CN101934771B - Vehicle collision warning system - Google Patents
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- CN101934771B CN101934771B CN200910142283A CN200910142283A CN101934771B CN 101934771 B CN101934771 B CN 101934771B CN 200910142283 A CN200910142283 A CN 200910142283A CN 200910142283 A CN200910142283 A CN 200910142283A CN 101934771 B CN101934771 B CN 101934771B
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Abstract
The invention discloses a vehicle collision warning system, which acquires an image of an indirect visual area in vehicle driving by at least one camera, continuously transmits the image of the indirect visual area into a processing unit and judges at least one barrier from the image, wherein the processing unit can calculate the travel speed and transverse movement of the barrier according to the change of the position of the barrier with time, presets at least one pre-warning area in the image, judges whether the barrier is to appear in the pre-warning area or not, and timely generates a pre-warning signal used for starting at least one warning indicator to produce sounds, light sources or the images to warn a driver to heighten vigilance. The vehicle collision warning system can be matched with a vehicle speed sensor, a brake system and a turn light system of a vehicle to perform leveled pre-warning according to danger levels to actively or passively inform the drivers of dangers, and has different information effects and responses.
Description
Technical field
The present invention is relevant with a kind of obstacle detection system, particularly about a kind of full size vehicle that is arranged on, in order to the obstacle in the non-direct vision of the monitoring driving person zone, and makes the vehicle collision alarming system that early warning is notified.
Background technology
Because the Oversize vehicle car body is high, vehicle body is long; Cause the direct visual range of steerman to be vulnerable to obstruction and to become narrow; Such as the place ahead of Oversize vehicle and about two sides all have many blind areas; And the main cause that said blind area often just causes the Oversize vehicle accident to keep pouring in is wherein maximum to pedestrian or injury that vehicle was caused with front bump especially, so Oversize vehicle the place ahead generally is provided with according to the ground mirror to avoid accidents.
Moreover, mention Oversize vehicle driver's non-direct vision position among the ECER46 of European Union, and the related specifications how forward and backward visor person that comes the driver assistance is set.But observation mirror belongs to a kind of curved reflector, its observe car body rear and about during the mobile object of two sides; When the distance of judging, guess car body and mobile object with rule-of-thumb of drivers, belong to the observational technique of passive and non-intuition, moreover; The setting of mirror body is layer by layer not only observed difficult, the visual zone that still exists easy carelessness to discover unavoidably, and back mirror belongs to passive alarm set; And can't reach the effect of initiatively reminding alarm, therefore, the non-direct vision district in Oversize vehicle car body the place ahead still must note just avoiding unexpected by steerman by every means and take place; Therefore, can't effectively the prevent an accident generation of accident.
In addition, in some prior arts also the someone be directed against the problems referred to above and propose terms of settlement.Similarly be the novel patent M303843 in Taiwan number, it mentions the blind area zone that utilizes the driving of wide-angle photography structure detection can't see, and is arranged on operator's compartment with a read out instrument again and detects content to show; But, exist though utilize image can eliminate blind area zone, the detection picture that continues becomes the burden of steerman also easily, steerman and can't observation picture all the time in content, if divert one's attention to observe, also might cause unexpected the generation on the contrary.Moreover the patent EP1988488 of European Union number blind spot region moving Object Detection system uses video camera equally and gathers car body periphery picture; Then will obtain picture segmentation again becomes several blocks, and mat is judged the movability of cutting apart block, whether has obstacle to detect the car body periphery; But should technology must be a plurality of blocks with picture segmentation, greatly then identification be poor when dividing block, is prone to cause erroneous judgement; Though can obtain higher identification and the zoning is little; But relative being prone to causes the sizable burden of treater, is prone to that over-burden that cause can't prompt alarm because of treater, the outer consequence that takes place of giving one's regards.
In view of this; The present invention proposes the high vehicle collision alarming system of a kind of image processing efficient then; Special to Oversize vehicle the place ahead and about the non-direct vision zone of two sides detect, and classification makes the early warning notice, can improve those disappearances that are present in the prior art in view of the above.
Summary of the invention
Main purpose of the present invention is providing a kind of vehicle collision alarming system; Actv. utilizes image processing technique that careful and careful detection is carried out in the non-direct vision zone of Oversize vehicle according to this; And when dangerous property exists, make the early warning notice, effectively reduce the generation of contingency.
Of the present invention time a purpose is providing a kind of vehicle collision alarming system; Obstacle hazard level according to the non-direct vision of Oversize vehicle driver district is carried out grade distinguishing; To select image, light source or sound as alarm signal, note initiatively to cause steerman according to each grade decision.
A purpose more of the present invention is providing a kind of vehicle collision alarming system, further with the existing of image complexity calculation mode disturbance in judgement thing, moving velocity and side travel amount, with erroneous judgement of reduction system or sensitive excessively probability.
Another purpose of the present invention sees through efficient image processing mode to judge the obstacle that whether has certain moving velocity of tool and tool side travel amount in the early warning district, the place ahead for a kind of vehicle collision alarming system is provided, and when obstacle exists, then proposes caution.
For achieving the above object; Vehicle collision alarming system of the present invention, device image harvester, processing unit and annunciator on Oversize vehicle utilize the non-direct vision zone of this Oversize vehicle of image collection device detection and obtain at least one non-direct vision district image; With processing unit non-direct vision district image is carried out image processing again; Tell the obstacle in the non-direct vision district image, and utilize obstacle position relative time variable quantity, estimate the moving velocity and the side travel amount of obstacle; Moreover; Processing unit is preset with an early warning district in the non-direct vision zone position of Oversize vehicle, supposes that obstacle gets in the early warning district and warp judges to have the side travel amount, and processing unit will send an alarm signal; Annunciator electrically connects processing unit, and sends light source, image or sound prompting steerman behind the reception alarm signal and note contingent danger.
On the other hand, processing unit can also be done the original speed of a motor vehicle perceptron of obstacle of obtaining and Oversize vehicle, brake system, turn signal system further to control to combine, and sends different hazard level alarm signals according to the level difference.
Beneficial effect of the present invention is, under complementing each other through image detection and image processing technique, as long as have mobile object in the non-direct vision district image; All can not confirm to make and will it be set at the obstacle that must follow the trail of, moreover the present invention more combines the speed sensor of Oversize vehicle via data processing technique; System is in the factor of considering that the Oversize vehicle quality is heavy, braking distance is long; When carrying out the subregion sensing according to speed signal, in addition, the present invention combines the brake system and the turn signal system of Oversize vehicle again; For doing the hazard level classification in the position of obstacle; Initiatively under critical situation, utilize sound and light program to cause that synchronously steerman notes, and under general situation, take care in the zone of then reminding steerman to be careful with picture or light source.
Beneath through the appended graphic explanation in detail of specific embodiment cooperation, when the effect that is easier to understand the object of the invention, technology contents, characteristics and is reached.
Description of drawings
Fig. 1 is the schematic top plan view of one embodiment of the invention;
Fig. 2 is the front elevational schematic of Fig. 1;
Fig. 3 is a structural representation of the present invention;
Fig. 4 is the present invention's first annunciator and the second annunciator scheme drawing;
Fig. 5 supposes the scheme drawing of an obstacle through the first non-direct vision district image for the present invention;
Fig. 6 is the place ahead of the present invention barrier judgment diagram of circuit;
Fig. 7 is the linear figure scheme drawing of track of the present invention image amount of information;
Fig. 8 is an obstacle grading forewarning system diagram of circuit of the present invention;
Fig. 9 shows the scheme drawing that the car body left side has obstacle to pass through for the present invention.
Description of reference numerals:
The 10-first image collection device; The 20-second image collection device; 30-the 3rd image collection device; The 40-processing unit; The 41-microprocessor; The 42-signal processor; 50-first annunciator; 60-second annunciator; The 100-Oversize vehicle; 110-speed of a motor vehicle sensor; The 120-brake system; The 130-turn signal system.
The specific embodiment
The present invention judges through the technology of image processing whether large-scale Chefei's direct vision district has hiding dangerous the existence, and sends the startup that different alarm signals are controlled image or light source or sound annunciator according to dangerous level.Therefore, before the explanation embodiment of the invention, earlier to being equipped with Oversize vehicle of the present invention to define its non-direct vision district scope.
In force, (Economic Commission for Europe ECE) stipulates N in rules the 46th clause with Economic Commission of Europe
3The Oversize vehicle of classification is an example.Its decree is pointed out, N
3The non-direct vision district in Oversize vehicle the place ahead of type is preceding 2 meters an of car; Promptly belong to directly observation scope of steerman beyond 2 meters; Again; In the non-direct vision zone of its car side also is 2 meters of car sides, and rises along the steerman position and to calculate 1 meter forward and the distance of calculating 1.75 meters backward, but promptly belongs to steerman direct viewing zone beyond this scope if exceed.After learning large-scale Chefei's direct vision zone, beneath structure of the present invention and the work flow of promptly being directed against made further details.
At first consult Fig. 1 and Fig. 2; It is one embodiment of the invention scheme drawing; Be equipped with Oversize vehicle 100 states of the present invention in order to expression; Show with this implementation system Organization Chart of Fig. 3 that and for example native system includes one first image collection device 10, one second image collection device 20, one the 3rd image collection device 30, a processing unit 40, one first annunciator 50 and one second annunciator 60; And except said elements, present embodiment comprises a speed of a motor vehicle sensor 110, a brake system 120 and a turn signal system 130 that electrically connects Oversize vehicle 100.
Said image collection device 10,20,30 is generally charge coupled cell (CCD) or complementary metal oxide quartz conductor photographic goods such as (CMOS); It electrically connects processing unit 40; And the position that cooperates aforementioned Oversize vehicle 100 non-direct vision districts; The first image collection device 10 is erected at Oversize vehicle 100 headstock the place aheads, and in order to produce one first non-direct vision district image, the second and the 3rd image collection device 20,30 then is erected at two sides about headstock respectively; In order to producing one second non-direct vision district image, and one the 3rd non-direct vision district image.Yet,, be not for definitely, when answering actual demand to do the appropriateness adjustment about image collection Device Testing scope and quantity.
40 of processing units include a microprocessor 41 and a signal processor 42.Wherein, microprocessor 41 electrically connects speed of a motor vehicle perceptron 110, brake system 120 and turn signal system 130, and after microprocessor 41 obtains the speed information that speed of a motor vehicle perceptron 110 transmits, produces a speed signal; Moreover microprocessor 41 also produces a brake signal when the brake system 120 of Oversize vehicle 100 starts, and when turn signal system 130 starts, produces a turn sign.Signal processor 42 in the present embodiment; Be multichannel digital signal treater (multi-channel DSP) that it can parallel processing multiple tracks signal source, set up exploitation simulation environment, logic analysis, and the function of digital figure output; Again; Signal processor 42 electrically connects first, second, third image collection device 10,20,30 and microprocessor 41, and it is at the preset one first early warning district A of the image detection position in corresponding first non-direct vision district simulation, and this first early warning district A length and width are set at preceding 3 meters of car; And exceed vehicle body wide about each scope of 1 meter; In side region image detection position, corresponding left and right sides simulation one second and one the 3rd early warning district B, C are set in addition, this second and the 3rd early warning district B, C length and width distinctly exceed 3 meters of car sides, and contain by pushing away 1 meter scope with 5 meters of pushers before the steerman position; Use the aforementioned decree standard range of serious offense, form the effectiveness of caution in advance; Certainly the design of all data should be revised according to the difference of image collection Device Testing ability and car type, just can correspond to actual needs.
Moreover; After signal processor 42 receives all non-direct vision district images; With judging earlier that the obstacle whether the side travel amount is arranged in the first early warning district, the place ahead occurs, whether there is the obstacle of the amount of vertically moving to occur in left and right sides second and the 3rd early warning district, and confirming whether receive brake signal or turn sign after obstacle occurs; According to level hazard level weight, send one first alarm signal in regular turn or send one second alarm signal.And microprocessor 41 is the two-way communication platform with signal processor 42, the alarm signal that the GES that microprocessor 41 is received, brake signal, turn sign and signal processor 42 the are sent transmission of can between two platforms, communicating with each other.
Mandatory declaration be; As shown in Figure 4; It also divides first annunciator 50 and makes first, second and third caution district a, b, c and do pairing one to one with first, second and third early warning district A, B, C, uses that near operator's saddle, to utilize image to show that obstacle occurs regional, and when first annunciator 50 is the LCD display screen; Directly be wired to signal processor 42; Be able to direct modeling caution district a, b, c situation output digitized video, if when it is luminous element such as LED lamp, then can electrically connect microprocessor 41; Again, second annunciator 60 is the element that buzzer phone or loudspeaker etc. have sound effect, and it electrically connects microprocessor 41.When first alarm signal starts; First annunciator 50 attracts the steerman warning with image or light source, when second alarm signal starts when with its startup; First annunciator 50 and second annunciator 60 will start simultaneously, and expression further forces steerman to note with sound.
After element of the present invention and element relation are being described, the particularly important is, how the present invention tells the obstacle that needs in non-direct vision district image, and the N/R background.The side after confirming obstacle, just can be the more further mode of clear interpretation this case flow process control.
Consult Fig. 5, suppose in an obstacle gets into the first non-direct vision zone, and move to the G point by the F point; Please cooperate with reference to shown in the barrier judgment diagram of circuit of figure 6, as shown in the figure, get into step S100 and start the collision caution system; Also represent the startup of image collection device 10; In step S110, will import non-direct vision district image, then step S120 begins the image detection of non-direct vision district, and image is in input this moment; And estimate the area image entropy (entropy) of the first non-direct vision district image by signal processor 42 at step S130; Calculating image amount of information, and store its result in the track of its each time picture, the computing formula (1) of relevant track image amount of information as follows:
Wherein, the track image amount of information of the non-for this reason direct vision of I district image; G
iFor gray value i number occurs in this non-direct vision district image; p
iFor gray value i probability occurs in this non-direct vision district image; T
PixelsValid pixel sum total in the non-for this reason direct vision district image; Find through experiment, when only having grey road surface and white lane mark to exist again; The track image amount of information of this picture is on the low side, otherwise, in the picture that has pedestrian, bicycle or self-propelled vehicle; And will obvious crest in image, occur during the object side travel, and have higher image amount of information and occur, therefore; Whether the linear figure of track image amount of information distributes as shown in Figure 7, behind the end step S130, can confirm to have obstacle to exist.So; Input one predetermined threshold value Ts in signal processor 42 in advance, its effect is how alert signal treater 42 differentiates different between obstacle and the background, therefore after getting into step S140; At first calculate the difference of the quantity of information of adjacent two pictures, compare with predetermined threshold value Ts again.Computing formula (3) about predetermined threshold value Ts is as follows:
Wherein, Ts is a predetermined threshold value, I
MaxMaximum fault information when existing for obstacle is with I
MinFor simple road image quantity of information, through this, if the quantity of information difference then is judged to be obstacle greater than threshold value Ts; After confirming through the obstacle of step S140, if the result is for being that expression promptly gets into step S150 and notes down the obstacle position through confirming as obstacle; Otherwise, in step S140, obtain negative decision, promptly get back to step S110 and re-enter non-direct vision district, all the place aheads image.Moreover the step S140 also track image amount of information of two pictures before and after analysis time changes, also promptly, obtain present time t and two pictures of preceding time t-1, and with this two pictures track image amount of information I
tWith I
T-1Subtract each other, can obtain the track image amount of information difference of adjacent two pictures through following formula (4);
ΔI
t(x)＝I
t(x)-I
t-1(x) (4)；
Wherein, Δ I
t(x) be track image amount of information difference; I
t(x) with I
T-1(x) then respectively be the track image amount of information of t time and t-1 time.
Again; When step S150, the obstacle position that signal processor 42 meetings were noted down according to each time, and according to behind the obstacle position reckoning motion track; The side travel amount of step S160 disturbance of analysis thing with and moving velocity, the formula of use (5) is just as following:
Behind end step S150, expression can estimate obstacle side travel amount and moving velocity; In addition, whether above stated specification has mobile object to occur in confirming picture, and this mobile object does not have and possibly be the judgement of obstacle; But image detects and often receives ambient environment factor affecting judged result, and is even more serious at open space; So have the problem generation that too sensitive sensing result is grown the steerman puzzlement on the contrary unavoidably, therefore, the side travel speed in the obstacle short time such as this example assumes automobile, locomotive, bicycle or pedestrian all should be in 22.5km/h; Therefore to decide 22.5km/h be the obstacle one moving velocity upper limit in the present invention; Establish a predetermined speed in also promptly in processing unit, this predetermined speed is 22.5km/h, if after the calculating of formula (5); The side travel speed of obstacle exceeds this standard; Among the step S160, will judge that this mobile object is not to be real obstacle, just get into step S180 and do not do any follow-up caution action; Otherwise, if step S160 confirms that the side travel speed of obstacle is lower than this and moves the upper limit again, just in 0～22.5km/h, represent that it should be the obstacle that desire is followed the trail of, then getting among the step S170 for this reason, obstacle carries out the early warning operation.In addition, no matter be step S170 or step S180, after it finishes, all should get back to step S110 repetition institute and carry out in steps.
Through step S100 to the analysis of step S180, method that should cheer and bright barrier judgment of the present invention; Again; The state of harm the most often takes place in general Oversize vehicle 100, be also do not discover headstock the place ahead through object when just belonging to the low speed starting, and about vehicle body during commentaries on classics limited car body hovel influence; Do not discover two kinds of car body left and right sides mobile objects yet; Therefore the present invention is directed to this two reason, the method for inspection of signal processor 42 is divided into the condition that non-direct vision district, the place ahead is detected, and the condition that the non-direct vision of left and right sides district is detected is explained one by one.
Consult Fig. 8, be obstacle grading forewarning system diagram of circuit of the present invention.At first, shown in step S200, after the collision caution system starts, image collection device 10,20,30 will be opened; When step S210, signal processor 42 receives the place ahead and the left and right non-direct vision district image of this three image collections device 10,20,30 simultaneously; Then, get into step S220, have the road speed restriction of Oversize vehicle 100 in the signal processor 42; In originally being embodied as 20km/h; Differentiate Oversize vehicle 100 present driving states by this, and when road speed is lower than 20km/h, select to get into step S230; And when road speed is higher than 20km/h, select to get into step S240; Suppose that step S220 judges that the road speed of Oversize vehicle 100 is lower than 20km/h, when step S230, import aforesaid detection of obstacles flow process (S100-S180), use and confirm whether to have among early warning district, the place ahead A obstacle to exist; When the place ahead that is judged as of step S230 has under the situation of obstacle; Confirm whether to have the brake signal of receiving that microprocessor 41 is sent here, when the result also is " being ", select step S231; Represent the place ahead to have object to pass through; But this Oversize vehicle 100 is braking, and the speed of a motor vehicle is lower than 20km/h, therefore as long as send first alarm signal at step S231; Just utilize the first early warning district a of display screen 50 to send light source, inform that the steerman obstacle still must add to note the place ahead situation just forwardly; Otherwise, when the place ahead that is judged as of step S230 has under the situation of obstacle, but do not have brake signal from microprocessor 41; Select to get into step S231, expression the place ahead has object to pass through, though this car speed of a motor vehicle is lower than 20km/h; But owing to the driver does not touch on the brake, thus the danger that bumps easily, so send second alarm signal at step S234; Just except the first early warning district a display light source of display screen 50; More utilize second annunciator 60 to sound and attract steerman to note, remind steerman to dodge or to touch on the brake, avoid dangerous and take place.Again, step S232 and step S234 finish among the same entering in the back step S240.
Step S230～S234 has explained the collision avoidance system flow process in headstock the place ahead, is noted that, based on Oversize vehicle 100 car weights and vehicle commander's reason; And the place ahead of the present invention early warning district A scope only reaches and exceeds the preceding 3 meters distance of car, in other words, and when speed is higher than 20km/h; If really detecting obstacle appears in early warning district, the place ahead A; Also have little time brake, if brake reluctantly is afraid of to take place more serious accident again.Come, the present invention carries out the flow process that the early warning of the car body left and right sides detects when explanation again.Get back to the step S220 of Fig. 8, when judging that at step S220 road speed surpasses 20km/h, the detection of obstacles of two sides about the beginning car body; At first, whether left side second early warning district B in have the obstacle of vertically move amount occur, if as as shown in Figure 9 if when step S240, judging earlier; There is vehicle to appear among the left side early warning district B, at this moment, confirms to have or not at present to receive turn sign when getting into step S241 again; Suppose to receive turn sign,, that is to say when judging whether wherein to carry left-hand rotation information secretly; If steerman does not plan to turn to, then as long as send left side first alarm signal at step S242,50 second caution district b send color light source at display screen; The notice steerman notes, otherwise, when confirm at step S241 steerman will left-handed turning to the time; Because the side swipe chance significantly increases, therefore should send left side second alarm signal, with aforementioned all identical at step S243; Promptly be to send color light source, also send the sound simultaneously and remind steerman to note by second annunciator 60 at the display screen second caution district b.Occur in step S240 hypothesis and clear, in getting into step S250 again; The detection of obstacles of beginning right side the 3rd early warning district C; Then confirm whether to receive turn sign,, then send a right side first alarm signal at step S252 if do not have at step S251; If have, when send right side second alarm signal at step S253; Because step S250-S253 is identical with determination methods and the principle of step S240～S243, so do not giving unnecessary details.
Through aforesaid vehicle collision alarming system, can initiatively remind the driver, crash-avoidance is unexpected to be taken place.Detect and under image processing technique complements each other,, all can confirm make and will it be set at the obstacle that must follow the trail of through image via data processing technique as long as have mobile object in the non-direct vision district image; Moreover; The present invention more combines the speed sensor of Oversize vehicle, and system is in the factor of considering that the Oversize vehicle quality is heavy, braking distance is long, when carrying out the subregion sensing according to speed signal; In addition; The present invention combines the brake system and the turn signal system of Oversize vehicle again, for doing the hazard level classification in the position of obstacle, initiatively under critical situation, utilizes sound and light program to cause that synchronously steerman notes; And under general situation, take care in the zone of then reminding steerman to be careful with picture or light source.
The above description of this invention is illustrative, and nonrestrictive, and those skilled in the art is understood, and within spirit that claim limits and scope, can carry out many modifications, variation or equivalence to it, but they will fall in protection scope of the present invention all.
Claims (5)
1. vehicle collision alarming system at least one non-direct vision district of an Oversize vehicle carrying out detection of obstacles, is characterized in that this vehicle collision alarming system comprises:
At least one image collection device, it installs on this Oversize vehicle, and this image collection device is gathered at least one this non-direct vision district image,
One processing unit; It electrically connects this image collection device to differentiate at least one obstacle, has a predetermined speed in this processing unit, changes relatively according to this obstacle position and time; Calculate the moving velocity and the amount of movement of this obstacle; This processing unit is preset with at least one early warning district that is arranged in this non-direct vision district image, when this obstacle of assessment has amount of movement and this moving velocity when being lower than this predetermined speed in this early warning district, sends at least one early warning signal; And
At least one annunciator, it electrically connects this processing unit, and this annunciator receives this early warning signal and produces caution sound or light source or image.
2. vehicle collision alarming system as claimed in claim 1 is characterized in that, this Oversize vehicle the place ahead and left and right sides respectively have at least one this non-direct vision district; This at least one image collection device includes one first image collection device, and it is installed on this Oversize vehicle the place ahead, obtains one first non-direct vision district image in order to this non-direct vision district to the place ahead; One second image collection device, it is installed on this Oversize vehicle left side, obtains one second non-direct vision district image in order to this non-direct vision district to the left side; And one the 3rd image collection device, it is installed on the right side of this Oversize vehicle, obtains one the 3rd non-direct vision district image in order to this non-direct vision district to the right side; And when this non-direct vision district was positioned at this Oversize vehicle the place ahead, this amount of movement was a side travel amount; When this non-direct vision district was positioned at this full size vehicle left side or right side, this amount of movement was the amount of vertically moving.
3. vehicle collision alarming system as claimed in claim 2 is characterized in that, at least one early warning of this of this processing unit district comprises one first early warning district, and it is positioned at this first non-direct vision district image; One second early warning district, it is positioned at this second non-direct vision district image; And one the 3rd early warning district, it is in the 3rd non-direct vision district image; This annunciator has one first caution district to should the first early warning district, and one second caution district is to should the second early warning district, and one the 3rd caution district shows this barrier region to should the 3rd early warning district in order to light source or image.
4. vehicle collision alarming system as claimed in claim 3 is characterized in that, this Oversize vehicle has a speed of a motor vehicle perceptron, a brake system and a turn signal system; And this processing unit comprises that also a microprocessor electrically connects this speed of a motor vehicle perceptron, this brake system and this turn signal system; This microprocessor is obtained a speed signal through this speed of a motor vehicle perceptron; Obtain a brake signal through this brake system, and obtain a turn sign through this turn signal system; Be provided with road speed restriction in this microprocessor; This road speed be restricted to 20 kilometers/time; When this speed signal limits greater than this road speed; This microprocessor is abandoned this first early warning district and is detected, and only detects this second early warning district and the 3rd early warning district, and cooperates this turn sign to make the grading forewarning system notice to this second early warning district or the 3rd early warning district; When this speed signal limits less than this road speed, carry out detection of obstacles to this first early warning district earlier, and cooperate this brake signal to make the grading forewarning system notice, follow-up this second early warning district and the 3rd early warning district of being directed against again detected.
5. like the said vehicle collision alarming system of claim 4, it is characterized in that this at least one annunciator comprises one first annunciator and one second annunciator; This microprocessor can send one first early warning signal and start this first annunciator effect, and sends one second early warning signal this first annunciator of startup and the second annunciator effect; And this image collection device is charge coupled cell or complementary metal oxide quartz conductor video camera, and this annunciator is buzzer phone or LED lamp or LCD screen and voice system.
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