Camera unit with driving corridor display functionality for a vehicle, method for displaying anticipated trajectory of a vehicle, and system for generating driving corridor markers
First Claim
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1. A camera unit with driving corridor display functionality for a vehicle, comprising:
- an image sensor configured to obtain an image outside the vehicle;
an interface controller configured to generate a plurality of nodes of a driving corridor markers for a required steering angle, the plurality of nodes being calculated from a set of control points of Bezier curve for the required steering angle and the set of control points being stored in a non-volatile memory in a form of look-up table; and
an image processing device configured to generate the driving corridor markers and to superimpose the driving corridor markers on the image transmitted from the image sensor, the driving corridor markers being calculated on the basis of coordinates of the nodes transmitted from the interface controller and being generated by connecting the nodes adjacent to each other with line segments.
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Abstract
A method and apparatus for driving corridor markers display are disclosed in the invention. The steering angle is obtained and the parameters of driving corridor image are selected correspondingly from the non-volatile memory. The parameters are used to calculate the locus of the nodes, using the equation of quadratic or cubic Bezier curves. The nodes are connected with the segments, thus forming the driving corridor image. The driving corridor image is superimposed on the image acquired from the sensor, and the resulting image is displayed.
31 Citations
18 Claims
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1. A camera unit with driving corridor display functionality for a vehicle, comprising:
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an image sensor configured to obtain an image outside the vehicle; an interface controller configured to generate a plurality of nodes of a driving corridor markers for a required steering angle, the plurality of nodes being calculated from a set of control points of Bezier curve for the required steering angle and the set of control points being stored in a non-volatile memory in a form of look-up table; and an image processing device configured to generate the driving corridor markers and to superimpose the driving corridor markers on the image transmitted from the image sensor, the driving corridor markers being calculated on the basis of coordinates of the nodes transmitted from the interface controller and being generated by connecting the nodes adjacent to each other with line segments. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for displaying anticipated trajectory of a vehicle, comprising the steps:
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detecting a variation of steering angle of a vehicle; loading or calculating a set of control points of Bezier curve being stored in a non-volatile memory in a form of look-up table according to the variation of steering angle, and calculating a plurality of nodes using Bezier curve equation, the plurality of nodes being used for generating a driving corridor markers on the basis of the loaded or calculated set of control points; calculating line segments and connecting the nodes adjacent to each other with the line segments; and superimposing an overlay with the line segments on an image obtained by an image sensor and displaying the superimposed image on an external display device. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A system for generating driving corridor markers which are displayed to be superimposed on an image of the vehicle'"'"'s periphery,
wherein the driving corridor markers are dynamically-changed and overlaid to the image obtained by an image sensor in a camera unit according to variation of steering angle and the dynamic change of the markers is generated from calculation of coordinates of a plurality of nodes according to one of the following quadratic and cubic Bezier curve equations and calculation of line segments connecting the plurality of nodes: -
X(t)=X0(1−
t)2+X12t(1−
t)+X2t2
or
Y(t)=Y0(1−
t)2+Y12t(1−
t)+Y2t2
X(t)=X0(1−
t)3+X13t(1−
t)2++X23t2(1−
t)+X3t3
Y(t)=Y0(1−
t)3+Y13t(1−
t)2++Y23t2(1−
t)+Y3t3where X0, Y0, X1, Y1, X2, Y2, X3, and Y3 are the coordinates of control points, and t is a parameter, changing in the range of [0, 1], and wherein the plurality of nodes is calculated from a set of control points of Bezier curve according to the variation of steering angle and the set of control points is stored in a non-volatile memory in a form of look-up table. - View Dependent Claims (16, 17, 18)
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Specification