CN113819880A - Method for acquiring included angle of towing trailer in real time - Google Patents
Method for acquiring included angle of towing trailer in real time Download PDFInfo
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- CN113819880A CN113819880A CN202111148480.2A CN202111148480A CN113819880A CN 113819880 A CN113819880 A CN 113819880A CN 202111148480 A CN202111148480 A CN 202111148480A CN 113819880 A CN113819880 A CN 113819880A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/04—Context-preserving transformations, e.g. by using an importance map
- G06T3/047—Fisheye or wide-angle transformations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
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Abstract
The invention provides a method for acquiring an included angle of a trailer in real time, which comprises the following steps: s1, acquiring the angular velocity av2 of the trailer movement measured by the second inertial sensor, and acquiring the angular velocity av1 of the trailer movement measured by the first inertial sensor; s2, obtaining a difference diff _ av ═ between the angular velocities of the tractor and the trailer (av1-av 2); s3, by the formula: obtaining a relative rotation angle delt _ a between the traction headstock and the trailer at the current moment; s4, accumulating the relative rotation angle delt _ a of each frame, and further obtaining an angle a between the trailer and the trailer.
Description
Technical Field
The invention relates to a method for acquiring an included angle of a towing trailer in real time.
Background
In the field of 360-degree panoramic stitching, images of front, back, left and right cameras are usually stitched in a passenger car. At present, a common passenger car can be approximately regarded as a rigid body, and the position relationship between cameras and the vehicle does not change during the running of the car, so that the image stitching algorithm is fixed. Different to the towing trailer, a rotation included angle is generated between the head and the trailer, so that the position relationship between the cameras and the vehicle is changed, and therefore the image stitching algorithm must be dynamically adjusted according to the change of the included angle. However, how to measure and estimate the included angle between the vehicle head and the trailer is a technical problem at present.
Disclosure of Invention
The invention provides a method for acquiring the included angle of a towing trailer in real time, which can effectively solve the problems.
The invention is realized by the following steps:
a method for acquiring an included angle of a towing trailer in real time is disclosed, wherein the towing trailer comprises a towing head and a trailer; a first inertial sensor is further arranged on the traction vehicle head, and a second inertial sensor in communication connection with the first inertial sensor is further arranged on the trailer; the first inertial sensor and the second inertial sensor are arranged on a straight line parallel to the length direction of the vehicle, the X axis, the Y axis and the Z axis of the first inertial sensor are respectively in the same direction as the X axis, the Y axis and the Z axis of the second inertial sensor, and the method comprises the following steps:
s1, acquiring the angular velocity av2 of the trailer movement measured by the second inertial sensor, and acquiring the angular velocity av1 of the trailer movement measured by the first inertial sensor;
s2, obtaining a difference diff _ av ═ between the angular velocities of the tractor and the trailer (av1-av 2);
s3, by the formula: obtaining a relative rotation angle delt _ a between the traction headstock and the trailer at the current moment;
s4, accumulating the relative rotation angle delt _ a of each frame, and further obtaining an angle a between the trailer and the trailer.
As a further improvement, in step S1, when the vehicle is started, the acquisition frequencies f of the first inertial sensor and the second inertial sensor need to be further synchronized.
As a further improvement, the acquisition frequency f is 5-20 s-1。
As a further improvement, after step S4, the method further includes:
and S5, when the absolute value of av1 measured by the first inertial sensor is close to 0 and the absolute value of av2 measured by the second inertial sensor is also close to 0, judging that the traction vehicle head and the trailer are stretched to be straight, resetting the included angle between the traction vehicle head and the trailer to zero at the moment, and returning to the step S1 for recalculation.
As a further improvement, the first inertial sensor (11) is arranged on a tractor head, and the second inertial sensor is arranged on the trailer; and the first inertial sensor and the second inertial sensor are arranged on a straight line parallel to the length direction of the vehicle.
As a further improvement, the X, Y and Z axes of the first inertial sensor are oriented in the same direction as the X, Y and Z axes of the second inertial sensor, respectively.
As a further improvement, the first inertial sensor and the second inertial sensor are disposed on a central axis in a vehicle length direction.
The invention has the beneficial effects that: the method for acquiring the included angle of the trailer in real time based on the double inertial sensors can output corner information in real time and at high frequency, and meets the real-time requirement of vehicle engineering; in addition, the invention has the advantages of no damage to vehicles, small modification workload, low cost, high stability and wide application range.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a tractor trailer having dual inertial sensors according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for acquiring a trailer included angle in a towing trailer with dual inertial sensors in real time according to an embodiment of the present invention.
Fig. 3 is a flowchart of a trailer 360-degree look-around splicing method in a towed trailer with dual inertial sensors according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1, an embodiment of the present invention provides a tractor trailer with dual inertial sensors (IMU), which includes a tractor head 1 and a trailer 2. The embodiment of the invention takes a towing trailer as an example, but the towing trailer is also suitable for a semitrailer.
A first inertial sensor 11 is further arranged on the traction vehicle head 1, and a second inertial sensor 21 in communication connection with the first inertial sensor 11 is further arranged on the trailer 2. The first inertial sensor 11 and the second inertial sensor 21 are disposed on a straight line parallel to the longitudinal direction of the vehicle. Wherein, the X axis of the first inertial sensor 11 faces forward, the Y axis faces left, the Z axis faces upward, and the first inertial sensor is kept horizontally; the second inertial sensor 21 has an X-axis facing forward, a Y-axis facing left, and a Z-axis facing upward, and is horizontally disposed. Preferably, the first inertial sensor 11 and the second inertial sensor 21 are disposed on a central axis in a vehicle length direction. The first inertial sensor 11 can be disposed on the top, middle or bottom of the tractor head 1, and in one embodiment, the first inertial sensor 11 is disposed on the top of the tractor head 1. The second inertial sensor 21 may be located at the top, middle or bottom of the trailer 2, in one embodiment the second inertial sensor 21 is located at the top of the trailer 2. Furthermore, due to the long length of the trailer 2, the second inertial sensor 21 is preferably arranged in the middle rear part of the trailer 2 in order to more accurately obtain the angle between the tractor head 1 and the trailer 2. In another embodiment, the second inertial sensor 21 is disposed at a top rear position of the trailer 2.
When the vehicle is started, the traction vehicle head 1 and the trailer 2 move to any angle, the two inertial sensors acquire real-time data frequency f at high frequency at the same time, the second inertial sensor 21 on the trailer 2 transmits acquired data to the first inertial sensor 11 through the CAN network/serial port, and meanwhile, the first inertial sensor 11 also acquires data. At this time, the included angle between the tractor head 1 and the trailer 2 can be calculated through the first inertial sensor 11. The specific calculation is as follows:
acquiring an angular velocity av2 of the trailer 2 measured by the second inertial sensor 21, and acquiring an angular velocity av1 of the trailer 1 measured by the first inertial sensor 11; obtaining a difference diff _ av ═ of the angular velocities of the tractor 1 and the trailer 2 (av1-av 2); further, by the formula: obtaining a relative rotation angle delt _ a of the current time of the traction headstock 1 and the trailer 2 by delt _ a-diff _ av/f; finally, the relative rotation angle delt _ a of each frame is accumulated, and an included angle a between the tractor head 1 and the trailer 2 is obtained.
As a further improvement, the tractor trailer with dual inertial sensor inertial sensors further comprises a plurality of cameras arranged on the tractor head 1 and the trailer 2. Specifically, the traction vehicle head 1 comprises first cameras 12 arranged on two sides of the front part of the traction vehicle head 1; the trailer 2 comprises second cameras 21 arranged on two sides of the tail of the trailer 2. The types of the first camera 12 and the second camera 21 are not limited, and in one embodiment, the first camera 12 and the second camera 21 are both fisheye cameras. Through the dynamic change of the real-time included angle a between the traction vehicle head 1 and the trailer 2, 360-degree all-round stitching can be performed on the front view image, the rear view image, the left view image and the right view image acquired by the first camera 12 and the second camera 21, so that the whole image stitching algorithm can be dynamically adjusted according to the change of the real-time included angle a.
As a further improvement, the tractor trailer with dual inertial sensors further comprises a processor not shown in the figure. The processor is further configured to obtain an included angle a between the tractor head 1 and the trailer 2, and front, rear, left and right views of the first camera 12 and the second camera 21; and further, the method is used for dynamically adjusting the whole image splicing algorithm according to the change of the real-time included angle a, and further performing 360-degree all-around splicing on the acquired front view image, the acquired rear view image, the acquired left view image and the acquired right view image. The image stitching algorithm is the prior art, and will not be described in detail herein.
The Processor may be a Central Processing Unit (CPU), or other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Referring to fig. 2, an embodiment of the present invention further provides a method for obtaining an included angle of a towed trailer in real time, including the following steps:
s1, acquiring an angular velocity av2 of the movement of the trailer 2 measured by the second inertial sensor 21, and acquiring an angular velocity av1 of the movement of the tractor head 1 measured by the first inertial sensor 11;
s2, obtaining a difference diff _ av between the angular velocities of the tractor 1 and the trailer 2 (av1-av 2);
s3, by the formula: obtaining a relative rotation angle delt _ a of the current time of the traction headstock 1 and the trailer 2 by delt _ a-diff _ av/f;
s4, the relative rotation angle delt _ a of each frame is accumulated, and an angle a between the tractor head 1 and the trailer 2 is obtained.
In step S1, when the vehicle is started, it is necessary to further synchronize the acquisition frequencies f of the first inertial sensor 11 and the second inertial sensor 21. The acquisition frequency f can be set according to actual needs, and is preferably 5-20 s-1. In one embodiment, the acquisition frequency f is 10s-1I.e. 10 acquisitions per second.
After step S4, the method further includes:
s5, when the absolute value of av1 measured by the first inertial sensor 11 is close to 0 and the absolute value of av2 measured by the second inertial sensor 21 is also close to 0, determining that the tractor head 1 and the trailer 2 have been stretched to be straight, then, the angle between the tractor head 1 and the trailer 2 is reset to zero a to 0, and the process returns to step S1 to recalculate.
Referring to fig. 3, an embodiment of the present invention further provides a 360-degree all-round splicing method for a towed trailer, including the following steps:
s1, acquiring the angular velocity av2 of the trailer 2 measured by the second inertial sensor 21, acquiring the angular velocity av1 of the trailer 1 measured by the first inertial sensor 11, and acquiring front, rear, left and right views of the vehicle in real time;
s2, obtaining a difference diff _ av between the angular velocities of the tractor 1 and the trailer 2 (av1-av 2);
s3, by the formula: obtaining a relative rotation angle delt _ a of the current time of the traction headstock 1 and the trailer 2 by delt _ a-diff _ av/f;
s4, accumulating the relative rotation angle delt _ a of each frame, and further obtaining an included angle a between the tractor head 1 and the trailer 2;
and S6, dynamically adjusting the whole image splicing algorithm according to the change of the included angle a, and further performing 360-degree all-around splicing on the acquired front view image, the acquired rear view image, the acquired left view image and the acquired right view image.
The present invention further provides a computer readable storage medium having stored thereon a data processing program executable by one or more processors to implement the steps of the trailer included angle real-time acquisition method or the trailer 360-degree around-the-horizon stitching method described above.
In the several embodiments provided in the present invention, it should be understood that the disclosed system and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be substantially or partially implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The method for acquiring the included angle of the towing trailer in real time is characterized in that the towing trailer comprises a towing head and a trailer; a first inertial sensor is further arranged on the traction vehicle head, and a second inertial sensor in communication connection with the first inertial sensor is further arranged on the trailer; the first inertial sensor and the second inertial sensor are arranged on a straight line parallel to the length direction of the vehicle, the X axis, the Y axis and the Z axis of the first inertial sensor are respectively in the same direction as the X axis, the Y axis and the Z axis of the second inertial sensor, and the method comprises the following steps:
s1, acquiring the angular velocity av2 of the trailer movement measured by the second inertial sensor, and acquiring the angular velocity av1 of the trailer movement measured by the first inertial sensor;
s2, obtaining a difference diff _ av ═ between the angular velocities of the tractor and the trailer (av1-av 2);
s3, by the formula: obtaining a relative rotation angle delt _ a of the current time of the tractor head and the trailer, wherein f is the acquisition frequency of the first inertial sensor and the second inertial sensor;
s4, accumulating the relative rotation angle delt _ a of each frame, and further obtaining an angle a between the trailer and the trailer.
2. The method for obtaining the included angle of the towed trailer in real time as claimed in claim 1, wherein in step S1, the acquisition frequencies f of the first inertial sensor and the second inertial sensor are further synchronized when the vehicle is started.
3. The method for acquiring the included angle of the towed trailer in real time according to claim 2, wherein the acquisition frequency f is 5-20 s-1。
4. The method for acquiring the included angle of the towed trailer in real time according to the claim 1, wherein after the step S4, the method further comprises the following steps:
and S5, when the absolute value of av1 measured by the first inertial sensor is close to 0 and the absolute value of av2 measured by the second inertial sensor is also close to 0, judging that the traction vehicle head and the trailer are stretched to be straight, resetting the included angle between the traction vehicle head and the trailer to zero at the moment, and returning to the step S1 for recalculation.
5. The method for acquiring the included angle of the towing trailer in real time according to the claim 1, wherein the first inertial sensor (11) is arranged on a towing vehicle head, and the second inertial sensor is arranged on the trailer; and the first inertial sensor and the second inertial sensor are arranged on a straight line parallel to the length direction of the vehicle.
6. The method for acquiring the included angle of the towed trailer in real time as claimed in claim 5, wherein the X-axis, the Y-axis and the Z-axis of the first inertial sensor are respectively oriented in the same direction as the X-axis, the Y-axis and the Z-axis of the second inertial sensor.
7. The method for acquiring the included angle of the towed trailer in real time according to claim 5, wherein the first inertial sensor and the second inertial sensor are arranged on a central axis along the length direction of the vehicle.
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| CN202111148480.2A CN113819880A (en) | 2021-09-27 | 2021-09-27 | Method for acquiring included angle of towing trailer in real time |
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| CN202111148480.2A CN113819880A (en) | 2021-09-27 | 2021-09-27 | Method for acquiring included angle of towing trailer in real time |
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