Patent ID: 8299942
Filing Date: 2012-10-30
Classification: G06T,G08G

Abstract:
1. A composite-image parking-assistant system installed in a vehicle, comprising: at least one camera device capturing a plurality of images involving at least one parking space; a processing unit electrically connected to said camera device, converting said images into a plurality of bird's eye view images, integrating said bird's eye view images into at least one surrounding map, adjusting a coverage of a vision field of said surrounding map according to a relative position of said vehicle and said parking space to make a magnification of said surrounding map inverse proportional to said relative position, said processing unit, comprising: wherein said vehicle-positioning unit calculates said yaw angle with equations: wherein X1 is a travel distance of a left rear wheel of said vehicle, X2 a travel distance of a right rear wheel, R a turning radius of said vehicle, θ a turning angle of front wheels of said vehicle, and L a width of said vehicle; wherein said turning angle of said front wheels is calculated with said travel distance of said left rear wheel and said travel distance of said right rear wheel; and wherein a track of said vehicle is calculated via integrating said turning angle of said front wheels with respect to time, and a travel distance of said vehicle is calculated from said track of said vehicle.