CN108621936A - Vehicle turns around householder method, device and electronic equipment - Google Patents
Vehicle turns around householder method, device and electronic equipment Download PDFInfo
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- CN108621936A CN108621936A CN201710182993.2A CN201710182993A CN108621936A CN 108621936 A CN108621936 A CN 108621936A CN 201710182993 A CN201710182993 A CN 201710182993A CN 108621936 A CN108621936 A CN 108621936A
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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
- B60R2300/304—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
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Abstract
It turns around householder method, device and electronic equipment the embodiment of the invention discloses a kind of vehicle.The method includes：It is instructed in response to turning around, calculates the estimated wheelpath of vehicle in real time according to front wheel angle；Obtain the real-time imaging of vehicle-surroundings；The assisted image that turns around is synthesized according to the real-time imaging and the estimated wheelpath；Turn around assisted image described in display.Described device includes：Trajectory computation module, real-time imaging acquisition module, assisted image synthesis module and display module.It is turned around householder method, device and electronic equipment using the vehicle that the embodiment of the present invention is provided, the assisted image that turns around can be shown in real time according to front wheel angle and real-time imaging, assist driver accurately and quickly to be turned around to manipulate in real time by the assisted image that turns around.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle auxiliary driving, in particular to a vehicle turning auxiliary method, a vehicle turning auxiliary device and electronic equipment.
Background
With the rapid increase of the number of motor vehicles, the road congestion condition is more and more serious. Therefore, in the process of controlling the vehicle to turn around on a crowded road, in order to prevent the vehicle from being scratched, a driver needs to accurately judge the distance between the vehicle body and surrounding obstacles during controlling the turning around, so as to realize rapid and safe turning around.
However, the inventor finds in the process of implementing the invention that in the prior art, the u-turn control of the vehicle basically depends on the technique and the driving experience of the driver, and the u-turn control mode has the following defects: because the control mode depends on the technology and experience of the driver, if the judgment is slightly deviated, the scratch is likely to occur in the turning process, and particularly for novices, the distance between the vehicle body and the surrounding obstacles is difficult to judge accurately; when turning around on narrow road, the distance of automobile body right front and road edge is hardly known directly perceivedly, can't judge whether the right side has sufficient space to be used for turning around, even the right side space is sufficient, the driver also can often back a car in the centre because of judging inaccurately and accomplish the turning around, and the in-process of turning around backs a car not only can influence the normal driving of other vehicles, still causes traffic accident easily.
Disclosure of Invention
In view of this, embodiments of the present invention provide a vehicle turning auxiliary method, an apparatus, and an electronic device, which aim to solve the problem that turning control excessively depends on the technology and experience of a driver, implement fast and safe turning, and overcome the defects in the prior art.
The vehicle turning auxiliary method provided by the embodiment of the invention comprises the following steps: responding to the turning instruction, and calculating the predicted driving track of the vehicle in real time according to the front wheel steering angle; acquiring a real-time image of the periphery of the vehicle; synthesizing a turning auxiliary image according to the real-time image and the predicted driving track; and displaying the turning auxiliary image.
Further, the calculating the predicted driving track of the vehicle in real time according to the front wheel rotation angle includes: acquiring a front wheel corner; acquiring preset vehicle parameters; and calculating the predicted driving track of the vehicle in a preset coordinate system in real time according to the front wheel rotation angle and the vehicle parameters.
Further, the vehicle parameters include: the vehicle rear wheel base w and the vehicle axle base l; the calculation equation of the predicted driving track is as follows:
wherein,is the angle of rotation of the front wheel, (x)rL，yrL) Is the left rear wheel coordinate in the preset coordinate system, (x)rR，yrR) Is the right rear wheel coordinate in the preset coordinate system.
Further, the synthesizing a turning auxiliary image according to the real-time image and the predicted driving track comprises: determining the position relation between the predicted driving track and the real-time image according to the preset coordinate system; and synthesizing the predicted vehicle path in the real-time image according to the position relation to form the turning auxiliary image.
Further, still include: and stopping displaying the turning auxiliary image in response to the turning completion instruction.
The vehicle turning auxiliary device provided by the embodiment of the invention comprises: a trajectory calculation module to: responding to the turning instruction, and calculating the predicted driving track of the vehicle in real time according to the front wheel steering angle; the real-time image acquisition module is used for: acquiring a real-time image of the periphery of the vehicle; an auxiliary image synthesis module for: synthesizing a turning auxiliary image according to the real-time image and the predicted driving track; a display module to: and displaying the turning auxiliary image.
Further, the trajectory calculation module includes: the front wheel steering angle acquisition submodule is used for acquiring a front wheel steering angle; the vehicle parameter acquisition submodule is used for acquiring preset vehicle parameters; a trajectory calculation submodule for: and calculating the predicted driving track of the vehicle in a preset coordinate system in real time according to the front wheel rotation angle and the vehicle parameters.
Further, the vehicle parameters include: the vehicle rear wheel base w and the vehicle axle base l; the calculation equation of the predicted driving track is as follows:
wherein,is the angle of rotation of the front wheel, (x)rL，yrL) Is the left rear wheel coordinate in the preset coordinate system, (x)rR，yrR) Is the right rear wheel coordinate in the preset coordinate system.
Further, the auxiliary image synthesizing module includes: a positional relationship determination submodule for: determining the position relation between the predicted driving track and the real-time image according to the preset coordinate system; an image synthesis sub-module for: and synthesizing the predicted vehicle path in the real-time image according to the position relation to form the turning auxiliary image.
Further, still include: a stop module to: and stopping displaying the turning auxiliary image in response to the turning completion instruction.
Embodiments of the present invention further provide a non-transitory computer storage medium, where computer instructions are stored, and the computer instructions cause the computer to execute any one of the vehicle turning auxiliary methods described above.
Embodiments of the present invention also provide a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by a computer, the computer can execute any one of the vehicle turning auxiliary methods described above.
An embodiment of the present invention further provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions configured to perform any of the vehicle u-turn assistance methods described above.
By adopting the vehicle turning auxiliary method, the vehicle turning auxiliary device and the electronic equipment provided by the embodiment of the invention, the turning auxiliary image can be displayed in real time according to the corner of the front wheel and the real-time image, and a driver is assisted to accurately and quickly turn around in real time through the turning auxiliary image. On one hand, a driver can know the turning auxiliary image in real time through the display screen, does not need to excessively depend on technology and experience in the turning operation process, can effectively reduce the occurrence of rubbing accidents, and particularly for novices, can directly and conveniently judge the distance between a vehicle body and surrounding obstacles through the turning auxiliary image, thereby providing reference for accurately adjusting the direction; on the other hand, for the turning control on a narrow road, the distance between the right front of the body and the edge of the road can be directly obtained through the turning auxiliary image, whether enough space is used for turning is easily judged, turning is finished through backing in the middle only when the space is really insufficient, the influence on normal driving of other vehicles is small, and the occurrence probability of traffic accidents is reduced.
Drawings
The objects and advantages of embodiments of the present invention will be understood and appreciated by reference to the following detailed description of embodiments of the invention, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a vehicle turning-around assistance method according to an embodiment of the invention;
fig. 2 is a flowchart of a vehicle turning around assistance method according to another embodiment of the present invention;
FIG. 3 is a model diagram of a predicted trajectory of the vehicle calculated in the embodiment of FIG. 2;
FIG. 4 is a schematic view of a vehicle turning assist device according to an embodiment of the present invention;
fig. 5 is a schematic view of a vehicle turning-round assisting device according to another embodiment of the invention;
fig. 6 is a schematic hardware structure diagram of an electronic device for performing a vehicle u-turn assist method according to an embodiment of the present invention.
Detailed Description
The following provides a detailed description of embodiments of the invention. In which like parts are designated by like reference numerals.
The vehicle turning auxiliary method, the vehicle turning auxiliary device and the electronic equipment provided by the embodiment of the invention can be used for various terminal equipment such as a vehicle-mounted computer, a mobile phone and a tablet personal computer and are used for assisting a driver in turning operation when a vehicle turns. The method can be used in the following scenes: when the vehicle needs to turn around in the middle of a road or at an intersection or needs to turn around at a large angle, the turning around assistance can be realized through the vehicle turning around assistance method, the device and the electronic equipment provided by the embodiment of the invention.
A first embodiment.
Fig. 1 is a flowchart of a vehicle turning-around assistance method according to an embodiment of the invention. As shown in fig. 1, the vehicle turning-around assisting method provided by the embodiment of the invention can be implemented by the following steps.
And step S101, responding to the turning command, and calculating the predicted driving track of the vehicle in real time according to the front wheel steering angle. The u-turn instruction may be implemented by means of user input, for example: when a user needs to assist in controlling the vehicle to turn around, a corresponding turning-around instruction is input into the vehicle-mounted computer. In addition, the u-turn instruction may also be automatically responded by a corresponding trigger condition, such as: and acquiring the mark of the current lane by a camera in front of the vehicle, and responding to the triggering condition to execute the step S101 if the mark of the current lane is the turning mark and the vehicle turns on a steering lamp. The front wheel steering angle is understood to mean the current yaw angle of the front wheels of the vehicle, i.e. the angle by which the front wheels of the vehicle are steered by the steering wheel away from the direction directly in front of the vehicle. The front wheel steering angle can be collected through a deflection angle sensor in a vehicle steering system, and can also be obtained through real-time data in the vehicle steering system.
The calculation of the predicted trajectory of the vehicle in real time based on the front wheel turning angle may be carried out in various ways, for example, in one specific embodiment, a reference line along the front-rear direction of the vehicle, i.e., a straight line passing through the midpoint of the front axle and the midpoint of the rear axle of the vehicle, may be selected, and the predicted trajectory of the vehicle may be determined to be deviated from the reference line by an angle equal to the front wheel turning angle, thereby determining the predicted trajectory of the vehicle for the user to refer to. It is to be understood that the specific calculation method is not limited thereto.
Step S102, acquiring a real-time image of the periphery of the vehicle. The real-time image can be acquired by a camera positioned around the vehicle body, and can also be acquired by directly reading image data in the automobile data recorder. In a specific scheme, cameras can be respectively arranged right in front of the vehicle body, left in front of the vehicle body and right in front of the vehicle body, images of the three positions are collected simultaneously, and the three images are spliced into the real-time image in the existing image splicing mode.
And S103, synthesizing a turning auxiliary image according to the real-time image and the predicted driving track. And determining the position relation between the real-time image and the reference line according to the acquisition position of the real-time image, obtaining the position of the predicted driving route on the real-time image based on the position relation between the predicted driving route and the reference line determined in the step S101, and synthesizing the real-time image and the predicted driving track into the turning auxiliary image based on the position relation. For example: the current corner of the front wheel is 20 degrees, the reference line is located on a vertical bisector of the image in the image collected by the camera right in front of the vehicle, the predicted driving track deviates from the vertical bisector by 20 degrees, and the predicted driving track is synthesized into the real-time image, so that the current turning auxiliary image can be obtained.
And step S104, displaying the turning auxiliary image. The turning auxiliary image can be directly displayed on a vehicle-mounted computer, a mobile phone or other terminal equipment, and a user can control a vehicle by referring to the turning auxiliary image. In a specific scheme, the front wheel turning angle and the real-time image are collected in real time, so that the synthesized turning auxiliary image can reflect the current situation in real time, assist a user in adjusting a vehicle in time and achieve the purpose of assisting driving.
By adopting the vehicle turning auxiliary method provided by the embodiment of the invention, the turning auxiliary image can be displayed in real time according to the corner of the front wheel and the real-time image, and the driver is assisted to accurately and quickly turn around in real time through the turning auxiliary image. On one hand, a driver can know the turning auxiliary image in real time through the display screen, does not need to excessively depend on technology and experience in the turning operation process, can effectively reduce the occurrence of rubbing accidents, and particularly for novices, can directly and conveniently judge the distance between a vehicle body and surrounding obstacles through the turning auxiliary image, thereby providing reference for accurately adjusting the direction; on the other hand, for the turning control on a narrow road, the distance between the right front of the body and the edge of the road can be directly obtained through the turning auxiliary image, whether enough space is used for turning is easily judged, turning is finished through backing in the middle only when the space is really insufficient, the influence on normal driving of other vehicles is small, and the occurrence probability of traffic accidents is reduced.
A second embodiment.
Fig. 2 is a flowchart of a vehicle turning around assistance method according to another embodiment of the present invention; FIG. 3 is a model diagram of calculating a predicted trajectory for a vehicle in the embodiment shown in FIG. 2. Referring to fig. 2 and 3, the vehicle turning-around assisting method according to the embodiment of the present invention may be implemented by the following steps.
Step S201, responding to the turning command, and acquiring a front wheel turning angle. The u-turn instruction may be implemented by means of user input, for example: when a user needs to assist in controlling the vehicle to turn around, a corresponding turning-around instruction is input into the vehicle-mounted computer. In addition, the u-turn instruction may also be automatically responded by a corresponding trigger condition, such as: the identification of the current lane is collected through a camera in front of the vehicle, and if the identification of the current lane is a U-turn identification and the vehicle turns on a turn light, the trigger condition is responded. The front wheel steering angle is understood to mean the current yaw angle of the front wheels of the vehicle, i.e. the angle by which the front wheels of the vehicle are steered by the steering wheel away from the direction directly in front of the vehicle. The front wheel steering angle can be collected through a deflection angle sensor in a vehicle steering system, and can also be obtained through real-time data in the vehicle steering system.
Step S202, acquiring preset vehicle parameters. In particular aspects, the vehicle parameters may include, but are not limited to: vehicle rear wheel base w, vehicle wheel base l. As shown in FIG. 3, the vehicle rear track w refers to the distance between the two rear wheels of the vehicle, i.e., the point (x)rL，yrL) And point (x)rR，yrR) The distance between them; the vehicle wheelbase l refers to the midpoint (x) of the front axlef，yf) And the midpoint (x) of the rear axler，yr) The distance between them.
And step S203, calculating the predicted driving track of the vehicle in a preset coordinate system in real time according to the front wheel turning angle and the vehicle parameters. As shown in fig. 3, in one embodiment, the predetermined coordinate system is: the direction with the angle theta just ahead of the vehicle is the X axis, the direction perpendicular to the X axis is the Y axis, and the vehicle is positioned in the first quadrant of the preset coordinate system.
The predicted trajectory can be calculated by the following equation:
wherein,is the angle of rotation of the front wheel, (x)rL，yrL) Is the left rear wheel coordinate in the preset coordinate system, (x)rR，yrR) Is the right rear wheel coordinate in the preset coordinate system.
The predicted running track of the left rear wheel and the predicted running track of the right rear wheel can be effectively determined through calculation by the equation, the predicted track of the vehicle based on the current front wheel corner can be accurately obtained through the two tracks, and the tracks are basically consistent with the actual running curve, so that the accuracy is high.
Step S204, acquiring a real-time image of the periphery of the vehicle. The real-time image can be acquired by a camera positioned around the vehicle body, and can also be acquired by directly reading image data in the automobile data recorder. In a specific scheme, cameras can be respectively arranged right in front of the vehicle body, left in front of the vehicle body and right in front of the vehicle body, images of the three positions are collected simultaneously, and the three images are spliced into the real-time image in the existing image splicing mode.
Step S205, determining a position relationship between the predicted driving trajectory and the real-time image according to the preset coordinate system. And determining the position of the real-time image in the preset coordinate system according to the acquisition position of the real-time image, and determining the relative position relationship between the predicted driving track and the real-time image based on the position of the predicted driving track in the preset coordinate system obtained in the step S203.
Step S206, synthesizing the predicted driving trajectory in the real-time image according to the position relationship determined in step S205, so as to form the u-turn auxiliary image. In actual use, the turning auxiliary image can be updated in time along with the change of the front wheel turning angle and the real-time image around the vehicle.
Step S207, displaying the turning around auxiliary image. The turning auxiliary image can be directly displayed on a vehicle-mounted computer, a mobile phone or other terminal equipment, and a user can control a vehicle by referring to the turning auxiliary image. In a specific scheme, the front wheel turning angle and the real-time image are collected in real time, so that the synthesized turning auxiliary image can reflect the current situation in real time, assist a user in adjusting a vehicle in time and achieve the purpose of assisting driving.
And step S208, responding to the turning-around completion instruction, and stopping displaying the turning-around auxiliary image. The u-turn completion instruction may be implemented by a user input method, for example: and when the user finishes controlling the vehicle to turn around, inputting a corresponding turning-around finishing instruction to the vehicle-mounted computer. In addition, the u-turn completion instruction may also automatically correspond to a corresponding trigger condition, for example: and under the condition that the steering lamp is turned off or the vehicle runs along the straight line for a preset time, the turning-around completion instruction is considered, and the turning-around auxiliary image is stopped to be displayed under the triggering condition.
By adopting the vehicle turning auxiliary method provided by the embodiment of the invention, the predicted driving track of the vehicle can be accurately predicted based on the front wheel corner and the preset vehicle parameters, and is combined with the real-time image around the vehicle, so that a driver can intuitively determine the predicted driving track of the vehicle based on the current front wheel corner, and the driver can avoid scratching of the vehicle in the turning process only by ensuring that the predicted driving track does not pass through the obstacle on the real-time image.
A third embodiment.
Fig. 4 is a schematic view of a vehicle turning-around assistance apparatus according to an embodiment of the present invention. As shown in fig. 4, the vehicle turning-around assistance device 300 according to the embodiment of the present invention includes: a trajectory calculation module 310, a real-time image acquisition module 320, an auxiliary image composition module 330, and a display module 340.
The trajectory calculation module 310 is configured to: responding to the turning instruction, and calculating the predicted driving track of the vehicle in real time according to the front wheel steering angle; the real-time image obtaining module 320 is configured to: acquiring a real-time image of the periphery of the vehicle; the auxiliary image synthesizing module 330 is configured to: synthesizing a turning auxiliary image according to the real-time image and the predicted driving track; the display module 340 is configured to: and displaying the turning auxiliary image. The above modules correspondingly execute the method steps in the first embodiment, and the detailed process refers to the related description in the first embodiment, which is not repeated here.
By adopting the vehicle turning auxiliary device provided by the embodiment of the invention, the turning auxiliary image can be displayed in real time according to the corner of the front wheel and the real-time image, and the driver is assisted to accurately and quickly turn around in real time through the turning auxiliary image. On one hand, a driver can know the turning auxiliary image in real time through the display screen, does not need to excessively depend on technology and experience in the turning operation process, can effectively reduce the occurrence of rubbing accidents, and particularly for novices, can directly and conveniently judge the distance between a vehicle body and surrounding obstacles through the turning auxiliary image, thereby providing reference for accurately adjusting the direction; on the other hand, for the turning control on a narrow road, the distance between the right front of the body and the edge of the road can be directly obtained through the turning auxiliary image, whether enough space is used for turning is easily judged, turning is finished through backing in the middle only when the space is really insufficient, the influence on normal driving of other vehicles is small, and the occurrence probability of traffic accidents is reduced.
A fourth embodiment.
Fig. 5 is a schematic view of a vehicle turning-around assistance apparatus according to another embodiment of the present invention. As shown in fig. 5, on the basis of the third embodiment, in the vehicle turning around auxiliary device 300 provided in the embodiment of the present invention, the trajectory calculation module further includes: a front wheel steering angle obtaining submodule 311 configured to obtain a front wheel steering angle; a vehicle parameter obtaining sub-module 312, configured to obtain preset vehicle parameters; a trajectory calculation submodule 313 for: and calculating the predicted driving track of the vehicle in a preset coordinate system in real time according to the front wheel rotation angle and the vehicle parameters. Wherein the vehicle parameters include: vehicle rear wheel base w, vehicle wheel base l.
The calculation equation of the predicted driving track is as follows:
wherein,is the angle of rotation of the front wheel, (x)rL，yrL) Is the left rear wheel coordinate in the preset coordinate system, (x)rR，yrR) Is the right rear wheel coordinate in the preset coordinate system.
The auxiliary image synthesizing module 330 includes: a position relation determination submodule 331 configured to: determining the position relation between the predicted driving track and the real-time image according to the preset coordinate system; an image synthesis sub-module 332 for: and synthesizing the predicted vehicle path in the real-time image according to the position relation to form the turning auxiliary image.
Further, the vehicle turning-around auxiliary device further comprises: a stop module 350 to: and stopping displaying the turning auxiliary image in response to the turning completion instruction.
For details, please refer to the detailed description in the second embodiment, which is not repeated herein.
By adopting the vehicle turning auxiliary device provided by the embodiment of the invention, the predicted running track of the vehicle can be accurately predicted based on the front wheel corner and the preset vehicle parameters, and is combined with the real-time image around the vehicle, so that a driver can intuitively determine the predicted running track of the vehicle based on the current front wheel corner, and the driver can avoid scratching of the vehicle in the turning process only by ensuring that the predicted running track does not pass through the obstacle on the real-time image.
Fifth embodiment
The present embodiments provide a non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the method provided by the above method embodiments, including: responding to the turning instruction, and calculating the predicted driving track of the vehicle in real time according to the front wheel steering angle; acquiring a real-time image of the periphery of the vehicle; synthesizing a turning auxiliary image according to the real-time image and the predicted driving track; and displaying the turning auxiliary image.
Sixth embodiment
The present embodiments provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method provided by the above-mentioned method embodiments, comprising: responding to the turning instruction, and calculating the predicted driving track of the vehicle in real time according to the front wheel steering angle; acquiring a real-time image of the periphery of the vehicle; synthesizing a turning auxiliary image according to the real-time image and the predicted driving track; and displaying the turning auxiliary image.
Seventh embodiment
Fig. 6 is a schematic diagram of a hardware structure of an electronic device for performing a vehicle u-turn assist method according to a seventh embodiment of the present invention, and as shown in fig. 6, the electronic device includes:
one or more processors 610 and a memory 620, with one processor 610 being an example in fig. 6.
The apparatus for performing the vehicle turning around assistance method may further include: an input device 630 and an output device 640.
The processor 610, the memory 620, the input device 630, and the output device 640 may be connected by a bus or other means, such as the bus connection in fig. 6.
The memory 620, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the vehicle turning around auxiliary method in the embodiment of the present application (for example, the trajectory calculation module 310, the real-time image acquisition module 320, the auxiliary image synthesis module 330, and the display module 340 shown in fig. 4). The processor 610 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 620, so as to implement the vehicle turning auxiliary method of the above-described method embodiment.
The memory 620 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the vehicle turning-around assistance apparatus, and the like. Further, the memory 620 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 620 optionally includes memory located remotely from the processor 610, and these remote memories may be connected to the vehicle u-turn assist device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 630 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the vehicle turning-around assistance device. The output device 640 may include a display device such as a display screen.
The one or more modules are stored in the memory 620 and, when executed by the one or more processors 610, perform the vehicle u-turn assist method of any of the method embodiments described above.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.
The electronic device of embodiments of the present invention exists in a variety of forms, including but not limited to:
(1) mobile communication devices, which are characterized by mobile communication capabilities and are primarily targeted at providing voice and data communications. Such terminals include smart phones (e.g., iphones), multimedia phones, functional phones, and low-end phones, among others.
(2) The ultra-mobile personal computer equipment belongs to the category of personal computers, has calculation and processing functions and generally has the characteristic of mobile internet access. Such terminals include PDA, MID, and UMPC devices, such as ipads.
(3) Portable entertainment devices such devices may display and play multimedia content. Such devices include audio and video players (e.g., ipods), handheld game consoles, electronic books, as well as smart toys and portable car navigation devices.
(4) The server is similar to a general computer architecture, but has higher requirements on processing capability, stability, reliability, safety, expandability, manageability and the like because of the need of providing highly reliable services.
(5) And other electronic devices with data interaction functions.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (11)
1. A vehicle u-turn assist method, comprising:
responding to the turning instruction, and calculating the predicted driving track of the vehicle in real time according to the front wheel steering angle;
acquiring a real-time image of the periphery of the vehicle;
synthesizing a turning auxiliary image according to the real-time image and the predicted driving track;
and displaying the turning auxiliary image.
2. The vehicle u-turn assist method according to claim 1, wherein the calculating the predicted trajectory of the vehicle in real time from the front wheel steering angle comprises:
acquiring a front wheel corner;
acquiring preset vehicle parameters;
and calculating the predicted driving track of the vehicle in a preset coordinate system in real time according to the front wheel rotation angle and the vehicle parameters.
3. The vehicle u-turn assist method according to claim 2, wherein the vehicle parameters include: vehicle rear wheel trackThe vehicle wheelbase l;
the calculation equation of the predicted driving track is as follows:
wherein,is the angle of rotation of the front wheel, (x)rL，yrL) Is the left rear wheel coordinate in the preset coordinate system, (x)rR，yrR) Is the right rear wheel coordinate in the preset coordinate system.
4. The vehicle turning around auxiliary method according to claim 2, wherein the synthesizing a turning around auxiliary image according to the real-time image and the predicted driving trajectory comprises:
determining the position relation between the predicted driving track and the real-time image according to the preset coordinate system;
and synthesizing the predicted vehicle path in the real-time image according to the position relation to form the turning auxiliary image.
5. The vehicle u-turn assist method according to any one of claims 1 to 4, further comprising:
and stopping displaying the turning auxiliary image in response to the turning completion instruction.
6. A vehicle turning-around assist device, comprising:
a trajectory calculation module to: responding to the turning instruction, and calculating the predicted driving track of the vehicle in real time according to the front wheel steering angle;
the real-time image acquisition module is used for: acquiring a real-time image of the periphery of the vehicle;
an auxiliary image synthesis module for: synthesizing a turning auxiliary image according to the real-time image and the predicted driving track;
a display module to: and displaying the turning auxiliary image.
7. The vehicle u-turn assist device according to claim 6, wherein the trajectory calculation module includes:
the front wheel steering angle acquisition submodule is used for acquiring a front wheel steering angle;
the vehicle parameter acquisition submodule is used for acquiring preset vehicle parameters;
a trajectory calculation submodule for: and calculating the predicted driving track of the vehicle in a preset coordinate system in real time according to the front wheel rotation angle and the vehicle parameters.
8. The vehicle u-turn assist device according to claim 7, wherein the vehicle parameters include: vehicle rear wheel trackThe vehicle wheelbase l;
the calculation equation of the predicted driving track is as follows:
wherein,is the angle of rotation of the front wheel, (x)rL，yrL) Is the left rear wheel coordinate in the preset coordinate system, (x)rR，yrR) Is the right rear wheel coordinate in the preset coordinate system.
9. The vehicle turning around auxiliary device according to claim 7, wherein the auxiliary image synthesizing module includes:
a positional relationship determination submodule for: determining the position relation between the predicted driving track and the real-time image according to the preset coordinate system;
an image synthesis sub-module for: and synthesizing the predicted vehicle path in the real-time image according to the position relation to form the turning auxiliary image.
10. The vehicle u-turn assist device according to any one of claims 6 to 9, further comprising:
a stop module to: and stopping displaying the turning auxiliary image in response to the turning completion instruction.
11. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor, the instructions being arranged to perform the vehicle u-turn assistance method of any one of claims 1-5 above.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182993.2A CN108621936A (en) | 2017-03-24 | 2017-03-24 | Vehicle turns around householder method, device and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710182993.2A CN108621936A (en) | 2017-03-24 | 2017-03-24 | Vehicle turns around householder method, device and electronic equipment |
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| CN108621936A true CN108621936A (en) | 2018-10-09 |
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| CN201710182993.2A Pending CN108621936A (en) | 2017-03-24 | 2017-03-24 | Vehicle turns around householder method, device and electronic equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664707A (en) * | 2018-11-26 | 2019-04-23 | 武汉新能源汽车工业技术研究院有限公司 | A kind of control method and device of Active suspension |
| CN112550274A (en) * | 2019-09-26 | 2021-03-26 | 上海汽车集团股份有限公司 | Safety corner calculation method and device, electronic equipment and storage medium |
-
2017
- 2017-03-24 CN CN201710182993.2A patent/CN108621936A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664707A (en) * | 2018-11-26 | 2019-04-23 | 武汉新能源汽车工业技术研究院有限公司 | A kind of control method and device of Active suspension |
| CN112550274A (en) * | 2019-09-26 | 2021-03-26 | 上海汽车集团股份有限公司 | Safety corner calculation method and device, electronic equipment and storage medium |
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