CN115489430A - 车行纪录路况情资反馈车行控制与示警系统及其方法 - Google Patents

车行纪录路况情资反馈车行控制与示警系统及其方法 Download PDF

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CN115489430A
CN115489430A CN202110607209.4A CN202110607209A CN115489430A CN 115489430 A CN115489430 A CN 115489430A CN 202110607209 A CN202110607209 A CN 202110607209A CN 115489430 A CN115489430 A CN 115489430A
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vehicle
warning
control signal
vehicle body
control host
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吴博祥
邱全成
钟俊魁
庄佑彰
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Inventec Pudong Technology Corp
Inventec Corp
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Inventec Pudong Technology Corp
Inventec Corp
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Priority to CN202110607209.4A priority Critical patent/CN115489430A/zh
Priority to US17/477,084 priority patent/US20220379909A1/en
Publication of CN115489430A publication Critical patent/CN115489430A/zh
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Abstract

本发明公开一种车行纪录路况情资反馈车行控制与示警系统及其方法，透过设置在车体后方的摄像元件进行拍摄以产生后视影像，并且将后视影像传送至车行控制主机，以便辨识出后视影像中存在的车辆物件，以及计算车辆物件与车体之间的间隔距离，同时将车辆物件输入基于人工智慧(Art ificia l I nte l l igence,AI)的类神经网路且已完成训练的大型车辆识别模型以识别是否为大型车辆，当车辆物件为大型车辆，同时间隔距离触及安全距离时，产生示警信号，用以达到提高大型车辆靠近的警示即时性的技术功效。

Description

车行纪录路况情资反馈车行控制与示警系统及其方法
技术领域
本发明涉及一种示警系统及其方法，特别是车行纪录路况情资反馈车行控制与示警系统及其方法。
背景技术
近年来，随着车辆工业的普及与蓬勃发展，导致自行车、机车及汽车犹如雨后春笋般涌现，但同时也带来许多问题，其中又以行车安全最为重要。
一般而言，传统自行车、机车或汽车的行车安全往往缺乏对周遭路况的警示与保护，进而导致行车的危险性居高不下，每年发生交通事故的数量更是节节上升。因此，视线死角常位列交通事故的主因。特别是对于驾驶大型车辆的驾驶者而言，因为大型车辆的视线死角相对较多，所以更容易因视线死角而发生事故，而对于自行车、机车或汽车的驾驶者而言，如何有效避免与大型车辆发生交通事故则是亟需解决且刻不容缓的问题。
有鉴于此，便有厂商提出将后照镜结合屏幕以提供死角显示辅助的技术手段，其透过提供屏幕显示死角范围，进而减少视线死角的存在，避免因为视线死角而发生交通事故。然而，此方式需要驾驶者以目视方式持续关注，当需要关注的死角越多，越容易导致驾驶者分心，反而容易造成交通事故。因此，对于自行车、机车或汽车的驾驶者而言，此方式还不如能够即时得知大型车辆靠近，进而提高注意力及警惕性来得有用。
综上所述，可知先前技术中长期以来一直存在无法即时得知大型车辆靠近的问题，因此实有必要提出改进的技术手段，来解决此一问题。
发明内容
本发明公开一种车行纪录路况情资反馈车行控制与示警系统及其方法。
首先，本发明公开一种车行纪录路况情资反馈车行控制与示警系统，此系统包含：摄像元件及车行控制主机。所述摄像元件设置在车体后方，当致能摄像元件时，所述摄像元件持续进行拍摄以产生后视影像并进行传送；所述车行控制主机用以通过网路与摄像元件相互连接以接收所述后视影像，此车行控制主机包含：储存模组、辨识模组及示警模组。其中，储存模组用以预先储存基于类神经网路且已完成训练的大型车辆识别模型；辨识模组用以对接收到的后视影像执行影像辨识以辨识出后视影像中存在的车辆物件，以及计算所述车辆物件与车体之间的间隔距离；以及示警模组连接辨识模组及储存模组，用以将车辆物件输入大型车辆识别模型，并且在大型车辆识别模型将车辆物件识别为大型车辆，同时所述间隔距离触及安全距离时，产生示警信号。
另外，本发明还公开一种车行纪录路况情资反馈车行控制与示警方法，其步骤包括：提供车行控制主机及设置在车体后方的摄像元件，所述摄像元件与车行控制主机通过网路相互连接，所述车行控制主机预先储存基于类神经网路且已完成训练的大型车辆识别模型；当致能摄像元件时，所述摄像元件持续拍摄车体的后方环境以产生后视影像，并且将产生的后视影像传送至车行控制主机；车行控制主机对接收到的后视影像执行影像辨识，用以辨识出后视影像中存在的车辆物件，以及计算车辆物件与车体之间的间隔距离；以及车行控制主机将车辆物件输入大型车辆识别模型，并且在大型车辆识别模型将车辆物件识别为大型车辆，同时所述间隔距离触及安全距离时，产生示警信号。
本发明所公开的系统与方法如上，与先前技术的差异在于本发明是透过设置在车体后方的摄像元件进行拍摄以产生后视影像，并且将后视影像传送至车行控制主机，以便辨识出后视影像中存在的车辆物件，以及计算车辆物件与车体之间的间隔距离，同时将车辆物件输入基于类神经网路且已完成训练的大型车辆识别模型以识别是否为大型车辆，当车辆物件为大型车辆，同时间隔距离触及安全距离时，产生示警信号。
透过上述的技术手段，本发明可以达成提高大型车辆靠近的警示即时性的技术功效。
附图说明
图1为本发明车行纪录路况情资反馈车行控制与示警系统的系统方块图。
图2A至图2C为本发明车行纪录路况情资反馈车行控制与示警方法的方法流程图。
图3为应用本发明拍摄后视影像以进行车行控制与示警之示意图。
图4为应用本发明将第一控制信号及第二控制信号传送至行动装置以进行示警之示意图。
符号说明：
110:摄像元件
120:车行控制主机
121:储存模组
122:辨识模组
123:示警模组
300:车体
310:摄像元件
400:行动装置
410:屏幕
411:示警信息
步骤210:提供一车行控制主机及设置在一车体后方的一摄像元件，所述摄像元件与所述车行控制主机通过网路相互连接，所述车行控制主机预先储存基于类神经网路且已完成训练的一大型车辆识别模型
步骤220:当致能所述摄像元件时，所述摄像元件持续拍摄所述车体的后方环境以产生一后视影像，并且将产生的所述后视影像传送至所述车行控制主机
步骤230:所述车行控制主机对接收到的所述后视影像执行影像辨识，用以辨识出所述后视影像中存在的至少一车辆物件，以及计算所述车辆物件与所述车体之间的一间隔距离
步骤240:所述车行控制主机将所述车辆物件输入所述大型车辆识别模型，并且在所述大型车辆识别模型将所述车辆物件识别为大型车辆，同时所述间隔距离触及一安全距离时，产生一示警信号
步骤250:所述车行控制主机将产生的所述第一控制信号及所述第二控制信号传送至一行动装置，使所述行动装置根据所述第一控制信号及所述第二控制信号以输出文字、振动及播放声音至少其中之一进行即时示警
步骤260:所述车行控制主机在所述第二控制信号产生且所述车辆物件非位于所述车体的后方区域时，驱动设置在所述车体的一剎车控制器，使所述车体即时降低车速
步骤261:所述车行控制主机在所述第二控制信号产生时，触发设置在所述车体上方的一辅助剎车灯，并且使所述辅助剎车灯恒亮直到所述间隔距离未触及所述安全距离为止
具体实施方式
以下将配合图式及实施例来详细说明本发明的实施方式，藉此对本发明如何应用技术手段来解决技术问题并达成技术功效的实现过程能充分理解并据以实施。
首先，在说明本发明所公开的车行纪录路况情资反馈车行控制与示警系统及其方法之前，先对本发明所应用的环境作说明，本发明是应用在车联网(Internet ofVehicles,IoV)的环境，通过无线网路技术使设置在车体后方的摄像元件能够通过网路传输资料(如：后视影像)，所述网路包含：区域网路及网际网路。
以下配合图式对本发明车行纪录路况情资反馈车行控制与示警系统及其方法做进一步说明，请先参阅图1，图1为本发明车行纪录路况情资反馈车行控制与示警系统的系统方块图，此系统包含：摄像元件110及车行控制主机120。其中，所述摄像元件110设置在车体后方，当致能摄像元件时，所述摄像元件持续进行拍摄以产生后视影像并进行传送。在实际实施上，所述摄像元件110可包含电荷耦合元件(Charge-coupled Device,CCD)及互补式金属氧化物半导体(Complementary Metal-Oxide-Semiconductor,CMOS)。另外，摄像元件110可透过有线或无线传输方式传送后视影像，以有线为例，其可通过铜导线、同轴电缆、双绞线等等；以无线为例，其可通过Wi-Fi、ZigBee、CoAP(Constrained ApplicationProtocol)、MQTT(Message Queuing Telemetry Transport)或其相似的无线传输技术。
接着，在车行控制主机120的部分，其通过网路与摄像元件110相互连接以接收后视影像，此车行控制主机120包含：储存模组121、辨识模组122及示警模组123。其中，储存模组121用以预先储存基于类神经网路且已完成训练的大型车辆识别模型。所述大型车辆识别模型是指已经完成训练(Training)的机器学习的模型，其可使用深度学习的深度神经网路(Deep Neural Network,DNN)、卷积神经网路(Convolutional Neural Network,CNN)、递回神经网路(Recurrent Neural Network,RNN)或是使用循序近似类神经网路等等方式来实现。
辨识模组122用以对接收到的后视影像执行影像辨识以辨识出后视影像中存在的车辆物件，以及计算所述车辆物件与车体之间的间隔距离。在实际实施上，计算车辆物件与车体之间的间隔距离可以根据车辆物件在影像中的矩形大小进行换算，例如：矩形面积大代表间隔距离近；矩形面积小代表间隔距离远。
示警模组123连接辨识模组122及储存模组121，用以将车辆物件输入大型车辆识别模型，并且在大型车辆识别模型将车辆物件识别为大型车辆且间隔距离大于安全距离时，产生第一控制信号以触发扬声装置播放告警声音，以及在间隔距离触及安全距离时，产生示警信号。在实际实施上，当示警信号产生时，可输出示警信息，同时计算间隔距离与安全距离的差异值，当差异值触及第一门槛值时，产生第一控制信号以触发扬声装置播放告警声音，以及当差异值触及第二门槛值时，产生第二控制信号以触发设置在车体的喇叭装置发声。所述车行控制主机120可将产生的第一控制信号及第二控制信号传送至行动装置，使行动装置根据第一控制信号及第二控制信号以输出文字、振动及播放声音至少其中之一进行即时示警。另外，车行控制主机120还可在第二控制信号产生且车辆物件非位于车体的后方区域时，驱动设置在车体的剎车控制器，使车体即时降低车速，甚至更进一步在第二控制信号产生时，触发设置在车体上方的辅助剎车灯，并且使辅助剎车灯恒亮直到间隔距离未触及安全距离为止。实际上，车行控制主机120可为智慧型手机、平板电脑、桌上型电脑、笔记型电脑、行车电脑、伺服器或其相似物，并且通过应用程序界面(ApplicationProgramming Interface,API)触发扬声装置及喇叭装置。
特别要说明的是，在实际实施上，本发明所述的模组皆可利用各种方式来实现，包含软体、硬体或其任意组合，例如，在某些实施方式中，各模组可利用软体及硬体或其中之一来实现，除此之外，本发明亦可部分地或完全地基于硬体来实现，例如，系统中的一个或多个模组可以透过积体电路晶片、系统单晶片(System on Chip,SoC)、复杂可程序逻辑装置(Complex Programmable Logic Device,CPLD)、现场可程序逻辑闸阵列(FieldProgrammable Gate Array,FPGA)等来实现。本发明可以是系统、方法及/或电脑程序。电脑程序可以包括电脑可读储存媒体，其上载有用于使处理器实现本发明的各个方面的电脑可读程序指令，电脑可读储存媒体可以是可以保持和储存由指令执行设备使用的指令的有形设备。电脑可读储存媒体可以是但不限于电储存设备、磁储存设备、光储存设备、电磁储存设备、半导体储存设备或上述的任意合适的组合。电脑可读储存媒体的更具体的例子(非穷举的列表)包括：硬盘、随机存取记忆体、唯读记忆体、快闪记忆体、光碟、软碟以及上述的任意合适的组合。此处所使用的电脑可读储存媒体不被解释为瞬时信号本身，诸如无线电波或者其它自由传播的电磁波、通过波导或其它传输媒介传播的电磁波(例如，通过光纤电缆的光信号)、或者通过电线传输的电信号。另外，此处所描述的电脑可读程序指令可以从电脑可读储存媒体下载到各个计算/处理设备，或者通过网路，例如：网际网路、区域网路、广域网路及/或无线网路下载到外部电脑设备或外部储存设备。网路可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换器、集线器及/或闸道器。每一个计算/处理设备中的网路卡或者网路介面从网路接收电脑可读程序指令，并转发此电脑可读程序指令，以供储存在各个计算/处理设备中的电脑可读储存媒体中。执行本发明操作的电脑程序指令可以是组合语言指令、指令集架构指令、机器指令、机器相关指令、微指令、韧体指令或者以一种或多种程序语言的任意组合编写的原始码或目的码(Object Code)，所述程序语言包括物件导向的程序语言，如：Common Lisp、Python、C++、Objective-C、Smalltalk、Delphi、Java、Swift、C#、Perl、Ruby与PHP等，以及常规的程序式(Procedural)程序语言，如：C语言或类似的程序语言。所述电脑程序指令可以完全地在电脑上执行、部分地在电脑上执行、作为一个独立的软体执行、部分在客户端电脑上部分在远端电脑上执行、或者完全在远端电脑或伺服器上执行。
请参阅图2A至图2C，图2A至图2C为本发明车行纪录路况情资反馈车行控制与示警方法的方法流程图，其步骤包括：提供车行控制主机120及设置在车体后方的摄像元件110，所述摄像元件110与车行控制主机120通过网路相互连接，车行控制主机120预先储存基于类神经网路且已完成训练的大型车辆识别模型(步骤210)；当致能摄像元件时，所述摄像元件110持续拍摄车体的后方环境以产生后视影像，并且将产生的后视影像传送至车行控制主机120(步骤220)；车行控制主机120对接收到的后视影像执行影像辨识，用以辨识出后视影像中存在的车辆物件，以及计算车辆物件与车体之间的间隔距离(步骤230)；车行控制主机120将车辆物件输入大型车辆识别模型，并且在大型车辆识别模型将车辆物件识别为大型车辆且间隔距离大于安全距离时，产生第一控制信号以触发扬声装置播放告警声音，以及在间隔距离触及安全距离时，产生示警信号(步骤240)。透过上述步骤，即可透过设置在车体后方的摄像元件110进行拍摄以产生后视影像，并且将后视影像传送至车行控制主机120，以便辨识出后视影像中存在的车辆物件，以及计算车辆物件与车体之间的间隔距离，同时将车辆物件输入基于类神经网路且已完成训练的大型车辆识别模型以识别是否为大型车辆，当车辆物件为大型车辆，同时间隔距离触及安全距离时，产生示警信号。
另外，在步骤240之后，可如图2B所示意，车行控制主机120将产生的第一控制信号及第二控制信号传送至行动装置，使行动装置根据第一控制信号及第二控制信号以输出文字、振动及播放声音至少其中之一进行即时示警(步骤250)。另外，亦可如图2C所示意，在第二控制信号产生且车辆物件非位于车体的后方区域时，驱动设置在车体的剎车控制器，使车体即时降低车速(步骤260)，甚至车行控制主机在第二控制信号产生时，触发设置在车体上方的辅助剎车灯，并且使辅助剎车灯恒亮直到间隔距离未触及安全距离为止(步骤261)。
以下配合图3及图4以实施例的方式进行如下说明，请先参阅图3，图3为应用本发明拍摄后视影像以进行车行控制与示警的示意图。在实际实施上，摄像元件310设置在车体300后方，当致能摄像元件310时，将持续进行拍摄以产生后视影像，并且将后视影像传送至车行控制主机120。此时，车行控制主机120通过网路自摄像元件310接收后视影像以进行影像辨识，用以根据车辆特征辨识出后视影像中存在的车辆物件，以及计算车辆物件与车体300之间的间隔距离。同时，车行控制主机120也会将车辆物件作为输入资料输入预先设置的大型车辆识别模型，用以通过类神经网路识别车辆物件是否为大型车辆，举例来说，当大型车辆识别模型输出布林值为1时，代表车辆物件为大型车辆；反则当输出的布林值为0时，代表车辆物件不是大型车辆。接着，在计算出间隔距离且已对车辆物件进行识别后，若间隔距离大于安全距离，而且车辆物件被识别为大型车辆时，车行控制主机120产生第一控制信号以触发扬声装置，如：智能手机的喇叭、无线耳机、车用音响等等，用以播放提示驾驶有大型车辆靠近的告警声音。另一方面，若间隔距离小于安全距离，而且车辆物件同样被识别为大型车辆时，车行控制主机120将产生第二控制信号以触发设置在车体300的喇叭装置发声，以便同时警示双方驾驶。特别要说明的是，车行控制主机120还可在第二控制信号产生且车辆物件非位于车体300的后方区域时，驱动设置在车体300的剎车控制器，使车体300即时降低车速，以便让大型车辆先行通过，甚至在驱动剎车控制器的同时，一并驱动设置在车体300的方向控制器，使车体300驶离车辆物件直到间隔距离大于安全距离为止。
如图4所示意，图4为应用本发明将第一控制信号及第二控制信号传送至行动装置以进行示警之示意图。在实际实施上，车行控制主机120产生第一控制信号及第二控制信号时，可同时将其传送至行动装置400，使行动装置400根据第一控制信号及所述第二控制信号以输出文字、振动及播放声音至少其中一种方式即时对驾驶示警。举例来说，行动装置400在接收到第一控制信号时，可以在屏幕410显示示警信息411，亦可同时使行动装置400震动，甚至是播放声音以进行示警。特别要说明的是，在播放声音时，其声音可以是预先储存在行动装置400的声音档案，或是使用文字转语音(Text to Speech,TTS)的技术，在显示示警信息411的同时将其转换成语音进行播放。
综上所述，可知本发明与先前技术之间的差异在于透过设置在车体后方的摄像元件进行拍摄以产生后视影像，并且将后视影像传送至车行控制主机，以便辨识出后视影像中存在的车辆物件，以及计算车辆物件与车体之间的间隔距离，同时将车辆物件输入基于类神经网路且已完成训练的大型车辆识别模型以识别是否为大型车辆，当车辆物件为大型车辆，同时间隔距离触及安全距离时，产生示警信号，藉由此一技术手段可以解决先前技术所存在的问题，进而达成提高大型车辆靠近的警示即时性的技术功效。
虽然本发明以前述的实施例揭露如上，然其并非用以限定本发明，任何熟习相像技艺者，在不脱离本发明的精神和范围内，当可作些许的更动与润饰，因此本发明的专利保护范围须视本说明书所附的权利要求书所界定的为准。

Claims (10)

1.一种车行纪录路况情资反馈车行控制与示警系统，其特征在于，所述系统包含：
一摄像元件，用以设置在一车体后方，当致能所述摄像元件时，所述摄像元件持续进行拍摄以产生一后视影像并进行传送；以及
一车行控制主机，用以通过网路与所述摄像元件相互连接以接收所述后视影像，所述车行控制主机包含：
一储存模组，用以预先储存基于类神经网路且已完成训练的一大型车辆识别模型；
一辨识模组，用以对接收到的所述后视影像执行影像辨识以辨识出所述后视影像中存在的至少一车辆物件，以及计算所述车辆物件与所述车体之间的一间隔距离；以及
一示警模组，连接所述辨识模组及所述储存模组，用以将所述车辆物件输入所述大型车辆识别模型，并且在所述大型车辆识别模型将所述车辆物件识别为大型车辆，同时所述间隔距离触及一安全距离时，产生一示警信号。
2.如权利要求1的车行纪录路况情资反馈车行控制与示警系统，其特征在于，其中所述示警信号产生时，输出一示警信息，同时计算所述间隔距离与所述安全距离的一差异值，当所述差异值触及一第一门槛值时，产生一第一控制信号以触发一扬声装置播放一告警声音，以及当所述差异值触及一第二门槛值时，产生一第二控制信号以触发设置在所述车体的一喇叭装置发声。
3.如权利要求2的车行纪录路况情资反馈车行控制与示警系统，其特征在于，其中所述车行控制主机将产生的所述第一控制信号及所述第二控制信号传送至一行动装置，使所述行动装置根据所述第一控制信号及所述第二控制信号以输出文字、振动及播放声音至少其中之一进行即时示警。
4.如权利要求2的车行纪录路况情资反馈车行控制与示警系统，其特征在于，其中所述车行控制主机在所述第二控制信号产生且所述车辆物件非位于所述车体的后方区域时，驱动设置在所述车体的一剎车控制器，使所述车体即时降低车速。
5.如权利要求2的车行纪录路况情资反馈车行控制与示警系统，其特征在于，其中所述第二控制信号产生时，触发设置在所述车体上方的一辅助剎车灯，并且使所述辅助剎车灯恒亮直到所述间隔距离未触及所述安全距离为止。
6.一种车行纪录路况情资反馈车行控制与示警方法，其特征在于，其步骤包括：
提供一车行控制主机及设置在一车体后方的一摄像元件，所述摄像元件与所述车行控制主机通过网路相互连接，所述车行控制主机预先储存基于类神经网路且已完成训练的一大型车辆识别模型；
当致能所述摄像元件时，所述摄像元件持续拍摄所述车体的后方环境以产生一后视影像，并且将产生的所述后视影像传送至所述车行控制主机；
所述车行控制主机对接收到的所述后视影像执行影像辨识，用以辨识出所述后视影像中存在的至少一车辆物件，以及计算所述车辆物件与所述车体之间的一间隔距离；以及
所述车行控制主机将所述车辆物件输入所述大型车辆识别模型，并且在所述大型车辆识别模型将所述车辆物件识别为大型车辆，同时所述间隔距离触及一安全距离时，产生一示警信号。
7.如权利要求6的车行纪录路况情资反馈车行控制与示警方法，其特征在于，其中所述方法更包含所述示警信号产生时，输出一示警信息，同时计算所述间隔距离与所述安全距离的一差异值，当所述差异值触及一第一门槛值时，产生一第一控制信号以触发一扬声装置播放一告警声音，以及当所述差异值触及一第二门槛值时，产生一第二控制信号以触发设置在所述车体的一喇叭装置发声。
8.如权利要求7的车行纪录路况情资反馈车行控制与示警方法，其特征在于，其中所述方法更包含所述车行控制主机将产生的所述第一控制信号及所述第二控制信号传送至一行动装置，使所述行动装置根据所述第一控制信号及所述第二控制信号以输出文字、振动及播放声音至少其中之一进行即时示警的步骤。
9.如权利要求7的车行纪录路况情资反馈车行控制与示警方法，其特征在于，其中所述方法更包含所述车行控制主机在所述第二控制信号产生且所述车辆物件非位于所述车体的后方区域时，驱动设置在所述车体的一剎车控制器，使所述车体即时降低车速的步骤。
10.如权利要求7的车行纪录路况情资反馈车行控制与示警方法，其特征在于，其中所述方法更包含所述车行控制主机在所述第二控制信号产生时，触发设置在所述车体上方的一辅助剎车灯，并且使所述辅助剎车灯恒亮直到所述间隔距离未触及所述安全距离为止的步骤。
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