• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method of assisting driving in the forward direction of a motor vehicle, provided with a front wheel angle sensor, a display screen and a fish-eye type objective camera arranged at the front front of the vehicle and directed collinearly to the longitudinal direction of the vehicle so as to acquire images at the front of the vehicle. The method comprises the following steps: determining the trajectory of the front wheels of the vehicle according to the angle of the front wheels and the characteristics of the vehicle, determining a trimming value of the image acquired by the camera according to the trajectories of the vehicles. front wheels, the angle of the steering wheel, the size of the camera sensor and the size of the display screen, the trimmed image acquired by the camera to be displayed on the display screen is determined by according to the trajectory of the front wheels and the trimming value, and the trajectory of the front wheels of the vehicle is displayed in superposition of the cropped image on the display screen.
    公开号:FR3047947A1
    申请号:FR1651490
    申请日:2016-02-24
    公开日:2017-08-25
    发明作者:Stephanie Ambroise
    申请人:Renault SAS；
    IPC主号:
    专利说明:

    A method of assisting driving in the forward direction of a motor vehicle, provided with a fish-eye type objective camera. The invention relates to technical field man-machine interfaces in a motor vehicle, and more particularly the parking assistance devices for a motor vehicle.
    The 360 ° vision is a new feature at Renault. It displays on a multimedia screen a description of the environment close to the vehicle, in the form of a combination of several views. The cameras used are of the fish-eye type, ie with a horizontal angle of view close to 180 °.
    On each type of view, static and / or dynamic templates are superimposed. They represent the predictive trajectory of the vehicle according to the angle of the wheels. The use of fish-eye cameras has the disadvantage of a wider horizontal field of view than for cameras generally used as a rear view camera. The objects present on the image acquired by a fish-eye camera then appear smaller. To be able to combine such images with those acquired by the side cameras to form the 360 ° view, the front and rear camera images are cropped. Unlike the rear view, given the trimming of the image, the inside template of the front view may not be displayed for high steering angles.
    From the state of the prior art, documents US20130321629, US2013057690, US2008266137 and EP2500216 are known.
    The documents US20130321629, US2013057690 and US2008266137 do not disclose information on the field of view nor take into account the distortion.
    EP2500216 discloses a driving assistance system providing a dynamic display of images taken by wide angle cameras having a coverage of 180 °. It does not describe the aspect of displaying a template or trimming of the image.
    There is therefore a need for a method of assisting the driving ahead of a motor vehicle capable of generating an image comprising the trajectory of the front wheels of the vehicle superimposed with the image from a Fish-type camera. Eye. The subject of the invention is a method of assisting driving in the forward direction of a motor vehicle, provided with a front wheel angle sensor, a display screen and a camera with a lens of fish-eye type arranged at the front of the vehicle and directed collinearly to the longitudinal direction of the vehicle so as to acquire images at the front of the vehicle. The method comprises the following steps: determining the trajectory of the front wheels of the vehicle according to the angle of the front wheels and the characteristics of the vehicle, determining a trimming value of the image acquired by the camera according to the trajectories of the vehicles. front wheels, the angle of the steering wheel, the size of the camera sensor and the size of the display screen, the trimmed image acquired by the camera to be displayed on the display screen is determined by according to the trajectory of the front wheels and the trimming value, and the trajectory of the front wheels of the vehicle is displayed in superposition of the cropped image on the display screen.
    To determine the trimming of the trajectories of the front wheels when the angle of the front wheels is strictly negative, the method may comprise the following steps: it is determined whether the coordinate, along an axis parallel to the ground and perpendicular to the longitudinal direction of the vehicle, the first point of the left trajectory is greater than the corresponding coordinate of the last point of the left trajectory, if this is the case, it is determined that the trimming value is equal to a predetermined value, if this is not the case, determines that the trimming value is equal to half of the coordinate, along an axis parallel to the ground and perpendicular to the longitudinal direction of the vehicle, of the last point of the left trajectory.
    To determine the trimming of the trajectories of the front wheels when the angle of the front wheels is strictly positive, the method may comprise the following steps: it is determined whether the coordinate, along an axis parallel to the ground and perpendicular to the longitudinal direction of the vehicle, the first point of the right trajectory is greater than the corresponding coordinate of the last point of the right trajectory, if this is the case, it is determined that the trimming value is equal to a predetermined value, if this is not the case, determines that the trimming value is equal to the largest value among the difference between the coordinate, along an axis parallel to the ground and perpendicular to the longitudinal direction of the vehicle, the last point of the left trajectory and the width in pixels of the image expected after trimming for display, and, half the difference between the width in pixels of the image from the camera before trimming and the coordinate, along an axis parallel to the ground and perpendicular to the longitudinal direction of the vehicle, of the last point of the left trajectory.
    If the trimming value is equal to the initialization value, the image acquired by the camera of the trimming value on each side can be truncated, and, if the trimming value is not equal to the value of trimming. initialization, the image acquired by the camera of the trimming value on the left and the width in pixels of the image from the camera can be trimming before trimming minus the sum of the trimming value and the width in pixels of the expected image after trimming for right display.
    To determine the trajectory of the front wheels of the vehicle, the method may comprise the following steps: the wheels of the vehicle determine the coordinates of the points of the trajectory of the front wheels of the vehicle according to the width of the vehicle, the distance between the front axle and the most advanced point of the vehicle, the wheelbase of the front wheels, and the angle of the wheel, the projection of each point of the trajectories in the support plane is then determined. wheels of the vehicle on a sphere whose center is a function of the coordinates of the center of the camera and the angle of inclination of the camera with the horizontal, and then the projection of the points of the projected trajectories on the sphere on the the unit focal plane defined as normal to the camera's shooting axis and located at a distance from the camera equal to the focal length of the camera.
    It is possible to perform an affine transformation of the points of the trajectories in the unit focal plane as a function of the horizontal size of the camera sensor, the vertical size of the camera sensor, the number of pixels of the camera sensor in the horizontal direction. and the number of pixels of the camera sensor in the vertical direction. Other objects, features and advantages of the invention will appear on reading the following description, given solely by way of non-limiting example.
    The method includes a first step in which the right and left trajectories to be displayed on the reconstructed image are determined.
    For this, we first define the Rbr of the axle.
    (Eq. 1)
    With
    Rbr = Turning radius
    Emp = wheelbase 'wheel = wheel angle
    For the right trajectory, we define a coordinate point Pdyn2 (Xdyn2, Ydyn2), obtained by the following equations:
    (Eq 2)
    With: distance y axis wheel = (width / 2) + 250 mm
    Width: width of the vehicle X stat = FrontOverHang: distance between the front axle and the most advanced point of the vehicle
    For the left trajectory, we define a point Pdyn of coordinates (Xdyn, Ydyn), obtained by the following equations:
    (Eq 3) The abscissa Xd of a point of the left trajectory is given by the following equation:
    (Eq 4)
    If the angle of the flywheel is strictly negative, the Yd ordinate of a point of the left trajectory is given by the following equation:
    (Eq.5)
    If the angle of the flywheel is strictly positive, the Yd ordinate of a point of the left trajectory is given by the following equation:
    (Eq.6) The abscissa X2d of a point of the right trajectory is given by the following equation:
    (EQ.7)
    If the angle of the steering wheel is strictly negative, the Y2d of a point of the right trajectory is given by the following equation:
    (Eq.8)
    If the angle of the flywheel is strictly positive, the ordinate Y2d of a point of the right trajectory is given by the following equation:
    (Eq.9)
    With
    (Eq.10) (Eq 11) (Eq.12) (Eq.13)
    Each of the right and left trajectories is then discretized into a plurality of points for a parameter Θ varying between 0_min and 0_max, respectively 02 varying between 02_min and 02_max and for a parameter R varying between Rmin and Rmax, with Rmax-Rmin = e.
    With: (Eq. 14)
    (Eq.15)
    Note that the different trigonometric functions used in this document are applied to angles expressed in degrees and not in radians.
    In other words, at the end of this calculation step, we have a set of points for the left trajectory Xd, Yd and a set of points for the right trajectory X2d, Y2d each depending on parameters i , j varying respectively between 1 and N and between 1 and M.
    According to the ground trajectories (Xd, Yd) and (X2d, Y2d), we then determine the projection (XI, Yl) and (X2, Y2) of each point of the trajectories on the ground on a sphere of center (XsO, YsO , ZsO) and radius 100mm.
    We define the center of the sphere (Xs0, Ys0, Zs0) when the angle of inclination of the camera with the horizontal AngleCam is zero according to the center of the camera (Xcam, Ycam, Zcam) corrected by a value d on the x axis,
    So we have
    (Eq.16)
    We define the center of the sphere (Xs, Ys, Zs) taking into account the angle of inclination of the camera with the horizontal AngleCam according to the center of the camera (Xcam, Ycam, Zcam) and the coordinates of the camera. center of the sphere (XsO, YsO, ZsO) when the angle of inclination of the camera with the horizontal AngleCam is zero,
    (Eq 17)
    Then we project each point of each trajectory on the sphere S.
    For the left trajectory, we determine the coordinates (ΧΙ, ΥΙ, ΖΙ) of the intersection II between a line connecting the center of the sphere with a point P01 (Xd, Yd, Z = 0) of the trajectory on the ground, by through the following equations:
    (Eq 18)
    With
    (Eq 19)
    With h = height between the ground and the vehicle axis
    For the left trajectory, a similar calculation step is applied. The coordinates (X2, Y2, Z2) of the intersection 12 between a line connecting the center of the sphere with a point P02 (X2d, Y2d, Z = 0) of the ground trajectory are determined by means of the equations following:
    (Eq.20)
    With
    (Eq.21)
    With h = height between the ground and the vehicle axis
    The projection of the points of the projected trajectories on the sphere S is then determined on the unitary focal plane defined as normal to the axis of the camera and at a distance fl = 100 mm.
    This calculation being complex, the projection is carried out in two stages. We first project the points of the projected trajectories on the sphere S on a vertical plane parallel to the plane (Ÿ; Z) at a distance from the camera (Xcam, Ycam, Zcam) equal to the focal length f1.
    Projected trajectory points are then projected on the vertical plane, in the focal plane of the camera.
    To project the points of the left trajectory projected on the sphere S on a vertical plane, the coordinates (Xpl Ι, ΥρΙ Ι, ΖρΙ 1) of the intersection P1 between the line connecting the intersection II (ΧΙ, ΥΙ, ΖΙ) with the center of the camera and the vertical plane. The coordinates (Xpl Ι, ΥρΙ Ι, ΖρΙ) are given by the following equations:
    (Eq.22)
    For the right trajectory, a similar calculation step is applied. To project the points of the right trajectory projected on the sphere S on the vertical plane, the coordinates (Xp2, Yp2, Zp2) of the intersection P2 between the line connecting the intersection 12 (X2, Y2, Z2) with the center of the camera and the vertical plane. The coordinates (Xp2, Yp2, Zp2) are given by the following equations:
    (Eq.23)
    To project the points of the left trajectory projected on the vertical plane on the focal plane, the coordinates (Xp21, Yp21, Zp21) of the intersection P21 are determined between the line connecting the intersection II (ΧΙ, ΥΙ, ΖΙ) with the center of the camera and the focal plane.
    (Eq.24)
    With:
    (Eq.25) xpcam 1 = Xp 11 -Xcam y pcam 1 = Y p 11 - Ycam zpcam 1 = Zp 11 - (Zcam-h)
    To project the points of the left trajectory projected on the vertical plane on the focal plane, the coordinates (Xp22, Yp22, Zp22) of the intersection P22 between the line connecting the intersection 12 (X2, Y2, Z2) are determined with the center of the camera and the focal plane.
    (Eq.26)
    With:
    (Eq.27) xpcam2 = Xp 12-Xcam ypcam2 = Ypl2-Ycam zpcam2 = Zp 12- (Zcam-h)
    For the left trajectory, the coordinates (xpl, ypl) of the point P21 are then determined in the unit focal plane by applying the following equations:
    (Eq.28)
    For the right trajectory, the coordinates (xp2, yp2) of the point P22 are then determined in the unit focal plane by applying the following equations:
    (Eq.29)
    Transformed points (Xepi, Yepi) of left trajectory are then determined by performing an affine transformation of left trajectory points (xpl, ypl) projected in the focal plane by applying the following equations:
    (Eq.30)
    Transformed points (Xepi2, Yepi2) of right trajectory are then determined by performing an affine transformation of the right trajectory points (xp2, yp2) projected in the focal plane by applying the following equations:
    (Eq.3 1)
    With:
    Cxl = l 00mm
    Cyl = Cxl * cy / cx
    cx = Horizontal size of camera sensor according to X direction
    cy = Vertical size of camera sensor in Y direction
    Width: number of pixels of the camera sensor in X direction
    Height: number of pixels of the camera sensor in the Y direction
    Referring to the equation Eq.4 to Eq.14 introducing the parameters i and j, it will be understood that the equations Eq.16 to Eq.31 are applied to each point of the trajectory corresponding to a pair of parameters (i, j). At the end of the first calculation step, a plurality of points of the right trajectory (Xepi (i, j); Yepi (i, j)) and a plurality of points of the left trajectory (Xepi2) are thus available. (i, j); Yepi2 (i, j)) projected onto the focal plane of the camera and transformed by affine transformation.
    In a second step 2, a trimming parameter is determined.
    To do this, we calculate the value of the pixel from which or to which to crop the image for each of the left and right trajectories. These values are dynamic because they depend on the sign and the value of the angle of the wheels.
    It is also necessary to determine a value consistent with the display of the static templates, in order to avoid image jumps when going from the static trimming value (corresponding to the values of low driving angles) to the value of dynamic trimming.
    At the output of the first step 1, the values of the pixel coordinates of the points (Xepi (i, j); Yepi (i, j)) of the left trajectory and points (Xepi2 (i, j); Yepi2 (i, j)) of the right trajectory in the focal plane are available.
    When the angle of the wheels is strictly negative or strictly positive, the critical pixel values are those corresponding to the end of the trajectories, ie those corresponding to the pairs of parameters (i = N, j = M) and (i = 1, j = 1) defining the points of the left and right trajectories.
    We call XepiNM, the value of the Xepi coordinate of the left trajectory point for which the parameter i = N, and the parameter j = M.
    We call Xepi2NM, the value of the Xepi2 coordinate of the right path point for which the parameter i = N, and the parameter j = M.
    We call Xepill, the value of the Xepi coordinate of the left trajectory point for which the parameter i = l, and the parameter j = l.
    We call Xepi211, the value of the Xepi2 coordinate of the left trajectory point for which the parameter i = l, and the parameter j = l.
    When the angle of the wheels is strictly negative, the Xepimax dynamic trimming value is determined as follows.
    If XepiNM> Xepill then the value Xepimax is equal to the initialization value.
    If XepiNM <Xepill then the value Xepimax is given by the following equation:
    (Eq.32)
    When the angle of the wheels is strictly positive, the Xepimax dynamic trimming value is determined as follows:
    If Xepi2NM <Xepi211 then the value Xepimax is equal to the initialization value.
    If Xepi2NM> Xepi211 then the value Xepimax is given by the following equation:
    (Eq.33)
    With: widthl: the width in pixels of the image from the camera before trimming width2: the width in pixels of the image expected after trimming for display.
    For example, the widthl value can be 640 pixels and the width2 value 480 pixels.
    When the angle of the wheels is zero, a dynamic trimming value Xepimax equal to an initialization value is chosen so that the static templates are centered on the trimmed image.
    This initialization value is chosen when the angle of the wheels is zero, so that the static templates are centered on the cropped image and the width of the image of the front camera added to the width of the camera. the 360 ° view is equal to the width of the output image of the trajectory display calculator.
    In a third image, the image is trimming according to the Xepimax value determined in the second step.
    If Xepimax is equal to the initialization value, the image is cropped from Xepimax on each side.
    If Xepimax is not equal to the initialization value, the image is cropped from Xepimax to the left and from widthl- (Xepimax + width2) to the right.
    Optionally, the driver can be informed of the dynamic nature of the trimming by changing the color or opacity of the inner path relative to that of the inner path when trimming is static.
    权利要求:
    Claims (6)
    [1" id="c-fr-0001]
    1. A method of assisting driving in the forward direction of a motor vehicle, provided with a front wheel angle sensor, a display screen and a fish-eye type objective camera arranged at the front of the vehicle and directed in a collinear manner to the longitudinal direction of the vehicle so as to acquire images at the front of the vehicle, characterized in that it comprises the following steps: the trajectory of the front wheels of the vehicle is determined according to the angle of the front wheels and the characteristics of the vehicle, a trimming value of the image acquired by the camera is determined according to the trajectories of the front wheels, the angle of the steering wheel, the size of the sensor of the camera and the size of the display screen, the trimmed image acquired by the camera to be displayed on the display screen is determined according to the trajectory of the front wheels and the trimming value, and we display the trajectory of the front wheels of the vehicle in superimposition of the cropped image on the display screen.
    [2" id="c-fr-0002]
    2. Method according to claim 1, wherein, to determine the trimming of the trajectories of the front wheels when the angle of the front wheels is strictly negative, it is determined whether the coordinate, along an axis parallel to the ground and perpendicular to the longitudinal direction of the vehicle, the first point of the left trajectory is greater than the corresponding coordinate of the last point of the left trajectory, if this is the case, it is determined that the trimming value is equal to a predetermined value, if this is not the case, it is determined that the trimming value is equal to half of the coordinate, along an axis parallel to the ground and perpendicular to the longitudinal direction of the vehicle, the last point of the left trajectory.
    [3" id="c-fr-0003]
    3. The method of claim 1, wherein, to determine the trimming of the trajectories of the front wheels when the angle of the front wheels is strictly positive, it is determined whether the coordinate, along an axis parallel to the ground and perpendicular to the longitudinal direction of the vehicle, the first point of the right trajectory is greater than the corresponding coordinate of the last point of the right trajectory, if this is the case, it is determined that the trimming value is equal to a predetermined value, if this is not the In this case, it is determined that the trimming value is equal to the largest value among the difference between the coordinate, along an axis parallel to the ground and perpendicular to the longitudinal direction of the vehicle, the last point of the left trajectory and the width in pixels. of the expected image after trimming for display, and, half the difference between the width in pixels of the image from the camera before trimming e t the coordinate, along an axis parallel to the ground and perpendicular to the longitudinal direction of the vehicle, the last point of the left trajectory.
    [4" id="c-fr-0004]
    A method according to any one of claims 2 or 3, wherein, if the trimming value is equal to the initialization value, the image acquired by the camera of the trimming value of each side is trimmed, and , if the trimming value is not equal to the initialization value, trim the image acquired by the camera of the trimming value on the left and the width in pixels of the image from the camera before trimming minus the sum of the trimming value and the width in pixels of the image expected after trimming for right display.
    [5" id="c-fr-0005]
    5. Method according to any one of the preceding claims, wherein for determining the trajectory of the front wheels of the vehicle, the wheels of the vehicle determine the coordinates of the points of the trajectory of the front wheels of the vehicle. the width of the vehicle, the distance between the front axle and the most advanced point of the vehicle, the wheelbase of the front wheels, and the angle of the wheel, the projection of each point of the trajectories in the plane of support of the wheels of the vehicle on a sphere whose center is a function of the coordinates of the center of the camera and the angle of inclination of the camera with the horizontal, and the projection of the points is then determined trajectories projected on the sphere on the unit focal plane defined as normal to the camera's shooting axis and located at a distance from the camera equal to the focal length of the camera.
    [6" id="c-fr-0006]
    6. The method according to claim 5, wherein an affine transformation of the points of the trajectories in the unit focal plane is performed as a function of the horizontal size of the camera sensor, the vertical size of the camera sensor, the number of pixels. of the camera sensor in the horizontal direction and the number of pixels of the camera sensor in the vertical direction.
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    同族专利:
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    EP3420529A1|2019-01-02|
    FR3047947B1|2018-03-09|
    EP3420529B1|2020-01-22|
    WO2017144826A1|2017-08-31|
    引用文献:
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    法律状态:
    2017-02-17| PLFP| Fee payment|Year of fee payment: 2 |
    2017-08-25| PLSC| Publication of the preliminary search report|Effective date: 20170825 |
    2018-02-23| PLFP| Fee payment|Year of fee payment: 3 |
    2020-02-19| PLFP| Fee payment|Year of fee payment: 5 |
    2021-02-24| PLFP| Fee payment|Year of fee payment: 6 |
    2022-02-16| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1651490A|FR3047947B1|2016-02-24|2016-02-24|METHOD FOR AIDING DRIVING BEFORE A MOTOR VEHICLE WITH A FISH-EYE TYPE OBJECTIVE CAMERA|
    FR1651490|2016-02-24|FR1651490A| FR3047947B1|2016-02-24|2016-02-24|METHOD FOR AIDING DRIVING BEFORE A MOTOR VEHICLE WITH A FISH-EYE TYPE OBJECTIVE CAMERA|
    EP17710355.3A| EP3420529B1|2016-02-24|2017-02-23|Driving assistance method in a forward gear of a motor vehicle, provided with a camera having a fish-eye lens|
    PCT/FR2017/050409| WO2017144826A1|2016-02-24|2017-02-23|Driving assistance method in a forward gear of a motor vehicle, provided with a camera having a fish-eye lens|
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