Patent ID: 8299942

Claim:
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: an image processing unit, said image processing unit converts said images captured by said camera device into said bird's eye view images and integrates said bird's eye view images into said surrounding map; and a vehicle-positioning unit, said vehicle-positioning unit adjusts said coverage of said vision field of said surrounding map according to said relative position of said vehicle and said parking space to make said magnification of said surrounding map inverse proportional to said relative position, said vehicle-positioning unit uses at least one yaw rate sensor to obtain a yaw angle of said vehicle; a storage unit electrically connected to said processing unit and storing said bird's eye view images; and a display device electrically connected to said processing unit and presenting said surrounding map; wherein said vehicle-positioning unit calculates said yaw angle with equations: X ⁢ ⁢ 1 = ( L + R ) * θ X ⁢ ⁢ 2 = R * θ X ⁢ ⁢ 1 = L * θ + R * θ X ⁢ ⁢ 1 = L * θ + X ⁢ ⁢ 2 ( X ⁢ ⁢ 1 - X ⁢ ⁢ 2 ) / L = d ⁢ ⁢ θ ∫ ⅆ ( x ⁢ ⁢ 1 - x ⁢ ⁢ 2 ) · ⅆ t L ⁢ ∫ ⅆ θ · ⅆ t 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.