telltale and finishes the demonstration of overlooking the visual field reverse image.
The Transformation Relation of Projection of described earth axes and image coordinate system is:
In the formula,
Be image coordinate,
Be the sensor devices coordinate, { x, y} are ground coordinate; C, d and e are the camera affine coefficients, C
u, C
vThe picture centre side-play amount, { a
0..., a
LThe camera distortion parameter, L is the distortion number of times; R is rotation matrix and the translation matrix of the relative earth axes of camera system of axes with T, and λ is zoom factor.
Described backing track calculating unit comprises an Ackermann angle computing module, an astern direction judge module, a backing track computing module and a range mark line computation module; Described Ackermann angle computing module calculates the Ackermann angle of vehicle
And send it to described astern direction judge module, described astern direction judge module sends to described backing track computing module with the astern direction judged result and calculates respectively revolver and right backing track of taking turns, and send it to described range mark line computation module, described range mark line computation module is take the backing track at vehicle rear axle center as initial value, take rear shaft center as starting point, circumferentially every Δ r selected distance gauge point on backing track, get along left at each distance marking place, rightly take turns radial direction and be positioned at a left side, one section straight line of backing track inside, right side is as the range mark line, and it is left that the reference position of range mark line is respectively, right side backing track line.
Described backing track projecting cell comprises a backing track discrete sampling module, a range mark line sampling module, an image coordinate mapping block and a segmentation straight line graphics module; Described backing track discrete sampling module is carried out respectively discrete sampling to the left and right sides backing track, and sampling point set is sent to described image coordinate mapping block; Described range mark line sampling module gathers the starting point of each bar range mark line and the ground coordinate value of terminal point, and the starting point of all range mark lines and the ground coordinate point set of terminal point are sent to described image coordinate mapping block; Described image coordinate mapping block stronghold plane coordinates and the Transformation Relation of Projection of image coordinate calculate backing track sampling point set and image coordinate corresponding to range mark line sampling point set, and it is all sent to described segmentation straight line graphics module, described segmentation straight line graphics module will be put and concentrate adjacent coordinates point to connect successively, draw out the projection of backing track and range mark line in image.
Described reverse image is overlooked converter unit and is comprised that a birds-eye view generation unit, backing track sampling Zoom module, range mark line sampling Zoom module and overlook the backing track drafting module; The pixel value that described birds-eye view generation unit calculates each point in the overhead view image generates the birds-eye view image and sends it to the described backing track drafting module of overlooking; The sample point coordinate value of the collection of described backing track sampling Zoom module, record backing track also carries out it to send to the described backing track drafting module of overlooking behind convergent-divergent; The sampling Zoom module collection of described range mark line is also recorded the coordinate figure of each bar range mark line starting point and terminal point and it is carried out respectively sending to the described backing track drafting module of overlooking behind the convergent-divergent; Describedly overlook the backing track drafting module is drawn out backing track and range mark line by the segmentation straight line on overhead view image projection.
Described birds-eye view generation unit comprises a birds-eye view coordinate mapping submodule, a ground coordinate image projection submodule and a neighbours territory picture element interpolation submodule; Described birds-eye view coordinate mapping submodule is calculated each the pixel (u in the overhead view image
w, v
w) corresponding ground coordinate (x
w, y
w), and send it to described ground coordinate image projection submodule; Described ground coordinate image projection submodule utilizes the Transformation Relation of Projection between earth axes and the camera image system of axes, calculates the corresponding camera coordinate (u, v) of ground coordinate of overhead view image, obtains thus the pixel (u of birds-eye view
w, v
w) corresponding camera image pixel (u, v), and send it to described neighbours territory picture element interpolation submodule, described neighbours territory picture element interpolation submodule extracts (u, v) four adjacent pixels obtain after linear interpolation as overhead view image pixel (u
w, v
w) pixel value, the projection of finishing all pixels of overhead view image calculates overhead view image.
The utility model is owing to take above technical scheme, it has the following advantages: 1, reverse image control system of the present utility model is owing to be provided with the backing track calculating unit, backing track projecting cell and reverse image are overlooked converter unit, the backing track calculating unit calculates backing track and range mark line, the backing track projecting cell can obtain being superimposed with the common view field image of rear view of vehicle of backing track line and range mark line, reverse image is overlooked the rear view of vehicle that converter unit can obtain being superimposed with backing track line line and range mark line and is overlooked view field image, therefore compared with prior art, on the common view angle basis, increased the rear view of vehicle image of overlooking under the visual angle, chaufeur can be according to actual needs, between two visual fields, switch, therefore provide more for chaufeur, reference information effectively reduces the reversing difficulty more accurately.2, reverse image of the present utility model is overlooked converter unit according to the Transformation Relation of Projection of earth axes and image coordinate system, be overhead view image with the rear view of vehicle image conversion, and backing track and range mark line be added in the overhead view image, overhead view image meets the actual car backing operation of chaufeur more, not only improved the distance perspective of reverse image, and chaufeur is judged vehicle-surroundings environment and vehicle movement trend more intuitively from overhead view image, be more readily understood vehicle location, ensure reversing safety.3, the utility model is owing to be provided with segmentation straight line graphics module and overlook the backing track drafting module; therefore backing track discrete sampling and segmentation are drawn with overlooking in the view field image in common view field image; both can guarantee backing track line smoothness, and make again the backing track line more meet real backing track.4, the utility model is owing to adopted the earth axes that more meets wide-angle backup camera pattern distortion model and the Transformation Relation of Projection of image coordinate system, and the backing track line precision that therefore calculates is higher, more can guide exactly chaufeur to move backward.The utility model can be widely used in the reversing automobile process providing more, reference information more accurately for chaufeur.
Description of drawings
Fig. 1 is system architecture scheme drawing of the present utility model;
Fig. 2 is control logic scheme drawing of the present utility model;
Fig. 3 is the schematic flow sheet of backing track calculating unit of the present utility model;
Fig. 4 is backing track coordinate scheme drawing of the present utility model, and the backing track center of circle " O " is the intersection point of off front wheel midperpendicalar and off hind wheel midperpendicalar, and two camber lines are respectively the left and right side backing track;
Fig. 5 is the treatment scheme scheme drawing of backing track projecting cell of the present utility model;
Fig. 6 is common visual field of the present utility model backing track perspective view;
Fig. 7 is the schematic flow sheet that reverse image of the present utility model is overlooked converter unit;
Fig. 8 is visual field and the backing track line scheme drawing overlooked of the present utility model;
Fig. 9 is the schematic flow sheet of birds-eye view generation unit of the present utility model.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is described in detail.
As shown in Figure 1 and Figure 2, reverse image system of the present utility model and existing reverse image system architecture are similar, comprise that one is installed in the wide-angle backup camera 1 of vehicle tail; One is arranged on the steering wheel angle sensor 2 on the wheel steering tubing string; One is installed in reverse image control system 3 and in the car body is arranged on telltale 4 on the automobile control panel; Reverse image control system 3 links to each other with vehicle body CAN bus by the vehicle-mounted CAN bus, obtain respectively automobile gears, steering wheel angle and chaufeur reverse image visual field and select information, reverse image control system 3 also is connected with telltale 4 with wide-angle backup camera 1 respectively by video line, is used for gathering and sending analog picture signal.Characteristics of the present utility model are: reverse image control system 3 comprises that a backing track calculating unit 31, a backing track projecting cell 32 and a reverse image overlook converter unit 33; During the reversing of chaufeur engage a gear, make reverse image control system 3 enter mode of operation by the vehicle-mounted CAN bus, reverse image control system 3 starts wide-angle backup cameras 1 and obtains the rear view of vehicle image, and it is sent to respectively backing track projecting cell 32 and reverse image is overlooked converter unit 33; Backing track calculating unit 31 gathers steering wheel angle sensor 2 signals, calculates left and right wheel backing track and range mark line, and left and right sides backing track and range mark line are sent to backing track projecting cell 32; If chaufeur is selected common reversing visual field pattern, backing track projecting cell 32 according to the Transformation Relation of Projection of earth axes and image coordinate system with backing track and range mark line projection to image, and the image that will be superimposed with backing track line and range mark line sends to telltale 4, finishes the demonstration of reverse image under the common visual field; If chaufeur selects to overlook reversing visual field pattern, reverse image is overlooked converter unit 33 according to the Transformation Relation of Projection of earth axes and image coordinate system, be overhead view image with the rear view of vehicle image conversion, simultaneously backing track and range mark line are carried out convergent-divergent and be projected in the overhead view image, and the overhead view image that will be superimposed with backing track line and range mark line sends to telltale 4 and finishes the demonstration of overlooking the visual field reverse image.
In above-described embodiment, the horizontal field of view of wide-angle backup camera 1 is not less than 170 °, and vertical field of view is not less than 130 °, and working current is less than 100mA.
In the various embodiments described above, the light that the imaging process of wide-angle backup camera 1 can be described as a point in the space reflects after by camera lens, and shine on CCD or the CMOS sensor devices, the camera controller carries out voltage sample to the pixel on the photosensitive surface, obtain the brightness value of each pixel in the image and image is exported, this process relates to four conversion between the system of axes, earth axes, camera system of axes, sensor devices system of axes and image coordinate system.Earth axes is fixed in ground, and its direction dictates meets the SAE requirement, and the camera coordinate origin is positioned at the optical center, take optical axis as Z axis, is left X-axis along optical axis direction, upwards is Y-axis.The sensor devices system of axes is consolidated on the photosensitive surface, is a plane coordinate system, take the sensor devices center as initial point, is to the right X-axis, upwards is Y-axis.Image coordinate system is to the right X-axis take the image upper left corner as initial point, is downwards Y-axis.Wherein, there are rotation and translation between earth axes and the camera system of axes, then have distortion and convergent-divergent between camera system of axes and the sensor devices system of axes, only consider simple affined transformation between sensor devices system of axes and the image coordinate system.According to the transformation relation between the above-mentioned system of axes, the earth axes that the utility model adopts and the Transformation Relation of Projection of image coordinate system are:
In the formula,
Be image coordinate,
Be the sensor devices coordinate, { x, y} are ground coordinate; C, d and e are the camera affine coefficients, C
u, C
vThe picture centre side-play amount, { a
0..., a
LBe the camera distortion parameter, L for the distortion number of times, more than three groups of parameters be referred to as the camera inner parameter; R is rotation matrix and the translation matrix of the relative earth axes of camera system of axes with T, is also referred to as the camera ambient parameter, and λ is zoom factor.
As shown in Figure 3, Figure 4, in the various embodiments described above, backing track calculating unit 31 comprises an Ackermann angle computing module 311, an astern direction judge module 312, a backing track computing module 313 and a range mark line computation module 314; Ackermann angle computing module 311 gathers steering wheel angle θ, and in conjunction with the Ackermann angle of vehicle parameter and camera calibration calculation of parameter vehicle
And with Ackermann angle
Send to astern direction judge module 312, astern direction judge module 312 sends to backing track computing module 313 according to Ackermann angle with the astern direction judged result and calculates respectively left, right turn radius of taking turns, and with a left side, the right corresponding camber line of turn radius of taking turns sends to range mark line computation module 314 as backing track (as shown in Figure 4), range mark line computation module 314 is take the vehicle rear axle center as starting point, take the reversing radius of rear shaft center as initial value, circumferentially every Δ r on a left side, selected distance gauge point on the backing track of right side, get along left at each distance marking place, rightly take turns radial direction and be positioned at a left side, one section straight line of backing track inside, right side is as the range mark line, it is left that the reference position of range mark line is respectively, the right side backing track, the length of range mark line is s, Δ r and s can be chosen at according to actual needs this and be not construed as limiting, choosing Δ r among the embodiment of the present utility model is 0.2m, and s is 30cm.
The computation process of each module is in the backing track calculating unit 31:
In the formula, k ' is conversion coefficient, and conversion coefficient k ' can obtain from the vehicle manufacturer or try to achieve by the corresponding relation of fixed setting dish corner and front wheel angle.By Ackerman principle, think that when motor turning all wheels are all done circumference around same instantaneous center and rolled, and therefore can calculate by following formula the turn radius of left and right wheel.When vehicle was moveed backward to left, revolver and right turn radius of taking turns were:
When vehicle during to right-hand reversing, revolver and right turn radius of taking turns are:
In the formula, r
lBe the turn radius of revolver, r
rBe right turn radius of taking turns, l is vehicle wheelbase, and w is Wheel centre distance.
Such as Fig. 5, shown in Figure 6, in the various embodiments described above, backing track projecting cell 32 comprises a backing track discrete sampling module 321, a range mark line sampling module 322, an image coordinate mapping block 323 and a segmentation straight line graphics module 324; 321 pairs of left and right sides backing tracks of backing track discrete sampling module carry out discrete sampling, record the ground coordinate value of each sampling point, and the ground coordinate point set of all sampling points of left and right sides backing track is sent to image coordinate mapping block 323; Range mark line sampling module 322 gathers the starting point of each bar range mark line and the ground coordinate value of terminal point, and the starting point of all range mark lines and the ground coordinate point set of terminal point are sent to image coordinate mapping block 322; Image coordinate mapping block 322 stronghold plane coordinateses and the Transformation Relation of Projection of image coordinate calculate backing track sampling point set and image coordinate corresponding to range mark line sampling point set, and it is all sent to segmentation straight line graphics module 324, segmentation straight line graphics module 324 will be put and concentrate the point of adjacent coordinates to connect successively, draw out the projection (as shown in Figure 6) of backing track and range mark line in image.The computation process of each module is in the backing track projecting cell 32:
The ground coordinate collection that backing track discrete sampling module 321 gathered respectively and recorded left and right side backing track sampling point is:
S
l={(x
li,y
li)|i=1,2,...,N}
S
r={(x
ri,y
ri)|i=1,2,...,N}
In the formula, (x
Li, y
Li) and (x
Ri, y
Ri) representing respectively left and right ground coordinate value of taking turns i sampling point on the backing track, N is sampling number.
Range mark line sampling module 323 gathers the starting point of each bar range mark line and the ground coordinate point set of terminal point is:
S
2={(x
si,y
si,x
ei,y
ei)|i=1,2,...,M}
In the formula, (x
Si, y
Si, x
Ei, y
Ei) the ground coordinate value of expression i bar range mark line starting point and terminal point, M is the total number of range mark line.
As shown in Figure 7, in the various embodiments described above, reverse image is overlooked converter unit 33 and is comprised that a birds-eye view generation unit 331, backing track sampling Zoom module 332, range mark line sampling Zoom module 333 and overlook backing track drafting module 334; According to overhead view image and the zoom factor k that overlooks the zone, birds-eye view generation unit 331 calculates the pixel value of each point in the overhead view images and the overhead view image that generates sent to overlooks backing track drafting module 334, and backing track sampling Zoom module 332 gathers, the sample point coordinate value of record backing track and it is carried out sending to behind the convergent-divergent overlook backing track drafting module 334; Range mark line sampling Zoom module 332 gathers and records the coordinate figure of each bar range mark line starting point and terminal point and it carried out respectively sending to behind the convergent-divergent overlook backing track drafting module 334; Overlook backing track drafting module 334 and on overhead view image, draw out the projection (as shown in Figure 8) of backing track and range mark line by the segmentation straight line.
As shown in Figure 9, in above-described embodiment, birds-eye view generation unit 331 comprises a birds-eye view coordinate mapping submodule 3311, a ground coordinate image projection submodule 3312 and a neighbours territory picture element interpolation submodule 3313; Each pixel (u that birds-eye view coordinate mapping submodule 3311 is calculated in the overhead view image
w, v
w) corresponding ground coordinate (x
w, y
w), and send it to ground coordinate image projection submodule 3312; Ground coordinate image projection submodule 3312 utilizes the Transformation Relation of Projection between earth axes and the camera image system of axes, calculates the corresponding camera coordinate (u, v) of ground coordinate of overhead view image, obtains thus the pixel (u of birds-eye view
w, v
w) corresponding camera image pixel (u, v), in order to improve the birds-eye view quality, send it to neighbours territory picture element interpolation submodule 3313, neighbours territory picture element interpolation submodule 3313 extracts (u, v) four adjacent pixels obtain after linear interpolation as overhead view image pixel (u
w, v
w) pixel value, the projection of finishing all pixels of overhead view image calculates overhead view image, and sends it to and overlook backing track drafting module 334.
In above-described embodiment, for onesize overhead view image, different zoom factor k means the ground region of different sizes, and zoom factor is larger, and the ground region that birds-eye view covers is also just larger, determines the size of k according to actual conditions; Reverse image is overlooked the corresponding relation that converter unit 33 can pass through formula computed image coordinate and ground coordinate, wherein, and (u
w, v
w) be the overhead view image coordinate, { x
w, y
wBe ground coordinate, k
xBe the zoom factor of x direction, k
yBe the zoom factor of y direction, computing formula is:
x
w=k
x·u
w
y
w=k
y·v
w
If k
xBe not equal to k
y, overhead view image will occur laterally or longitudinal stretching, and will be consistent with the chaufeur impression in order to keep overhead view image, make k in the enforcement of the present utility model
xWith k
yEquate, be designated as k.
Because only there are the convergent-divergent relation in overhead view image and ground, therefore also only just stackable in overhead view image by convergent-divergent by the resulting left and right sides backing track of backing track calculating unit and range mark line.After backing track sampling Zoom module 333 is finished the backing track discrete sampling, according to zoom factor k backing track ground coordinate point set is carried out convergent-divergent, obtain its corresponding overhead view image point set S
l' and S
r':
S
l′={(x
li/k，y
li/k)|i=1,2,...,N}
S
r′={(x
ri/k，y
ri/k)|i=1,2,...,N}
After range mark line sampling Zoom module 334 is finished the sampling of range mark line, according to zoom factor k range mark line coordinates point set is carried out convergent-divergent, obtain its corresponding overhead view image point set S
2':
S
2′={(x
si/k,y
si/k,x
ei/k,y
ei/k)|i=1,2,...,M}
The various embodiments described above only are used for explanation the utility model; wherein the structure of each parts and connection mode etc. all can change to some extent; every equivalents and improvement of carrying out on the basis of technical solutions of the utility model all should do not got rid of outside protection domain of the present utility model.
Claims (6)
1. reverse image system, it is characterized in that: it comprises that one is arranged on the wide-angle backup camera of rear view of vehicle, one steering wheel angle sensor, one reverse image control system and a telltale, described reverse image control system is obtained automobile gears, steering wheel angle and chaufeur reverse image visual field by the vehicle-mounted CAN bus and is selected information, and described reverse image control system also is connected with telltale with described wide-angle backup camera respectively; Described reverse image control system comprises that a backing track calculating unit, a backing track projecting cell and a reverse image overlook converter unit; Described reverse image control system is controlled that described wide-angle backup camera obtains the rear view of vehicle image and it is sent to respectively described backing track projecting cell and reverse image is overlooked converter unit, described backing track calculating unit gathers steering wheel angle sensor calculated signals backing track and range mark line, and sends it to described backing track projecting cell; Described backing track projecting cell according to the Transformation Relation of Projection of earth axes and image coordinate system with backing track and range mark line projection to image, and the image that will be superimposed with backing track line and range mark line sends to the demonstration that described telltale is finished common visual field reverse image; Described reverse image is overlooked converter unit according to the Transformation Relation of Projection of earth axes and image coordinate system, be overhead view image with the rear view of vehicle image conversion, simultaneously with backing track and range mark line projection to overhead view image, and the overhead view image that will be superimposed with backing track line and range mark line sends to described telltale and finishes the demonstration of overlooking the visual field reverse image.
2. a kind of reverse image as claimed in claim 1 system, it is characterized in that: described backing track calculating unit comprises an Ackermann angle computing module, an astern direction judge module, a backing track computing module and a range mark line computation module; Described Ackermann angle computing module calculates the Ackermann angle of vehicle
And send it to described astern direction judge module, described astern direction judge module sends to described backing track computing module with the astern direction judged result and calculates respectively revolver and right backing track of taking turns, and send it to described range mark line computation module, described range mark line computation module is take the backing track at vehicle rear axle center as initial value, take rear shaft center as starting point, circumferentially every Δ r selected distance gauge point on backing track, get along left at each distance marking place, rightly take turns radial direction and be positioned at a left side, one section straight line of backing track inside, right side is as the range mark line, and it is left that the reference position of range mark line is respectively, right side backing track line.
3. a kind of reverse image as claimed in claim 1 system, it is characterized in that: described backing track projecting cell comprises a backing track discrete sampling module, a range mark line sampling module, an image coordinate mapping block and a segmentation straight line graphics module; Described backing track discrete sampling module is carried out respectively discrete sampling to the left and right sides backing track, and sampling point set is sent to described image coordinate mapping block; Described range mark line sampling module gathers the starting point of each bar range mark line and the ground coordinate value of terminal point, and the starting point of all range mark lines and the ground coordinate point set of terminal point are sent to described image coordinate mapping block; Described image coordinate mapping block stronghold plane coordinates and the Transformation Relation of Projection of image coordinate calculate backing track sampling point set and image coordinate corresponding to range mark line sampling point set, and it is all sent to described segmentation straight line graphics module, described segmentation straight line graphics module will be put and concentrate adjacent coordinates point to connect successively, draw out the projection of backing track and range mark line in image.
4. a kind of reverse image as claimed in claim 2 system, it is characterized in that: described backing track projecting cell comprises a backing track discrete sampling module, a range mark line sampling module, an image coordinate mapping block and a segmentation straight line graphics module; Described backing track discrete sampling module is carried out respectively discrete sampling to the left and right sides backing track, and sampling point set is sent to described image coordinate mapping block; Described range mark line sampling module gathers the starting point of each bar range mark line and the ground coordinate value of terminal point, and the starting point of all range mark lines and the ground coordinate point set of terminal point are sent to described image coordinate mapping block; Described image coordinate mapping block stronghold plane coordinates and the Transformation Relation of Projection of image coordinate calculate backing track sampling point set and image coordinate corresponding to range mark line sampling point set, and it is all sent to described segmentation straight line graphics module, described segmentation straight line graphics module will be put and concentrate adjacent coordinates point to connect successively, draw out the projection of backing track and range mark line in image.
5. as claimed in claim 1 or 2 or 3 or 4 a kind of reverse image system is characterized in that: described reverse image is overlooked converter unit and is comprised that a birds-eye view generation unit, backing track sampling Zoom module, range mark line sampling Zoom module and overlook the backing track drafting module; The pixel value that described birds-eye view generation unit calculates each point in the overhead view image generates the birds-eye view image and sends it to the described backing track drafting module of overlooking; The sample point coordinate value of the collection of described backing track sampling Zoom module, record backing track also carries out it to send to the described backing track drafting module of overlooking behind convergent-divergent; The sampling Zoom module collection of described range mark line is also recorded the coordinate figure of each bar range mark line starting point and terminal point and it is carried out respectively sending to the described backing track drafting module of overlooking behind the convergent-divergent; Describedly overlook the backing track drafting module is drawn out backing track and range mark line by the segmentation straight line on overhead view image projection.
6. a kind of reverse image as claimed in claim 5 system, it is characterized in that: described birds-eye view generation unit comprises a birds-eye view coordinate mapping submodule, a ground coordinate image projection submodule and a neighbours territory picture element interpolation submodule; Described birds-eye view coordinate mapping submodule is calculated each the pixel (u in the overhead view image
w, v
w) corresponding ground coordinate (x
w, y
w), and send it to described ground coordinate image projection submodule; Described ground coordinate image projection submodule utilizes the Transformation Relation of Projection between earth axes and the camera image system of axes, calculates the corresponding camera coordinate (u, v) of ground coordinate of overhead view image, obtains thus the pixel (u of birds-eye view
w, v
w) corresponding camera image pixel (u, v), and send it to described neighbours territory picture element interpolation submodule, described neighbours territory picture element interpolation submodule extracts (u, v) four adjacent pixels obtain after linear interpolation as overhead view image pixel (u
w, v
w) pixel value, the projection of finishing all pixels of overhead view image calculates overhead view image.
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| CN 201220359027 CN202847561U (en) | 2012-07-23 | 2012-07-23 | Car-backing image system |
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| CN 201220359027 Withdrawn - After Issue CN202847561U (en) | 2012-07-23 | 2012-07-23 | Car-backing image system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102745138A (en) * | 2012-07-23 | 2012-10-24 | 北京智华驭新汽车电子技术开发有限公司 | Dual view-field dynamic-trajectory reverse image system |
| CN107507131A (en) * | 2017-08-08 | 2017-12-22 | 广州市安晓科技有限责任公司 | 360 degree of panorama reverse image generation methods based on single camera |
| CN107914773A (en) * | 2017-11-29 | 2018-04-17 | 深圳市路畅科技股份有限公司 | A kind of backing track implementation method, system, equipment and computer-readable storage medium |
| CN110969068A (en) * | 2018-09-30 | 2020-04-07 | 北京奇虎科技有限公司 | Method and device for drawing vehicle backing line |
| CN112849154A (en) * | 2021-01-27 | 2021-05-28 | 广州路派电子科技有限公司 | Backing track and image auxiliary system and method |
-
2012
- 2012-07-23 CN CN 201220359027 patent/CN202847561U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102745138A (en) * | 2012-07-23 | 2012-10-24 | 北京智华驭新汽车电子技术开发有限公司 | Dual view-field dynamic-trajectory reverse image system |
| CN102745138B (en) * | 2012-07-23 | 2014-12-03 | 北京智华驭新汽车电子技术开发有限公司 | Dual view-field dynamic-trajectory reverse image system |
| CN107507131A (en) * | 2017-08-08 | 2017-12-22 | 广州市安晓科技有限责任公司 | 360 degree of panorama reverse image generation methods based on single camera |
| CN107507131B (en) * | 2017-08-08 | 2021-02-23 | 广州市安晓科技有限责任公司 | 360-degree panoramic reverse image generation method based on single camera |
| CN107914773A (en) * | 2017-11-29 | 2018-04-17 | 深圳市路畅科技股份有限公司 | A kind of backing track implementation method, system, equipment and computer-readable storage medium |
| CN110969068A (en) * | 2018-09-30 | 2020-04-07 | 北京奇虎科技有限公司 | Method and device for drawing vehicle backing line |
| CN112849154A (en) * | 2021-01-27 | 2021-05-28 | 广州路派电子科技有限公司 | Backing track and image auxiliary system and method |
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