200843983 九、發明說明： 【發明所屬之技術領域】 尤指一種可 本發明係關於一種車用障礙物檢測裝置 示意障礙物距離的車用障礙物檢測袭置。 【先前技術】 在科技越來越發達的今天，倒車雷達幾已成為汽車之 基本配備，-般倒車雷達係於車尾處裝設超音波感測器， 於排入倒退播時即啟動超音波感測器發射超音波信號，當 超音波信號遇到障礙物時，係折返而由該超音波感測器接 收’再利用一設於車内之磬音巡—口口 — 耳曰$不為提示傳達障礙物訊息 予駕跛人，藉此辅助駕駛人可順利完成停車之過程。 目前市面上有-種較佳的倒車雷達裝置，係更進一步 二用-攝影機拍攝後方影像’再由一顯示器呈現後方影像 馬驶人硯看’令駕驶人除可聽到聲音提示瞭解車後障礙 物訊息，更可藉由觀看顯示器所呈現 後之障礙物位置；甚至有業者更力緊解車 ^ 尺扪用计异超音波折返之時 間，求付㈣物與車尾之距離，並於顯示器上以 該距離，希望可提供駕駛人最完備之資訊。 惟使用上述倒車雷達裝置時，仍無法具 障礙物之相對關係，雖然顯示器上係已呈現# “ 字資訊’但對駕駛人而言這僅是_數字、不距離的數 字概念再次轉換為實際的距 二須要將數 獲得代表與障礙物距離的圖像式概令。因:由晝面上直接 心因此，若要提供駕 4 200843983 駛人更多更完善之倒車資訊 撞之摟合，^ 士 成乂馬駛人倒車時發生碰 ^仍有待謀求一較佳之方案。 【發明内容】 為提供駕駛人更明確之倒車 本發明之主要目的 種可示意障礙物距離的車用障礙物檢測裝置，其 可壬現超音波信號之傳輸路徑，彳# A ^ $ 八 ^ ^ ^仏馬駛人輕易瞭解車尾盥 p早μ物之距離與相對位置。 〃 為達成前述目的所採取之主要技術手段係令前 思障礙物距離的車用障礙物檢測裝置係包括： 八 複數個超音波感測器，係發射與接收超音波信號； …二央處理器’係連接且控制前述複數個超音波感測 :猎由汁异超音波感測器發出與接收超音波信號之時間 以求出I：早礙物之位置座標資料； 孫八Γ己憶體，係劃分有複數儲存搁位，該複數儲存攔位 “別對應超音波信號可傳達之不同區域的座標，且所述 =體係連接前述中央處理器，以依據該中央處理器所計 异，之障礙物位置座標資料’於各儲存攔位中填入對應代 表疋否有障礙物之狀態資料； 一視訊擷取器，係擷取車後方之影像視訊； 抑―視頻疊加模組’係連接前述中央處理器以及視訊擷 取為，以依據記憶體内各儲存攔位所代表之座標，於視訊 擷取器所操取之影像視訊晝面中劃分出複數個對應的座標 £域，再配合超音波感測器之位置和儲存欄位内存之狀態 200843983 資料，而在該影像視訊中疊加一超音波傳輪路徑影像；以 以顯示經視訊 一顯示器，係連接前述視訊疊加模組 疊加模組處理之影像視訊。 、一利用上述技術手段，本發明藉由將超音波感測器的感 測範圍劃分為數個微小感測區，並於記憶體内相應的儲存 攔位處記錄有無障礙物之狀態資料，再由視頻疊加模組Z 視訊擷取器所擷取之影像視訊與該狀態資料結合，以於顯 示器上呈現對應無障礙物區域座標之超音波傳輸路徑與視 訊擷取器所擷取之影像視訊兩者疊加的影像，該超音波傳 輸路徑可提供駕駛人更直覺地判斷車尾與障礙物之間距 離，進而減少倒車時碰撞之機會。 【實施方式】 關於本發明之一較佳實施例，請參閱第一圖所示，係 包括複數個超音波感測器（丄〇 )、一中央處理器（2 〇 )、 複數個感測器驅動電路（丄〇丄）、一多工器（丄〇 2 )、 一放大電路（i 〇 3 )、一記憶體（3 〇 )、一視訊擷取 器（4 0 )、一視頻疊加模組（5 〇 )、一顯示器（6 〇 ) 以及一聲音警示模組（7 0 )。 請參閱第二圖所示，各超音波感測器（1 〇 )係設於 車尾處以發射超音波信號，當超音波信號之傳遞路線上有 障礙物時，該超音波信號將被障礙物反射，而由超音波感 測為（1 0 )接收，並依據反射之超音波信號輸出一座標 200843983 計算訊號。 名中央處理益（2 〇)係連接且控制前述複數個超音 波感測器（1 〇 )，藉由計算超音波感測器（丄〇 )發出 與接收超音波信號之時間間隔，以求出障礙物之位置座標 貧料，如第三圖所示，於本實施例中所述中央處理器（2 0 )係使用ATMEL公司的ATMega8處理器，該ATMega8 處理器並内含有一容量為lkb(kil〇_bytes)的隨機存取記 十思（Random-Access Memory，RAM ) 〇 該複數個感測器驅動電路（i 0 i)係分別對應連接 於前述超音波感測器（i 〇 )與該中央處理器（2 〇 )， 請參閱第三圖所示，該複數個感測器驅動電路（i 0工） 係分別包括—電晶體（Q1) (Q2) (Q3) (Q4)以及一 變壓器（TU (T2) (T3) (T4)，其中該電晶體（Q1) (Q2 ) ( Q3 ) ( Q4 )之基極係連接該中央處理器（2 ο )， 而集極則連接變壓器（Τ1) (Τ2) (Τ3) (τ4)以及超音 波感測器（1 〇 )，當中央處理單元（工〇 )發出—脈波 =號’經該電晶體（Q1) (Q2) (Q3) (Q4)以及變壓 :、（T1) (T2) (T3) (T4)將脈波訊號放大後送予該超 曰波感測益（1 0)，即可發出超音波信號。 、—又如第三圖所示，該多工器（i 0 2)係連接於前述 =個超音波感測器（1Q)，以分時送出自各超音波感 ’、J杰（1 〇 )輸出的座標計算訊號。 該放大電路（i 〇 3 )係連接於前述中央處理哭（2 0 )與該多卫器（i 〇 2 )之間，放大自多工器（3 2 ) 7 200843983 接收之座標計算訊號後，再輸出至該中央處理器（2 ) 中’請配合參閱第三圖所示，於本實施例中所述放大電路 (1 0 3 )主要係由一第一、第二與第三運算放大器（uic) (U1D) (U1A)、一電阻（R5)以及一電容（C8)構成， 其中： ’ 該第-運算放大器（me)之反相輸入端係連接該多 工器（1 0 2 )，以接收並放大該多工器（i 〇 2 )所輸 出的座標計算訊號； 刖 該第二運算放大器（U1D)之反相輸入端係連接該第 -放大器（U1C)之輸出端，且該電阻（R5)和電容（以） 係跨接於第二放大器（U1D)之反相輸人端與輸出m 而組成一帶通濾波器以濾除座標計算訊號内之雜訊； 該第三運算放大器（U1A)之反相輸入端係連接該第 :放大器（U1D)之輸出端，而輸出端則連接該中央處理 (2 ◦)’再_人放大據除雜訊後的座標計算訊號後送入 中央處理單元（2〇)，該中參声裡-- Θ甲央處理早70 ( 2 〇 )即可藉 此勿析計算出以車尾作為 ^ 馬基旱日守，该障礙物之位置座標。 ^己憶體（3 〇 )係連接前述中央處理器（2 〇 )， 於本實施例中，所述記怜俨f 哭如# u體（3 0 )即是該ATMegaS處理 口口内建的RAM，且該記憶體Γ 心體（3 〇 )内規劃有複數個對應 在捫你+ 士 中央處理器（2 0)於各儲 存攔位中填入對應代表是 , 古有卩早礙物之狀態資料，於本實 知例t ’對應有障礙物處 h 無障礙D ^ 处《儲存攔位内係填入1，而對應 勿處之儲存攔位内則填入〇。 8 200843983 該視訊擷取器（4 0 )係擷取車後方之影像而送出一 影像視訊訊號，而該視頻疊加模組（5 〇 )係連接前述中 央處理器以及視訊擷取器，以依據記憶體内各儲存攔位所 代表之座標，於視訊擷取器所擷取之影像視訊畫面中設定 出對應的座標區域，再配合超音波感測器之位置和儲存欄 位内存之狀態資料，而在該影像視訊中疊加複數個超音波 傳輸路徑影像 請進一步參閱第四圖所示，於本實施例中，該視頻疊 加模組（5 0 )係包括： 私流提升單元（5 1 )，係連接前述視訊擷取器（4 〇)，將視訊擷取器（40)所送出之影像視訊訊號的信 號強度提升，於本實施例中，所述電流提升單元（5工） 係包括一第一、一第二與一第三電晶體（Q6〇5) (Q6〇6) (Q607 )，其中該第二電晶體（q6〇6)之基極係連接該視 訊擷取器（4 0 )以及該第一電晶體（Q605 )的射極，而 该第二電晶體（Q6〇7)之基極係連接該第二電晶體（q6〇6) 之射極，集極則與第一與第二電晶體（Q6〇5 ) ( Q6〇6 )之 集極相互連接； 一同步分離單元（5 2 )，係連接前述電流提升電路 (51)，將影像視訊訊號區分為行掃描資料與場掃描資 料；於本實施例中，該同步分離電路（5 2 )係包括一第 一積分電路（521)以及一第二積分電路（522)， 其中該第一積分電路（5 2 1 )係由兩個電晶體（Q6〇1) (Q602 )、三個電阻（R603 ) (R6〇4) (R6〇5)以及一 9 200843983 電容（C605 )組成，並連接前述電流提升電路（5i)， 以自影像視訊訊號中分離出行掃描資料；而該第二積分兩 路（5 2 2 )係由四個電阻（R6〇7 ) ( R6〇8 ) ( R6〇9 ) ( 以及兩個電容（C607 ) (C608 )所組成，並連接前述第— 積分電路（5 2 1 ) 1自影像視訊訊號巾分離出場 資料； $ -處理單元（53)，係連接前述同步分離單元（5 U與中央處理器（2 〇 )，透過該中央處理器、（2 〇 ) 獲取記憶體（3 0 )中各儲存攔位内之狀態資料，以及獲 取該同步分離單元（5 2 )所輸出之行掃描資料與場掃描 資料，請參閱第五圖所示1用該行掃描與場掃描資料於 该影像視訊晝面中設定出對應記憶體（3 〇 )中各儲存攔 位所代表座標之座標區域（41)，再配合超音波感測器 (1 0 )之位置和儲存攔位内存狀態資料為〇處，如第六 圖所示，於該影像視訊中疊加上複數個超音波傳輸路徑景^ 像（8 0 );於本實施例中，所述處理單元（5 3 )係由 兩個積體電路（Integrated Circuit，簡稱 Ic U602 )( U603 ) 組成。 口亥顯不裔（6 0 )係連接前述視訊疊加模組（5 〇 )， 以顯示疊加有超音波傳輸路徑影像（8 〇 )之車後方影像 視訊（如第六圖所示）。 又晴茶閱第-與二圖所示，該聲音警示模組口 0 ) 係連接該中央處理器（2 0)，並包括_警報驅動電路（7 1)以及-蜂鳴器（72)，其中該蜂…72)係連 10 200843983 由’中麥：動％路（713 ，當障礙物過於接近車尾時， ㈣中央處理器（2〇)“，並透過 ：車尸… 1)控制所述蜂鳴器（72) 二區動電路（7 意。 ^出吕不日以通知駕駛人留 的定=4可知’本發明可對於檢測到的障礙物進行準確 兮、I將疋位結果對應儲存於該記憶體中，之後再由 該視頻疊加模組脾鉬切袖a <便丹由 和纪㈣内/ 所掏取到的車後方視訊影像 # ^子的^礙物位置進行疊加處理，而在顯示器上 主 S音波傳輪路徑與車後方影像視訊兩者疊加的影 像口此本明之倒車雷達不但可檢知障礙物之實際位 置。亥超曰波傳輸路徑更可提供駕駿人更直覺地判斷車尾 與障礙物之間距離，再配合聲音警示模組以警示音告知駕 駛人留意’藉此減少倒車時發生碰撞之機會。 ,)隹本I明雖已於前述實施例中所揭露，但並不僅限於 月J述貝加例中所提及之内容’在不脫離本發明之精神和範 圍内所作之任何變化與修改，均屬於本發明之保護範圍。 4上所述’本發明已具備顯著功效增進，並符合發明 專利要件，爰依法提起申請。 【圖式簡單說明】 第一圖·係本發明一較佳實施例之功能方塊圖。 第二圖：係本發明一較佳實施例中該超音波感測器之 超音波感測範圍示意圖。 第三圖：係本發明一較佳實施例中該超音波感測器、 11 200843983 中央處理器、感測器驅動電路、多工器、放大電路、記憶 體以及聲音警示模組之電路圖。 第四圖：係本發明一較佳實施例中該視頻疊加模組之 電路圖。 第五圖：係本發明一較佳實施例中該顯示器上的座標 區域示意圖。 第六圖：係本發明一較佳實施例中該顯示器呈現超音 波傳輸路徑與車後方影像視訊的影像示意圖。 【主要元件符號說明】 (1 〇)超音波感測器 (1 0 2 )多工器 (2 0 )中央處理器 (4 0 )視訊擷取器 (5 0 )視頻疊加模組 (5 1 )電流提升電路 (5 3 )處理單元 (6 0 )顯示器 (7 1 )警報驅動電路 (1 0 1 )感測器驅動電路 (1 0 3 )放大電路 (3 0 )記憶體 (4 1 )座標區域 (52)同步分離電路 (7 0 )聲音警示模組 (7 2 )蜂鳴器 (8 0 )超音波傳輸路徑影像 12200843983 IX. Description of the invention: [Technical field to which the invention pertains] In particular, the invention relates to a vehicle obstacle detection device for detecting obstacle obstacles in a vehicle obstacle detecting device. [Prior Art] Nowadays, with the development of technology, the reversing radar has become the basic equipment of the car. The general reversing radar is equipped with an ultrasonic sensor at the rear of the vehicle to activate the ultrasonic wave when it is discharged into the reverse. The sensor emits an ultrasonic signal, and when the ultrasonic signal encounters an obstacle, it is folded back and received by the ultrasonic sensor. 'Reuse a voice patrol in the car - the mouth is not a reminder Communicate obstacle information to the driver to assist the driver to successfully complete the parking process. At present, there is a better reversing radar device on the market, which is further used by the camera - the rear image of the camera is displayed, and then the rear image is displayed by a display, so that the driver can hear the sound prompt to understand the obstacle behind the vehicle. The message can be viewed by observing the position of the obstacle after the display is displayed; even the operator is more eager to solve the time when the car is used to calculate the distance between the object and the rear of the car, and on the display. At this distance, I hope to provide the most complete information for the driver. However, when using the above-mentioned reversing radar device, it is still impossible to have the relative relationship of the obstacles, although the display has already presented #"word information" but for the driver, this is only the _number, the distance concept is converted to the actual The distance between the two is required to obtain an image-based representation of the distance between the obstacle and the obstacle. Because: because of the direct heart on the surface, if you want to provide more and more perfect reversing information for driving people 2008, 2008, In order to provide a driver with a clearer reversing of the present invention, a vehicle obstacle detecting device capable of indicating an obstacle distance is provided. The transmission path of the ultrasonic signal can be seen, 彳# A ^ $ 八 ^ ^ ^ 仏 驶 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易 轻易The vehicle obstacle detecting device for pre-interesting obstacle distance includes: eight ultrasonic sensors that transmit and receive ultrasonic signals; ... the two central processors are connected and control the foregoing A plurality of ultrasonic sensing: the time when the supersonic wave sensor emits and receives the ultrasonic signal by the juice to obtain the coordinates of the position of the I: early obstruction; the Sun Yat-sen recalls the body, and the system is divided into multiple storage shelves. Bit, the plural storage block "does not correspond to the coordinates of different regions that the ultrasonic signal can convey, and the system is connected to the central processor to calculate the obstacle position coordinate data according to the central processor" Each storage block is filled with status data corresponding to whether there is an obstacle or not; a video capture device is used to capture the video information behind the vehicle; and the video overlay module is connected to the central processing unit and the video capture device. Therefore, according to the coordinates represented by the storage blocks in the memory, a plurality of corresponding coordinates are defined in the image video plane of the video capture device, and the position of the ultrasonic sensor is matched. The state of the field memory is stored in 200843983, and an ultrasonic path image is superimposed on the image video to display the video display and the video superimposition module is connected. The video image processing. By using the above technical means, the present invention divides the sensing range of the ultrasonic sensor into a plurality of small sensing areas, and records the state data of the obstacle-free objects in the corresponding storage block in the memory, and then The video image captured by the video overlay module Z is combined with the state data to present both the ultrasonic transmission path corresponding to the coordinates of the obstacle-free area and the image video captured by the video capture device. Superimposed image, the ultrasonic transmission path can provide the driver with a more intuitive judgment of the distance between the tail and the obstacle, thereby reducing the chance of collision when reversing. [Embodiment] Referring to a first embodiment of the present invention, reference is made to the first figure, which includes a plurality of ultrasonic sensors (丄〇), a central processing unit (2 〇), and a plurality of sensors. Driving circuit (丄〇丄), a multiplexer (丄〇2), an amplifying circuit (i 〇3), a memory (3 〇), a video capture device (40), a video overlay module (5 〇), one display (6 〇) and an audible warning module (7 0). Referring to the second figure, each ultrasonic sensor (1 〇) is installed at the rear of the vehicle to emit an ultrasonic signal. When there is an obstacle on the transmission path of the ultrasonic signal, the ultrasonic signal will be obstructed. The reflection is detected by the ultrasonic wave as (1 0 ), and the signal of the 200843983 is output according to the reflected ultrasonic signal. The central processing benefit (2 〇) connects and controls the aforementioned plurality of ultrasonic sensors (1 〇), and calculates the time interval between the ultrasonic sensor and the ultrasonic signal received by the ultrasonic sensor (丄〇). The position of the obstacle is poor. As shown in the third figure, in the embodiment, the central processing unit (20) uses the ATMega8 processor of ATMEL, and the ATMega8 processor contains a capacity of lkb ( Kil〇_bytes) Random-Access Memory (RAM) 复 The plurality of sensor drive circuits (i 0 i) are respectively connected to the aforementioned ultrasonic sensor (i 〇) and The central processing unit (2 〇), as shown in the third figure, the plurality of sensor driving circuits (i 0) respectively include a transistor (Q1) (Q2) (Q3) (Q4) and a Transformer (TU (T2) (T3) (T4), wherein the base of the transistor (Q1) (Q2) (Q3) (Q4) is connected to the central processing unit (2 ο ), and the collector is connected to the transformer ( Τ1) (Τ2) (Τ3) (τ4) and the ultrasonic sensor (1 〇), when the central processing unit (worker) sends out - pulse wave = number ' Transistor (Q1) (Q2) (Q3) (Q4) and transformer: (T1) (T2) (T3) (T4) Amplify the pulse signal and send it to the ultrasonic sensor (1 0) , the ultrasonic signal can be emitted. - As shown in the third figure, the multiplexer (i 0 2) is connected to the above-mentioned = ultrasonic sensor (1Q), and is sent out in time-sharing. ', J Jie (1 〇) output coordinate calculation signal. The amplification circuit (i 〇 3 ) is connected between the aforementioned central processing cry (2 0 ) and the multi-guard (i 〇 2 ), amplified from multiplex (3 2 ) 7 200843983 After receiving the coordinate calculation signal, it is output to the central processing unit (2). Please refer to the third figure. In the embodiment, the amplification circuit (1 0 3 ) is mainly It consists of a first, second and third operational amplifier (uic) (U1D) (U1A), a resistor (R5) and a capacitor (C8), where: 'The inverse of the first operational amplifier (me) The input terminal is connected to the multiplexer (1 0 2 ) to receive and amplify the coordinate calculation signal output by the multiplexer (i 〇 2 ); 反相 the inverting input terminal of the second operational amplifier (U1D) is connected An output of the first amplifier (U1C), and the resistor (R5) and the capacitor (to) are connected across the inverting input end and the output m of the second amplifier (U1D) to form a band pass filter for filtering The coordinate is used to calculate the noise in the signal; the inverting input of the third operational amplifier (U1A) is connected to the output of the first amplifier (U1D), and the output is connected to the central processing (2 ◦)' Amplify the coordinate calculation signal after the noise removal and send it to the central processing unit (2〇). In the middle of the sound, the Θ甲央 processing 70 ( 2 〇) can be used to calculate the tail. ^ Maji Dry Day, the position of the obstacle. ^ 忆 体 (3 〇) is connected to the aforementioned central processing unit (2 〇), in this embodiment, the memory p, crying as # u body (3 0) is the RAM built into the ATMegaS processing port And the memory Γ heart (3 〇) has a plurality of corresponding plans in the 扪 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + For the information, in the case of the actual case t' corresponding to the obstacle, the obstacle-free D ^ is filled in the storage block, and the storage block corresponding to the place is filled with 〇. 8 200843983 The video capture device (40) sends an image video signal to the rear of the vehicle, and the video overlay module (5 〇) is connected to the central processing unit and the video capture device to be based on the memory. The coordinate represented by each storage block in the body sets the corresponding coordinate area in the image video screen captured by the video capture device, and cooperates with the position of the ultrasonic sensor and the state data of the storage field memory. In the embodiment, the video overlay module (5 0 ) includes: a private stream lifting unit (5 1 ), which is further described with reference to the fourth image. Connecting the video capture device (4 〇) to increase the signal strength of the video signal sent by the video capture device (40). In this embodiment, the current boosting unit (5) includes a first a second and a third transistor (Q6〇5) (Q6〇6) (Q607), wherein a base of the second transistor (q6〇6) is connected to the video capture device (40) and The emitter of the first transistor (Q605), and the second The base of the crystal (Q6〇7) is connected to the emitter of the second transistor (q6〇6), and the collector is connected to the collectors of the first and second transistors (Q6〇5) (Q6〇6). A synchronous separation unit (52) is connected to the current boosting circuit (51) to divide the video signal into line scan data and field scan data; in this embodiment, the synchronous separation circuit (52) A first integrating circuit (521) and a second integrating circuit (522) are included, wherein the first integrating circuit (5 2 1 ) is composed of two transistors (Q6〇1) (Q602) and three resistors (R603). (R6〇4) (R6〇5) and a 9200843983 capacitor (C605), and connected to the current boosting circuit (5i) to separate the line scan data from the video signal; and the second integral two paths ( 5 2 2 ) is composed of four resistors (R6〇7) (R6〇8) (R6〇9) (and two capacitors (C607) (C608), and is connected to the aforementioned first-integral circuit (5 2 1 ) 1 Separating the appearance data from the video video signal towel; $ - processing unit (53), connecting the aforementioned synchronous separation unit (5 U and the central processing unit) 2 〇), through the central processing unit, (2 〇) to obtain state data in each storage block in the memory (30), and obtain the line scan data and field scan output by the synchronization separation unit (52) For the data, please refer to the figure shown in the fifth figure. 1 Use the line scan and field scan data to set the coordinate area (41) of the coordinates represented by each storage block in the corresponding memory (3 〇). In conjunction with the position of the ultrasonic sensor (10) and the memory state data of the storage block, as shown in the sixth figure, a plurality of ultrasonic transmission path scenes (8 0) are superimposed on the image video. In the embodiment, the processing unit (5 3 ) is composed of two integrated circuits (Ic U602 ) ( U603 ). The mouth of the Haiyin (60) is connected to the video overlay module (5 〇) to display the image of the rear of the car with the supersonic transmission path image (8 〇) superimposed (as shown in the sixth figure). Also, as shown in the first and second figures, the audible warning module port 0) is connected to the central processing unit (20) and includes an _alarm driving circuit (7 1) and a buzzer (72). Among them, the bee...72) is connected to 10 200843983 by 'Zhong Mai: Moving % Road (713, when the obstacle is too close to the rear, (4) Central Processing Unit (2〇)", and through: car body... 1) Control Office The buzzer (72) The second zone dynamic circuit (7 means. ^There is a notification to the driver to leave the limit =4 to know that the invention can accurately detect the obstacles detected, and I will correspond to the clamp results. Stored in the memory, and then superimposed by the video superimposing module spleen moxibustion sleeve a <Bei Dan from the middle of the vehicle (4) In the display, the main S-sonic wave path and the rear image video are superimposed on each other. This reversing radar can not only detect the actual position of the obstacle. The Haichao chopping transmission channel can provide more drivers. Intuitively judge the distance between the tail and the obstacle, and then cooperate with the sound warning module to inform the driver The driver pays attention to 'to reduce the chance of collision when reversing. ·) Although this is disclosed in the previous embodiment, it is not limited to the content mentioned in the case of the month. Any changes and modifications made within the spirit and scope of the present invention fall within the scope of protection of the present invention. 4 The above-mentioned invention has significant power enhancement and complies with the patent requirements of the invention, and is filed according to law. The first figure is a functional block diagram of a preferred embodiment of the present invention. The second figure is a schematic diagram of the ultrasonic sensing range of the ultrasonic sensor according to a preferred embodiment of the present invention. A circuit diagram of the ultrasonic sensor, the 11200843983 central processing unit, the sensor driving circuit, the multiplexer, the amplifying circuit, the memory, and the sound warning module in a preferred embodiment of the present invention. A circuit diagram of the video overlay module in a preferred embodiment of the present invention. FIG. 5 is a schematic diagram of a coordinate area on the display in a preferred embodiment of the present invention. FIG. 6 is a preferred embodiment of the present invention. The display presents an image of the ultrasonic transmission path and the video image of the rear of the vehicle. [Main component symbol description] (1 〇) Ultrasonic sensor (1 0 2 ) multiplexer (2 0 ) Central processing unit (4 0 Video capture device (5 0 ) video overlay module (5 1 ) current boost circuit (5 3 ) processing unit (60) display (7 1) alarm drive circuit (1 0 1 ) sensor drive circuit (1 0 3 ) Amplification circuit (3 0 ) Memory (4 1 ) Coordinate area (52) Synchronous separation circuit (7 0 ) Sound warning module (7 2 ) Buzzer (8 0 ) Ultrasonic transmission path image 12