CN102420971B - Car-reversing auxiliary system and method - Google Patents
Car-reversing auxiliary system and method Download PDFInfo
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- CN102420971B CN102420971B CN201010295618.7A CN201010295618A CN102420971B CN 102420971 B CN102420971 B CN 102420971B CN 201010295618 A CN201010295618 A CN 201010295618A CN 102420971 B CN102420971 B CN 102420971B
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Abstract
The invention provides a car-reversing auxiliary system. The car-reversing auxiliary system comprises a camera for obtaining images at the back of a car, and a display for displaying the images at the back of the car and auxiliary indicators for assisting an operator in reversing the car, wherein the auxiliary indicators are superimposed on the images at the back of the car. The car-reversing auxiliary system further comprises an adjusting device which is used for adjusting the positions, lengths or angles of the auxiliary indicators through the input of the operator and a redrawing device which allows an operator to redraw auxiliary indicators. According to the car-reversing auxiliary system provided by the invention, an auxiliary line can be automatically adjusted and redrawn under the condition that the auxiliary line does not meet the actual conditions, so as to make the auxiliary line meet the actual conditions. On the other hand, the invention further provides a car-reversing auxiliary method.
Description
Technical field
The invention belongs to reverse image technical field.Particularly, the reversing aid system and reversing householder method, the especially operator that the present invention relates to assist operator in the time that vehicle carries out car backing operation can adjust the reversing aid system of boost line and the householder method of moveing backward voluntarily.
Background technology
Along with the application of modern electronic technology in Vehicular system, visual reversing aid system has substituted traditional radar for backing car auxiliary system, has avoided the generation of blind area.Visual reversing aid system, adopts for example far infrared wide-angle camera to be arranged on after car, by the display screen in car, and the barrier after high-visible car.Like this, the situation after car is more intuitively visual, for reversing safety, is one of very practical configuration.Obviously, reverse image surveillance is more directly perceived and practical compared with omnibearing radar for backing car.
For example, Chinese utility model patent application CN200720144339 discloses a kind of reverse image accessory system.This reverse image accessory system comprises camera and display, and described camera is connected with display by audio video synchronization split circuit, image overlap-add procedure module successively; The address port of described image overlap-add procedure module is connected with the FPDP of memory, the control end of control module is connected with the serial ports of described image overlap-add procedure module, realizes the read-write control of character information in control to described image overlap-add procedure module routine and described memory.In addition, Chinese invention patent application CN200410083176.4 discloses a kind of vehicle backing auxiliary device and vehicle backing householder method.
Along with developing rapidly of automobile industry, operator improves day by day to the demand of reversing miscellaneous function, not only requires to possess simple reverse image, wishes to provide distance and direction prompting accurately simultaneously.For this reason, vehicle backing auxiliary system is superimposed upon two boost lines after car on image.
Fig. 3 has schematically shown a kind of reverse image of existing reverse image system.Wherein, mark A represents the tailstock, and mark B represents the boost line for assisting car backing, and mark C represents another boost line, and mark D represents display screen, and mark E represents the first barrier, and flag F represents the second barrier, and mark G represents the 3rd barrier.As shown in Figure 3, this reverse image, except improving back visibibility, also provides two the boost line B that extend back along vehicle body, C.According to this reverse image, the first barrier E is nearest from the tailstock, the second barrier F and the 3rd barrier G from the tailstock away from, the first barrier E and the second barrier F are between boost line B, C, and the 3rd barrier G is not between boost line B, C, keeps this state to continue reversing and will have the danger of colliding the first barrier E and the second barrier F.
But, due to the factor such as angular error and installation site deviation of camera, cannot guarantee that the boost line of each car conforms to actual conditions.Reversing boost line and actual conditions are not inconsistent, and not only can not help operator correctly to move backward, and sometimes even mislead operator, cause unnecessary collision accident.
In addition, cause the many factors of boost line sign misalignment, such as tailstock camera installation deviation, camera foozle etc.In the production process of vehicle producer, provide boost line accurately to have larger difficulty.And, even calibrate while dispatching from the factory, in operator's use procedure, also may cause for some reason camera to be moved or tilt.
Below the situation of tailstock camera installation generation deviation is analyzed.
In the time that camera M and horizontal plane angulation change, the far and near distance misalignment of barrier, that is, the distance misalignment that boost line indicates, now, the information that offers operator is wrong, may cause operator's erroneous judgement.Particularly, in Fig. 4 and Fig. 5, solid line represents to install camera accurately, and dotted line represents to install the camera that deviation occurs.In the installation of camera, accurately in situation, barrier H and barrier I are in the scope obtained of camera.In the time that the setting angle of camera M raises up and deviation occurs, in the image that camera obtains, the distance L 1 of barrier H and the tailstock is less than actual distance L, and, barrier I is not in the scope obtained of camera, the information that this image offers operator is that vehicle is very near barrier, as shown in Figure 4.Different with it, in the time that the setting angle of camera M moves down, in the image that camera obtains, the distance L 2 of barrier H and the tailstock is greater than actual distance L, the information that this image offers operator is that the tailstock still has a segment distance apart from barrier, indication operator can continue reversing, as shown in Figure 5.
In the time that camera M and vehicle body direction angulation change, the left and right distance misalignment of barrier, that is, the distance misalignment on the left and right directions that boost line indicates, now, the information that offers operator is wrong, may cause operator's erroneous judgement.In Fig. 6 and Fig. 7, solid line represents to install camera accurately, and dotted line represents to install the camera that deviation occurs.Under camera is installed accurately situation, identical with actual conditions, left side barrier O and all edges in body extention line of right side barrier Q.But as shown in Figure 6, in the time that camera M installs misalignment shooting direction deflection left side, left side barrier O there will be in the direction falling back at vehicle, right side barrier Q can be in the region that vehicle falls back beyond orientation, and this is wrong information.Different with it, in the time that camera M installs misalignment shooting direction deflection right side, left side barrier O can be in the region that vehicle falls back beyond orientation, and right side barrier Q there will be in the direction falling back at vehicle, and this is also wrong information, as shown in Figure 7.
Because whether the distance of barrier and the tailstock and barrier are in vehicle fall back in the region in orientation and judge according to boost line, so install there is deviation in the situation that at camera, information and actual conditions that boost line is indicated are not inconsistent.Therefore, as mentioned above, if reversing boost line is inaccurate, not only can not help operator correctly to move backward, sometimes even mislead operator, cause unnecessary collision accident.
Summary of the invention
The present invention is the technical problem that the above-mentioned boost line of solution and actual conditions are not inconsistent, a kind of adjustable and the reversing aid system that repaints boost line are provided, it can, in the situation that boost line and actual conditions are not inconsistent, calibrate and repaint boost line voluntarily, and it is tallied with the actual situation.
The technical solution adopted in the present invention is as follows: reversing aid system, comprising: camera, for obtaining image after car; And display, for showing image and the accessory ID for assist operator reversing after described car, wherein, described accessory ID is superimposed upon after described car on image, described reversing aid system also comprises: adjusting device, for adjust position, length or the angle of described accessory ID according to operator's instruction; With repaint device, repaint accessory ID for operator.
As the preferred technical solution of the present invention, in above-mentioned reversing aid system, described reversing aid system also comprises object of reference, and described adjusting device is adjusted described accessory ID according to described object of reference, and described in repaint device and repaint accessory ID according to described object of reference.
As the preferred technical solution of the present invention, in above-mentioned reversing aid system, the display screen of described display is touch-screen.
As the preferred technical solution of the present invention, in above-mentioned reversing aid system, described reversing aid system also comprises: instruction load button can be arranged on the edge part of the touch-screen of described display, for receiving the instruction of operator's input hidingly; And microprocessor, be stored with the program of carrying out corresponding operating according to the instruction of described instruction load button reception.
As the preferred technical solution of the present invention, in above-mentioned reversing aid system, described accessory ID comprises two the first boost lines that extend back along length of wagon direction and three or six second boost lines of extending along vehicle-body width direction, and described object of reference comprises the part identical with the shape of described accessory ID.
As the preferred technical solution of the present invention, in above-mentioned reversing aid system, described instruction load button comprises: left side setting-out button, draw the first boost line on the left of described touch-screen for two coordinate points successively inputting according to operator on described touch-screen; With the right setting-out button, draw first boost line on described touch-screen right side for two coordinate points successively inputting according to operator on described touch-screen.It should be known that in above plot step, realize by calling the corresponding setting-out program of storing in the microprocessor that repaints device.
As the preferred technical solution of the present invention, in above-mentioned reversing aid system, described instruction comprises: translation instruction, make described the first boost line and the integrally translation of described the second boost line for two coordinate points successively inputting according to operator on described touch-screen, thereby change the position of described the first boost line and described the second boost line.
As the preferred technical solution of the present invention, in above-mentioned reversing aid system, described instruction also comprises: flexible instruction, make described the first boost line and described the second boost line integrally flexible for the coordinate points of successively inputting on described touch-screen according to operator, thereby change the length of described the first boost line and described the second boost line.
As the preferred technical solution of the present invention, in above-mentioned reversing aid system, described instruction also comprises: rotate instruction, for the coordinate points of successively inputting on described touch-screen according to operator, described the first boost line and described the second boost line are integrally rotated, thereby change the angle of described the first boost line and described the second boost line.
As the preferred technical solution of the present invention, in above-mentioned reversing aid system, described instruction load button comprises width adjustment button, described instruction correspondingly comprises: width adjustment instruction, makes the width of described the first boost line and/or described the second boost line increase gradually or reduce for click width adjustment button by operator.
As the preferred technical solution of the present invention, in above-mentioned reversing aid system, described instruction load button comprises distance adjustment button, described instruction correspondingly comprises: distance is adjusted instruction, makes the distance between each the second boost line and the tailstock increase gradually or reduce for adjusting button by operator's click distance.
As the preferred technical solution of the present invention, in above-mentioned reversing aid system, described adjusting device comprises convenient operation, and person adjusts three rectangle frames of the first boost line, described three rectangle frames focus on display by dotted line, dotted line or thick line, and flicker at the appointed time, described three rectangle frames are separately positioned on two ends and the middle part of the first boost line, and the rectangle frame at middle part is used for making each the first boost line and the integrally translation of the second boost line; The rectangle frame at two ends is used for making each the first boost line and the second boost line integrally rotate or stretch.
On the other hand, the invention provides a kind of reversing householder method, it comprises: shooting step, for absorb image after car by camera; Step display, show image and the accessory ID for assist operator reversing after car by display, wherein, described accessory ID is superimposed upon after described car on image, described reversing householder method also comprises: repaint step, for drawing the accessory ID of assist operator reversing, and by described accessory ID Overlapping display after described car on image; And set-up procedure, for adjust position, length or the angle of described accessory ID according to operator's instruction.
As the preferred technical solution of the present invention, in above-mentioned reversing householder method, described in repaint step and comprise: obtaining step, by the touch-screen of reversing aid system, obtain two coordinate points that operator successively clicks, and preserve; Plot step, according to two point coordinates of preserving, draws the first boost line, and draws the second boost line according to predetermined manner on the first boost line side; And Overlapping display step, point two-layer demonstration, upper strata shows the first boost line and second boost line of drawing, lower floor with transparent background interface display car after image.
As the preferred technical solution of the present invention, in above-mentioned reversing householder method, described accessory ID comprises two the first boost lines that extend back along length of wagon direction and three or six second boost lines of extending along vehicle-body width direction, and described object of reference comprises the part identical with the shape of described accessory ID.
As the preferred technical solution of the present invention, in above-mentioned reversing householder method, the display screen of described display is touch-screen.
As the preferred technical solution of the present invention, in above-mentioned reversing householder method, during described set-up procedure at least comprises the following steps one: translation step, make described the first boost line and the integrally translation of described the second boost line for two coordinate points successively inputting according to operator on described touch-screen, thereby change the position of described the first boost line and described the second boost line; Flexible step, makes described the first boost line and described the second boost line integrally flexible for the coordinate points of successively inputting on described touch-screen according to operator, thereby changes the length of described the first boost line and described the second boost line; With rotation step, for the coordinate points of successively inputting on described touch-screen according to operator, described the first boost line and described the second boost line are integrally rotated, thereby change the angle of described the first boost line and described the second boost line.It should be known that in above translation step, flexible step and rotation step, realize by calling the corresponding setting-out program of storing in the microprocessor of adjusting device.
As the preferred technical solution of the present invention, in above-mentioned reversing householder method, two ends and middle part in described the first boost line are respectively equipped with three rectangle frames, described three rectangle frames focus on display by dotted line, dotted line or thick line, and flicker at the appointed time, the rectangle frame at middle part is used for making each the first boost line and the integrally translation of the second boost line; The rectangle frame at two ends is used for making each the first boost line and the second boost line integrally rotate or stretch.
As the preferred technical solution of the present invention, in above-mentioned reversing householder method, before described set-up procedure, described reversing householder method also comprises: positioning step, in this step, operator positions described vehicle according to described object of reference.
Compared with traditional reversing aid system, described reversing aid system also comprises the adjusting device of position, length or angle for adjust described accessory ID by operator's input and repaints the device that repaints of accessory ID for operator.Vehicle assisted system of the present invention can be in the situation that boost line and actual conditions be inconsistent, adjust voluntarily and repaint boost line, it is tallied with the actual situation, thereby be conducive to for example make up camera and assemble the error causing, realize the object of indicating exactly distance and direction.
In conjunction with the drawings, read the following detailed description to specific embodiments of the invention, can further understand other advantage of the present invention, feature and aspect.
Accompanying drawing explanation
Fig. 1 is the exemplary operations surface chart as the touch-screen of the reversing aid system of the preferred embodiments of the present invention;
Fig. 2 is another exemplary operations surface chart as the touch-screen of the reversing aid system of the preferred embodiments of the present invention;
Fig. 3 is the schematic reverse image figure of reversing aid system;
Fig. 4 has shown that the principle of deviation occurs while raising up the setting angle of the camera of reversing aid system;
Fig. 5 has shown when the setting angle of the camera of reversing aid system moves down and the principle of deviation has occurred;
Fig. 6 has shown that the principle of deviation occurs time to the left in the installation site of camera of reversing aid system;
Fig. 7 has shown that the principle of deviation occurs time to the right in the installation site of camera of reversing aid system.
Description of reference numerals
102 custom model buttons; 104 left side setting-out buttons;
106 hiding buttons; 108 the right setting-out buttons;
110 exit buttons; 112 left the first boost lines;
114 left back the second boost lines; 116 left the second boost lines;
118 left front the second boost lines; 120 left front rectangle frames;
122 left rectangle frames; 124 left back rectangle frames;
126 right back rectangle frames; 128 right rectangle frames;
130 right front rectangle frames; 132 right front the second boost lines;
134 right the second boost lines; 136 right back the second boost lines;
138 right the first boost lines; 140 left adjustment buttons;
142 reddish yellow border buttons; 144 yellowish green border buttons;
146 width adjustment buttons; 148 right adjustment buttons;
150 touch-screens; 152 launch button.
Embodiment
In order to make method problem solved by the invention, technical scheme and beneficial effect clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
With reference to the accompanying drawings the embodiment of reversing aid system of the present invention is elaborated.Herein, same reference numerals represents same composition part.Reversing aid system of the present invention comprises camera and display etc.Wherein, camera is used for obtaining image after car, and display is for showing image and the accessory ID for assist operator reversing after described car.Wherein, be presented to the stack of described accessory ID after described car on image.Described reversing aid system can also by various known approaches to picked-up car after image carry out the processing such as distortion correction and play when needed corresponding sound.One of ordinary skill in the art can freely obtain image processing method and the multimedia technology of relevant reversing aid system, and therefore not to repeat here.
Fig. 1 has shown that a shown operator of the display of reversing aid system of this specific embodiment can operation interface, and wherein image after the car of not shown camera picked-up only shows and is superimposed upon accessory ID and the multiple instruction input unit on image after car.The image that this display shows, for example, can observe in driver's seat.Described accessory ID is applied on the image that is presented at shooting, and, by stashing with the overlapping part of described accessory ID of image after car.As can be seen from Figure 1, this accessory ID comprises two the first boost lines and six the second boost lines.Wherein, two the first boost lines (label is respectively 112,138), along (the being astern direction Y) extension backward of length of wagon direction, to remind operator to keep the safe distance of the tailstock and barrier, bump while avoiding moveing backward.Article six, the second boost line (label is respectively 114,116,118,132,134,136) is extended along vehicle-body width direction.Particularly, in two the first boost lines one represents the line on the tailstock left side, and another represents the line on tailstock the right.Operator can move backward according to these two the first boost lines 112,138.And the first boost line 112 is left the first boost line, the first boost line 138 is right the first boost line.For example, on the Width of vehicle body, the spacing between the first boost line 112,138 and vehicle body both sides is about 20 centimeters., the distance between left the first boost line 112 and the first boost line 138 is than the large 40 centimeters of left and right of gross vehicle width.Therefore, whether the first boost line can indicate barrier to be in reversing region, and the second boost line can be indicated the concrete distance of barrier and the tailstock.As known to those skilled in the art, in the first boost line and the second boost line, graduation mark can be set, make operator can control the distance staying after car while reversing more surely and move backward quickly and accurately into position.
In described reversing aid system of the present invention, have additional for adjust the position of described accessory ID and the adjusting device of angle by operator's input.In illustrated specific embodiment, operator can carry out to boost line the adjustment of position and angle, and boost line is conformed to actual conditions.That is, in the situation that camera is installed generation deviation, information and actual conditions that boost line is indicated are not inconsistent, and operator can calibrate boost line, and adjusts without the position to camera.
As shown in Figure 1, the display screen 150 of display is touch-screen.Know, touch-screen is by touching detection part and touch screen controller forms; Touch detection part and be arranged on before indicator screen, for detection of user touch location, after acceptance, send touch screen controller; And the Main Function of touch screen controller is to receive touch information from touch point detection device, and convert it to contact coordinate, then give CPU, its can receive the order that CPU sends simultaneously and be carried out.Therefore, touch-screen 150 also plays a role as input equipment in reversing aid system of the present invention.But, it will be apparent to one skilled in the art that and also can utilize mouse or keyboard etc. to replace touch-screen as input equipment.
As shown in Figure 1, described accessory ID comprises left the first boost line 112, right the first boost line 138, left front the second boost line 118, left the second boost line 116, left back the second boost line 114, right front the second boost line 132, right the second boost line 134 and right back the second boost line 136.Certainly, accessory ID is not limited to above-mentioned the first boost line and the second boost line, and the quantity of the first boost line and the second boost line and width are not subject to concrete restriction yet, can free setting.
In reversing aid system of the present invention, described adjusting device comprises multiple instruction load buttons.Described multiple order button can be arranged on the edge part of the touch-screen of described display hidingly, as depicted in figs. 1 and 2.These instruction load buttons are for receiving operator's input instruction.Specifically as depicted in figs. 1 and 2, instruction load button comprises the left adjustment button 140, reddish yellow border button 142, yellowish green border button 144, width adjustment button 146 and the right adjustment button 148 that are arranged on touch-screen 150 upper edges; And the custom model button 102 of touch-screen 150, the mode button (not shown) that dispatches from the factory, default mode button (not shown), left side setting-out button 104, hiding button 106 are set, launch button 152, the right setting-out button 108 and exit button 110.In addition, described adjusting device comprises having microprocessor.In this microprocessor, store the corresponding program of carrying out the instruction inputted of the above instruction load button.For example, described microprocessor can be there is CPU, the microprocessor of RAM, ROM.
In addition, as shown in Figure 1, three rectangle frames (number in the figure is respectively 124,122,120,126,128,130) of person adjusts left the first boost line 112, right the first boost line 138 that described adjusting device comprises convenient operation.Preferably, described three rectangle frames focus on display by dotted line, dotted line or thick line, and flicker at the appointed time.Wherein, described three rectangle frames are separately positioned on two ends and the middle part of the first boost line, and the rectangle frame (number in the figure is respectively 122,128) at middle part is for making each the first boost line translation; The rectangle frame (label is respectively 124,120,126,130) at two ends is for making each the first boost line rotation or flexible, after will be described in detail this.In addition, as shown in Figure 1, in illustrated specific embodiment, in order to make the rectangle frame of demonstration visually to the better effect of operator, rectangle frame is designed to continuous flicker, periodically shows or hiding rectangle frame.In addition,, in order to make the rectangle frame showing visually not affect reversing boost line, there is the distance of 50 pixel unit left and right in the whole viewing area of rectangle frame and reversing boost line.Particularly, the right of the reversing boost line of the rectangle frame on the left side of the reversing boost line on the left side, the left side of the rectangle frame of the reversing boost line on the right reversing boost line on the right.
The exemplary steps that to boost line adjustment, it is tallied with the actual situation by reversing aid system of the present invention below in conjunction with Fig. 1 and Fig. 2 introduction.First, introduce vehicle location step.Although it is varied that operator calibrates the method for boost line, preferably, operator adjusts boost line according to object of reference.The described object of reference for adjusting for example can arrange on the ground, and identical with the shape of described boost line.In a preferred embodiment, adjust object of reference for the boost line of moveing backward is on the ground set, it is also provided with the first boost line shown in Fig. 1, the second boost line.In addition, described adjustment object of reference is the most much longer like the first boost line.Like this, operator before the accessory ID of Overlapping display is calibrated on to touch-screen 150, can forward travel enter described adjustment object of reference, as adjust between object of reference as described in resting on moveing backward.Now, also can pass through the auxiliary of other personnel or equipment, be docked in exactly between the first boost line of described adjustment object of reference, make the part identical with described the second boost line with described the first boost line of described adjustment object of reference be positioned at the rear of vehicle.Like this, vehicle is located exactly.That is in reversing aid system of the present invention, vehicle is located according to described object of reference, and operator adjusts described accessory ID with reference to described object of reference, thereby described accessory ID is conformed to actual conditions.
Then, introduce set-up procedure.As mentioned above, in the time that vehicle is positioned between adjustment object of reference exactly, left the first boost line 112, right the first boost line 138, left front the second boost line 118, left the second boost line 116, left back the second boost line 114, right front the second boost line 132, right the second boost line 134 and right back the second boost line 136 should be alignd mutually with corresponding the first boost line and the second boost line of adjusting object of reference, this is the purpose of adjusting, and the boost line that consequently makes to move backward conforms to actual conditions.
In the time that left the first boost line 112 does not line up with corresponding left the first boost line of adjusting object of reference, operator can be shielded the left adjustment button 140 in 150 upper left corners by point touching, left the first boost line 112 is calibrated, adjust position, length and the angle of left the first boost line 112.Or operator does not click left adjustment button 140, but directly in left the first boost line 112, click.Now, touch-screen 150 obtains the coordinate points of operator's point touching screen 150, catches touchscreen events, obtains coordinate points, then sends to corresponding application programs.Be on left rectangle frame 122 if operator clicks, start the program of left the first boost line 112 of translation; Be on left front rectangle frame 120 or left back rectangle frame 124 if operator clicks, start the program of rotation or flexible left the first boost line 112.
That is microprocessor, according to translation instruction, rotate instruction or the flexible instruction of operator's input, is revised the coordinate of the two-end-point of left the first boost line 112, and then is adjusted position, length and the angle of left the first boost line 112.Translation instruction, rotate instruction and flexible instruction are respectively used to implement translation step, rotation step and flexible step.Wherein, translation step makes described the first boost line and the integrally translation of described the second boost line for two coordinate points successively inputting on described touch-screen according to operator, thereby changes the position of described the first boost line and described the second boost line; Flexible step makes described the first boost line and described the second boost line integrally flexible for the coordinate points of successively inputting on described touch-screen according to operator, thereby changes the length of described the first boost line and described the second boost line; Rotation step integrally rotates described the first boost line and described the second boost line for the coordinate points of successively inputting on described touch-screen according to operator, thereby changes the angle of described the first boost line and described the second boost line.
In described translation step, when operator clicks left rectangle frame 122 and when input translation instruction, according to the principle of the two-end-point of left the first boost line 112 of equidistant movement, realize the integral translation of left the first boost line 112, left front the second boost line 118, left the second boost line 116, left back the second boost line 114.The coordinate of supposing the two-end-point of left the first boost line 112 is respectively P0 and P1.Two point coordinates T0 and Tn before and after if operator clicks, coordinate P0 '=P0+ (Tn-T0) of P0 ' after translation, coordinate P1 '=P1+ (Tn-T0) of P1 '.The end points coordinate of left front the second boost line 118, left the second boost line 116, left back the second boost line 114 is determined and is determined that with the end points coordinate of left the first boost line 112 principle is identical.Afterwards, call the setting-out function setting-out again of storage in microprocessor, draw a new left side the first boost line 112 according to new end points.
In described flexible step and rotation step, when operator clicks left front rectangle frame 120 or left back rectangle frame 124 and input is flexible or when rotate instruction, left the first boost line 112 is stretched and/or rotated operation.Flexible step and rotation step only change a coordinate points of the first boost line or the second boost line, and whether on former straight line or curve, determine that according to the coordinate points after changing the step of stretching still rotates step.In the time that the coordinate points after change is on former straight line or curve, enters flexible step, and in the time that the coordinate points after change is not on former straight line, enter rotation step.
The selected end points coordinate of supposing left the first boost line 112 is Px (Px equals P0 or P1).Two point coordinates T0 and Tn before and after if operator clicks, flexible and/or rotation coordinate Px '=Px+ (Tn-T0) of Px ' afterwards, the coordinate points T0 obtaining that control unit is preserved, revise coordinate P0 or the P1 of an end points of reversing boost line, computing formula: Px=Px+ (Tn-T0).The not selected end points coordinate of left the first boost line 112 is constant.Afterwards, call the setting-out function setting-out again of storage in microprocessor, draw a new left side the first boost line 112 according to new end points.
In reversing aid system of the present invention, adjusting device is provided with three kinds of patterns, i.e. custom model, default mode and the pattern of dispatching from the factory.Operator can select corresponding modes by clicking custom model button, default mode button and the mode button that dispatches from the factory respectively.The setting position of custom model button, default mode button and the mode button that dispatches from the factory is identical, is all positioned in the present embodiment the lower left corner of touch-screen 150.Its order of switching after this position is clicked is followed successively by custom model, default mode and the pattern of dispatching from the factory.Wherein, under custom model, concerning all operations person, the configuration of reversing boost line is all preserved automatically, is still previous configuration after change pattern while reentering; Under default mode, concerning all operations person, while reentering, all return to reset condition at every turn, if the configuration of revising is not preserved before, be dropped; Dispatch from the factory under pattern, concerning all operations person, while reentering, all return to reset condition at every turn, if the configuration of revising is not preserved before, be dropped.
In the specific embodiment of reversing aid system of the present invention, in the time clicking exit button 110, if completed hiding operating protocol (in two kinds of situation: final operator and built-in function person), operating protocol content is for example: 3 buttons clicking successively continuously system (are assumed to be reddish yellow border button, yellowish green border button and width adjustment button) respectively once, enter built-in function person's interface, the configuration of current reversing boost line is saved in the pattern of dispatching from the factory or custom model, select the save button of dispatching from the factory of operator interface therewith, the configuration of the reversing boost line of the pattern of modification being dispatched from the factory, select operator's save button of operator interface therewith, by the configuration of the reversing boost line of modification custom model.If operator does not complete hiding operating protocol, enter final operator's situation, only so that the configuration of current reversing boost line is saved in custom model.
As mentioned above, the invention provides a kind of can by operator calibrate voluntarily reversing boost line reversing aid system.In the time entering Calibration interface, operator can be respectively to operations such as the translation of two reversing boost lines, stretching, rotation, preservations, operator can utilize this function, adjust voluntarily reversing boost line and make up camera and assemble the error causing, thereby realize the object of indicating exactly distance and direction.In addition, reversing aid system of the present invention, in improving reversing boost line precision, has reduced manufacture difficulty and the assembly difficulty of camera, has also improved due to mechanical oscillation the loosening reversing boost line misalignment causing of vehicle component.Reduce cost, promoted the quality of vehicle electric.Reversing aid system of the present invention, mainly based on vehicle multimedia scheme, utilizes instruction load button and touch-screen to operate.
In addition, reversing aid system of the present invention also can change by pressing reddish yellow border button 142, yellowish green border button 144 position of left front the second boost line 118, left the second boost line 116, left back the second boost line 114, right front the second boost line 132, right the second boost line 134 and right back the second boost line 136.Wherein, preferably, by above-mentioned left front the second boost line 118, left the second boost line 116, left back the second boost line 114, right front the second boost line 132, right the second boost line 134 and right back the second boost line 136, the region between left the first boost line 112 and right the first boost line 138 is divided into three regions.Wherein, with the red region that represents left front the second boost line 118 fronts, representative reversing hazardous area; Represent the region between left front the second boost line 118 and left the second boost line 116 by yellow, represent subsidiary risk district; Represent the region between left the second boost line 116 and left back the second boost line 114 by green, represent place of safety.Therefore,, by pressing reddish yellow border button 142, yellowish green border button 144, can adjust above-mentioned trizonal size.
In the time pressing "+" symbol on button 142 right sides, reddish yellow border, reddish yellow boundary value adds 1 unit, and the red partial-length of left the first boost line 112 adds 1 unit, and the yl moiety length of left the first boost line 112 subtracts 1 unit; On the other hand, in the time pressing "-" symbol in button 142 left sides, reddish yellow border, the reddish yellow boundary value of left the first boost line 112 subtracts 1 unit, and the red partial-length of left the first boost line 112 subtracts 1 unit, and the yl moiety length of left the first boost line 112 adds 1 unit.In like manner, can adjust by pressing yellowish green border button 144 yl moiety length and the green portion length of left the first boost line 112, and then adjust trizonal size.
Because the area size adjustment principle of right the first boost line 138 and left the first boost line 112 is identical, so the description thereof will be omitted at this.
In addition, reversing aid system of the present invention also can be adjusted by pressing width adjustment button 146 width of left front the second boost line 118, left the second boost line 116, left back the second boost line 114, right front the second boost line 132, right the second boost line 134 and right back the second boost line 136, right back the second boost line 136, left the first boost line 112 and right the first boost line 138.For example, first click left adjustment button, the accessory ID in selected touch-screen 150 left sides is left the first boost line 112, left front the second boost line 118, left the second boost line 116, left back the second boost line 114, then, "+" symbol of clicking width adjustment button 146 right sides, the width value of so left the first boost line 112, left front the second boost line 118, left the second boost line 116, left back the second boost line 114 integrally adds 1 unit; If while clicking "-" symbol in width adjustment button 146 left sides, the width value of left the first boost line 112, left front the second boost line 118, left the second boost line 116, left back the second boost line 114 integrally subtracts 1 unit.
Due to right the first boost line 138 and other the second boost line identical with the line width adjustment principle of left the first boost line 112, so the description thereof will be omitted at this.
In addition, in reversing aid system of the present invention, operator can be shielded by point touching the hiding instruction input unit of hiding button 106 at 150 middle parts, lower edge, and its effect as shown in Figure 2.
According to a further aspect in the invention, also provide a kind of reversing aid system, it can draw various figures voluntarily by operator, for example, draw the accessory ID that comprises above-mentioned the first boost line and the second boost line.Thus, operator can be according to the setting-out object of reference by reverse image, and wherein, setting-out object of reference is above-mentioned adjustment object of reference, so that the accessory ID drawing conforms to actual conditions.Because this can by the reversing aid system of operator's setting-out and above-mentioned can to adjust voluntarily the formation of reversing aid system of accessory ID by operator basic identical, so only their difference is described below, omits the description of part identical between them.
In the time of needs again setting-out, the left side setting-out button 104 that operator can be shielded 150 lower edges by point touching starts left the first boost line 112 of picture, and the right setting-out button 108 that also can shield 150 lower edges by point touching starts right the first boost line 138 of picture.
In a preferred embodiment of the invention, the line drawing method of this reversing aid system comprises the following steps:
Obtaining step, by the touch-screen of reversing aid system, obtains two coordinate points that operator successively clicks, and preserves;
Plot step, according to two point coordinates of preserving, draws left the first boost line 112 or right the first boost line 138, and in left the first boost line or right the first boost line, draws each the second boost line according to predetermined manner;
Overlapping display step, point two-layer demonstration, upper strata shows the boost line of drawing, lower floor is with transparent background interface display reverse image,
Set-up procedure, adjusts the attribute such as length, angle, position, width of right the first boost line 138 and left the first boost line 112.
In above-mentioned obtaining step, what mainly realize is the touch-screen by reversing aid system, obtains the coordinate points of clicking touch-screen.In concrete an enforcement, reversing aid system is caught touchscreen events, obtains coordinate points, then sends to application program; What this step mainly realized is the coordinate points that system basis is obtained, and determines two end points of the reversing boost line that will repaint.
In plot step, the processing procedure of coordinate points when the main setting-out realizing.In concrete enforcement, according to two point coordinates of reversing boost line, the setting-out function of calling system, draws reversing boost line to internal memory.Further, distinguish green three color regions of reddish yellow for the reversing boost line that makes to show, calculate the separation coordinate on reddish yellow border and the separation coordinate on yellowish green border.First, two coordinate points successively clicking according to the operator who obtains, the lateral separation DX of calculating the first boost line, the fore-and-aft distance DY of the first boost line.Secondly, according to the reddish yellow boundary value ryP of the first boost line (ryP represents that the separation on reddish yellow border is at the percentage of the first boost line position), red all the time in the bottom of touch-screen, the abscissa x=DX × ryP/100+x0 of the separation on the reddish yellow border abscissa of bottom end points of boost line (x0 represent to move backward), the y=DY × ryP/100+y0 of coordinate in length and breadth of the separation on the reddish yellow border ordinate of bottom end points of boost line (y0 represent to move backward); In like manner can calculate the separation on yellowish green border; Finally, three line segments that separation are divided into are plotted to internal memory.Wherein, the first boost line can be left the first boost line 112 or right the first boost line 138.
In addition, in order to make the first boost line of demonstration visually to the better effect of operator, it is dotted line that the first boost line can be set, the first boost line is divided into n section, the value of n is specifically divided according to the length of the first boost line, determine after the value of n, calculate n-1 the point (the first boost line is divided into n section) in the first boost line; Only draw one section for every two sections, for example, the 1st and the 2nd dotted line, and the 2nd and the 3rd not setting-out, the 3rd and the 4th dotted line, and the 4th and the 5th not setting-out, the rest may be inferred.
Further, in order to make the first boost line of demonstration visually to the better effect of operator, for making the first boost line form a kind of effects of similar 3 dimensions.The first boost line is depicted as to dotted line.In the time drawing this dotted line, the length of the first boost line and width, longitudinally constantly diminishing; For width is longitudinally constantly being diminished, set reduced width ratio according to fore-and-aft distance; Because width constantly diminishes on vertical and horizontal, can not be effective by the setting-out function of system, the picture function of calling system.
Introduce the principle of drawing out 3 dimension effects by picture function below.Here, face is for example made up of isosceles trapezoid.And 4 end points of isosceles trapezoid are by being calculated by two end points of the line segment after dividing, these two end points are center, upper base and the bottom mid point of this isosceles trapezoid.Upper base is different from the width of bottom, and is certain rule variation according to following computational methods.Its computational methods are as follows: first: determine width ratio, 2 times of the width that the width foremost of supposing the first boost line is rearmost end, reduced width formula w '=(y+H)/2H × w, wherein w is live width foremost, H is touch-screen height, y is that ordinate value a little (belongs to [0, H]), w ' is the extension width of point, then, according to reduced width formula molded breadth w ', according to point coordinates calculation level 2 points of left and right extension width w ' in the horizontal direction, ordinate value is constant, abscissa value is respectively (former abscissa+w ') and (former abscissa-w '), two end points of line segment calculate 4 points, the region of composition picture, it is the region of the face of isosceles trapezoid formation.
Further, for length is longitudinally constantly being diminished; While calculating n-1 the point (the first boost line is divided into n section) in the first boost line, no longer decile, calculate distance and the slope of the first boost line, set one and start length value (being assumed to be 30) and decrement value 2, while calculating at the 2nd, require and the distance of the 1st is 30, while calculating at the 3rd, requirement and the 2nd 's distance is 28, and while calculating at the 4th, requirement and the 4th 's distance is 26, the rest may be inferred, to the last a point.
In addition, in order to distinguish well the green border of reddish yellow in the first boost line, draw a horizontal stripe (i.e. the second boost line) at each boundary; 2 of horizontal stripe are calculated by boundary point, first, according to point coordinates calculation level 2 points of downward-extension specified altitude assignment value (as 10) in vertical direction, secondly, 2 move in the horizontal direction distance to a declared goal (supposing 3 times of live widths), if left the first boost line moves right, if right the first boost line is moved to the left.In addition, for the effect that allows horizontal stripe constantly diminish on vertical and horizontal, also with the first boost line is adopted in the same way, is calculated 4 points in the region of horizontal stripe under the effects of similar 3 dimensions by 2 of horizontal stripe, last, and the picture function of calling system is drawn horizontal stripe.At the boundary of reddish yellow, drafting be red horizontal stripe, at yellowish green boundary, drafting be yellow horizontal stripe, at the top of the first boost line, drafting be green horizontal stripe.
Certainly, these are only exemplary plot step, those skilled in the art can visualize other many method for drafting, and the present invention also can adopt those other suitable method for drafting.
In above-mentioned Overlapping display step, what mainly realize is that the first boost line and the second boost line show, this display interface divides two-layer demonstration, and upper strata shows the first boost line and the second boost line, and lower floor is with transparent background interface display.In concrete enforcement, first fill whole screen with transparent background colour, then draw the first boost line and the second boost line on transparent background interface.
In above-mentioned set-up procedure, what mainly realize is the attribute of adjusting the first boost line and the second boost line.In concrete enforcement, first, according to controlling the first definite boost line of step and the attribute of the second boost line and adjustment, change the parameter value of the first boost line and second boost line of its correspondence, for example integrally translation, rotation, stretching the first boost line and the second boost line, integrally change the width of the first boost line and the second boost line, change the position of the second boost line etc.Below this set-up procedure be have been described in detail, at this, the descriptions thereof are omitted.
Although it should be noted that in the above-described embodiments, the number of the second boost line is six, and the number of the second boost line is not subject to concrete restriction, and for example, it can be also three or other suitable number arbitrarily.And, left front the second boost line 118 can be connected to form a long boost line with right front the second boost line 132, left the second boost line 116 can be connected to form a long boost line with right the second boost line 134, and left back the second boost line 114 can be connected to form a long boost line with right back the second boost line 136.And only the middle part between left the first boost line 112 and right the first boost line 138 arranges the second boost line.
Those skilled in the art easily know; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.Protection scope of the present invention is determined by claims.
Claims (19)
1. reversing aid system, comprising:
Camera, for obtaining image after car; With
Display, for showing image and the accessory ID for assist operator reversing after described car, wherein, described accessory ID is superimposed upon after described car on image, it is characterized in that,
Described reversing aid system also comprises:
Adjusting device, for adjusting position, length or the angle of described accessory ID according to operator's instruction; With
Repaint device, repaint accessory ID for operator.
2. reversing aid system according to claim 1, is characterized in that, described reversing aid system also comprises object of reference, and described adjusting device is adjusted described accessory ID according to described object of reference, and described in repaint device and repaint accessory ID according to described object of reference.
3. reversing aid system according to claim 2, is characterized in that, the display screen of described display is touch-screen.
4. reversing aid system according to claim 3, is characterized in that, described reversing aid system also comprises:
Instruction load button can be arranged on the edge part of the touch-screen of described display hidingly, for receiving the instruction of operator's input;
Microprocessor, is stored with the program of carrying out corresponding operating according to the instruction of described instruction load button reception.
5. reversing aid system according to claim 4, it is characterized in that, described accessory ID comprises two the first boost lines that extend back along length of wagon direction and three or six second boost lines of extending along vehicle-body width direction, and described object of reference comprises the part identical with the shape of described accessory ID.
6. reversing aid system according to claim 5, is characterized in that, described instruction load button comprises:
Left side setting-out button, draws the first boost line on the left of described touch-screen for two coordinate points successively inputting on described touch-screen according to operator; With
The right setting-out button, for drawing first boost line on described touch-screen right side according to two coordinate points of operator's priority input on described touch-screen.
7. reversing aid system according to claim 6, it is characterized in that, described instruction comprises: translation instruction, make described the first boost line and the integrally translation of described the second boost line for two coordinate points successively inputting according to operator on described touch-screen, thereby change the position of described the first boost line and described the second boost line.
8. reversing aid system according to claim 7, it is characterized in that, described instruction also comprises: flexible instruction, make described the first boost line and described the second boost line integrally flexible for the coordinate points of successively inputting on described touch-screen according to operator, thereby change the length of described the first boost line and described the second boost line.
9. reversing aid system according to claim 8, it is characterized in that, described instruction also comprises: rotate instruction, for the coordinate points of successively inputting on described touch-screen according to operator, described the first boost line and described the second boost line are integrally rotated, thereby change the angle of described the first boost line and described the second boost line.
10. reversing aid system according to claim 9, it is characterized in that, described instruction load button comprises width adjustment button, described instruction correspondingly comprises: width adjustment instruction, makes the width of described the first boost line and/or described the second boost line increase gradually or reduce for click width adjustment button by operator.
11. reversing aid systems according to claim 10, it is characterized in that, described instruction load button comprises distance adjustment button, described instruction correspondingly comprises: distance is adjusted instruction, makes the distance between each the second boost line and the tailstock increase gradually or reduce for adjusting button by operator's click distance.
12. reversing aid systems according to claim 11, it is characterized in that, described adjusting device comprises convenient operation, and person adjusts three rectangle frames of the first boost line, described three rectangle frames focus on display by dotted line, dotted line or thick line, and flicker at the appointed time, described three rectangle frames are separately positioned on two ends and the middle part of the first boost line, and the rectangle frame at middle part is used for making each the first boost line and the integrally translation of the second boost line; The rectangle frame at two ends is used for making each the first boost line and the second boost line integrally rotate or stretch.
13. reversing householder methods, comprising:
Shooting step, for absorbing image after car by camera;
Step display, shows image and the accessory ID for assist operator reversing after car by display, and wherein, described accessory ID is superimposed upon after described car on image, it is characterized in that, described reversing householder method also comprises:
Repaint step, for drawing the accessory ID of assist operator reversing, and by described accessory ID Overlapping display after described car on image; With
Set-up procedure, for adjusting position, length or the angle of described accessory ID according to operator's instruction.
14. reversing householder methods according to claim 13, is characterized in that,
The described step that repaints comprises:
Obtaining step, by the touch-screen of reversing aid system, obtains two coordinate points that operator successively clicks, and preserves;
Plot step, according to two point coordinates of preserving, draws the first boost line, and draws the second boost line according to predetermined manner on the first boost line side; And
Overlapping display step, point two-layer demonstration, upper strata shows the first boost line and second boost line of drawing, lower floor with transparent background interface display car after image.
15. reversing householder methods according to claim 14, it is characterized in that, described accessory ID comprises two the first boost lines that extend back along length of wagon direction and three or six second boost lines of extending along vehicle-body width direction, and described object of reference comprises the part identical with the shape of described accessory ID.
16. reversing householder methods according to claim 15, is characterized in that, the display screen of described display is touch-screen.
17. reversing householder methods according to claim 16, is characterized in that,
During described set-up procedure at least comprises the following steps one:
Translation step, makes described the first boost line and the integrally translation of described the second boost line for two coordinate points successively inputting on described touch-screen according to operator, thereby changes the position of described the first boost line and described the second boost line;
Flexible step, makes described the first boost line and described the second boost line integrally flexible for the coordinate points of successively inputting on described touch-screen according to operator, thereby changes the length of described the first boost line and described the second boost line; With
Rotation step, integrally rotates described the first boost line and described the second boost line for the coordinate points of successively inputting on described touch-screen according to operator, thereby changes the angle of described the first boost line and described the second boost line.
18. reversing householder methods according to claim 17, it is characterized in that, two ends and middle part in described the first boost line are respectively equipped with three rectangle frames, described three rectangle frames focus on display by dotted line, dotted line or thick line, and flicker at the appointed time, the rectangle frame at middle part is used for making each the first boost line and the integrally translation of the second boost line; The rectangle frame at two ends is used for making each the first boost line and the second boost line integrally rotate or stretch.
19. reversing householder methods according to claim 18, is characterized in that, before described set-up procedure, described reversing householder method also comprises:
Positioning step, in this step, operator positions described vehicle according to described object of reference.
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| US20140375806A1 (en) * | 2013-06-24 | 2014-12-25 | Caterpillar Inc. | Configurable display system |
| CN103612600A (en) * | 2013-11-29 | 2014-03-05 | 黄家亨 | Vehicle-mounted traffic safety monitoring system |
| CN105898189A (en) * | 2014-05-06 | 2016-08-24 | 无锡威莱斯电子有限公司 | Wireless reversing image system with adjustable reversing auxiliary lines |
| JP7099914B2 (en) * | 2018-09-07 | 2022-07-12 | 株式会社デンソー | Electronic mirror display control device and electronic mirror system equipped with it |
| WO2022250117A1 (en) * | 2021-05-27 | 2022-12-01 | 株式会社デンソー | Vehicle display system, vehicle display method, and vehicle display program |
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