TW200948648A - Vehicle distance measuring safety system - Google Patents

Abstract

This invention relates to a vehicle distance measuring safety device which is disposed in a first vehicle for detecting a vehicle distance from the first vehicle to a second vehicle therefront. The second vehicle comprises a set of left and light taillights with a standard width DS. The vehicle distance measuring safety device comprises: an imaging module for capturing an frame including the images of the left and right taillights of the second vehicle; and a calculating module for determining the vehicle distance HK from the first vehicle to the second vehicle based on a pixel value N(HK) of the image interval between the left and right taillights in the captured frame. This invention further provides a method for monitoring a vehicle safety distance.

Description

200948648 IX. INSTRUCTIONS: [Technical field of invention] In particular, a driving distance warning system relates to a driving safety warning system for detecting a distance between vehicles in front of a vehicle to maintain an appropriate safety warning system. [Prior Art] Failure to maintain driving distance is the main cause of car accidents. Although there are many measurement methods available in the prior art to calculate the distance between two points, it is applied to the traveling vehicle due to the traveling vehicle. The unfixedness and the influence of the ambient brightness around the night make the conventional measurement methods ineffective for the driving distance monitoring of the traveling vehicles. / In general, conventional distance measurement methods can be mainly divided into non-contact and contact measurement methods. Among them, since the contact measurement method needs to set and fix a measuring device between two points to be tested, such as a ruler or a tape measure, and then read the length of the gap between the two points. Therefore, the contact type measurement method is not suitable for the measurement system of the driving distance. In the non-contact measurement method, the most common method is ultrasonic or laser ranging. The measurement method uses the reflection time of the sound wave and the light wave to estimate the round-trip distance of the nose, but since the reflection time is affected by the material of the reflection surface, the measurement instability is caused, and for the traveling The vehicle cannot obtain a stable reflecting surface, so the measurement method cannot be applied to the measuring system of the driving distance. At present, the system of driving distance monitoring also uses image pattern recognition technology as a monitoring method. However, since the image pattern recognition needs to be calculated and calculated according to 200948648, and because of the image _ = analysis; Can't: Car Radar - The collision material is used for close-up and further 3 uses Γίί line identification or car shadow recognition. When used at night, the boot power lamp is clear. The distance of the driving distance measurement system: the accuracy of the vehicle distance identification using the image pattern recognition technology is greatly reduced, and even cannot be used. [Inventive content] - The purpose of the invention is to provide a type of driving safety = full distance monitoring device, The distance between the three cars is calculated from the pre-identification t-value. (10) Image measurement of the early lamp group The present invention provides a left-right and right rear vehicle df for detecting the first vehicle body and the front-precision width DS. The semi-lights include a video module for the image of the left and right rear lights of the second body, and a computing module for The pixel value N (HK) of the left and right rear compartments in the picture determines that the first body and the second body are used to measure the distance between the first body and the front and the second 6 200948648 body, wherein the foregoing The second vehicle body comprises a set of left and right rear lights having a standard width DS, comprising: capturing a side surface of the image of the left and right rear vehicles including the second vehicle body; calculating the left and right rear lights a pixel value n(hk) of the image interval; and calculating a vehicle distance HK between the first body and the second body based on the aforementioned pixel value N (HK). In summary, the driving safety distance monitoring device of the present invention can measure the distance between vehicles by using a conventional CCD or CMOS lens to provide safe vehicle distance monitoring, and does not require full-face image recognition. Therefore, the cost and time of the calculation can be greatly reduced, and the influence of filtering the vehicles in different lanes can reduce the measurement error. [Embodiment] The present invention will be fully described with reference to the preferred embodiment of the invention. However, it should be understood that those skilled in the art can modify the invention described herein to obtain the effect of the present invention. . Therefore, it is to be understood that the following description is a broad disclosure of those skilled in the art and is not intended to limit the invention. The invention relates to a driving safety warning system for performing distance monitoring by simple image processing, which uses a CCD or CMOS camera as a distance measuring device, and measures the driving distance at night, in addition to reminding driving When the person hits the car and keeps the safety distance, it can also be applied to the warning. The car must maintain a safe distance to avoid the collision accident. 200948648 In general vertical photography, the pixel value between the 蚩 point and the actual distance in the two poor materials can be obtained according to the two: two; - 昼 ❹

: All vehicles in the rear side of the car at least will = = full: 苡 to provide rear travel = driving two: know the location of the vehicle and the car conditions. Therefore, between the vehicles of the present invention, #|J is used in the rear vehicle body to monitor the five-value change of the left and right rear of the front body, and to utilize the basic three-dimensional treatment. To calculate the distance between the front and rear bodies. Referring to the first figure, a system architecture diagram of an embodiment of the present invention is shown. In this embodiment, a vehicle body 10 is provided with a row of vehicle safety distance monitoring device U for measuring the distance between the vehicle body 10 and the front body 2〇. The driving safety distance monitoring device U includes a lens 12 and a processor (not shown), and a set of standard left and right rear lights 21, 22 are disposed on the rear side of the vehicle body. Moreover, the lens 12 can be implemented by a CCD or CMOS digital lens according to different circuit design requirements in different embodiments, and further image capturing devices for capturing images can be further used. In the first figure, the actual distance between the HK vehicle body 1 and the vehicle body 20, HM is the height of the photographing optical axis of the lens 12 from the ground, and DS is the actual distance between the left and right rear lights 21, 22. Referring to the second figure, a schematic diagram of one of the images of the body 20 of the vehicle body 20 is taken from the lens 12, and the image PL formed by the left and right rear lights 21, 22 of the vehicle body 20 is PR approximates 200948648. The image formed by a set of parallel laser light sources projected on a plane, so the driving safety distance monitoring device 11 can be used according to the relationship between the pixel value and the actual distance and the simple trigonometric function theorem. The frame data captured by the lens 12 calculates the pixel value between the PL and the PR to further calculate the actual distance HK between the vehicle body 10 and the vehicle body 20.

Since the actual distance between the left and right rear lights 21, 22 is approximately a fixed value DS, the horizontal pixel value of the face 13 is also a fixed value NHmax, and the image points PL of the left and right rear lights 21, 22 The pixel value between the PRs can be known as N(HK) by counting. Therefore, the maximum photographic width Dmax(HK) taken at the maximum photographic angle 2ΘΙ when the photographic distance is HK can be obtained by the following equation: According to the trigonometric function theorem, the length of the opposite side Dmax(HK) is known in the right triangle. The length of the edge can be calculated by the cot function: HK=\^ DS^ cot eh

2 N HK In an embodiment, in order to increase the measurement accuracy of the driving safety distance monitoring device 11, the optical origin 0P of the lens 12 may be further considered to be the distance hs from the surface of the lens 12, and the photographic distance calculated by the foregoing equation The HK system contains the length of hs, so the subtracted hs from the obtained photographic distance HK can get a more accurate photographic distance HK1:

HK1 = HK-hs=\y· ΖΗτ^ χ DSx cot ΘΗ ~ 1 LN HK 200948648 Therefore, the driving safety distance monitoring device 11 of the present invention only needs to find the left and right rear lights 21 of the vehicle body 20 in the screen 13. The position of the image PL, PR, and the pixel value N(HK) between the two images PL and PR can be calculated by calculating the maximum photographic width Dmax (HK) of the lens 12, and further obtaining the vehicle body 10 and The actual distance of the body 20 is HK. Further, under the different photographic distances HK, the image areas occupied by the images PL and PR of the left and right rear lamps 21 and 22 are changed, so that the image widths of the images PL and PR are also generated. change. In order to avoid the measurement accuracy caused by the change of the pixel area occupied by the images PL and PR, the driving safety distance monitoring device 11 can use the distance between the center points of the images PL and PR as the two end points of the pixel value N (HK). Make measurements. Referring back to the first figure, since the image captured by the vertical maximum photographic angle (2θν) of the lens 12 reaches the ground position at the position where the photographic distance is DN, it is impossible to obtain an effective range within a photographic distance smaller than DN. The maximum photographic width (Dmax), ❹ Therefore, the minimum photographic distance of the driving safety distance monitoring device 11 is DN. Referring to the third figure, in an embodiment of the invention, the lens 12 can be disposed at a fixed height, and the optical axis of the lens 12 can be parallel to the ground, so that the images of the left and right rear lights 21, 22 can be fixed at the same. Draw a horizontal scan line within a certain range in the face. As shown in the third A diagram and the third B diagram, the vehicle distance HK between the vehicle body 10 and the vehicle body 20 is under different lengths (5 meters, 15 meters), left and right rear lights 21, The image PR and PL of 22 can be located near the horizontal sweep line (INVmax) of the face 13 in 200948648, and are limited to the range of the specific horizontal scanning line (NV1, NV2), so the driving safety distance monitoring device 11 The image of the left and right rear lights 21, 22 can be quickly known by using the WOI (Window of Interesting) method or using a linear CCD to calculate the brightness of the horizontal scanning lines (NV1, NV2) in the range. The position PR, PL, and the pixel value N (HK) between the images of the left and right rear lights 21, 22 appear. @ According to the third A picture and the third B picture, the driving safety distance monitoring device 11 performs brightness analysis on a specific section and the horizontal scanning line NV1 to NV2, and can obtain signal waveforms of the fourth A picture and the fourth B picture. In the signal waveform diagrams, two horizontal pixel points of the maximum brightness value, that is, the positions of the images PR, PL of the left and right rear lights 21, 22 can be easily found. According to the signal waveform diagrams of the fourth A or the fourth B, it can be found that the images PR and PL respectively generate the pixel values NR and NL as shown in the second figure. Therefore, the center points of the pixel values NR and NL are measured as 〇. The two endpoints calculate the pixel value of the interval, and the pixel values between the images PR and PL are obtained as follows: N HK =^[ NL1 NL2- NR1 NR2 ] wherein NR1, NR2 and NL1, NL2 are NR, NL, respectively Two boundary points. In the application of the driving safety distance monitoring, the warning action may be omitted for the preceding vehicles on different lanes. Therefore, in an embodiment of the invention, the driving safety distance monitoring device 11 may be used for the vehicle body in different lanes. The information is filtered out. 11 200948648 Referring to the fifth figure, when the front body 13 of the body 10 is taken, the body of the lane is included, and five parts including PI, P2, P3, P4 and P5 are captured in the surface 13. The image appears separately at the horizontal scan values Nl, N2, N3, N4 and N5. Since the left and right rear lights of the vehicle body 20 in the same lane as the vehicle body 10 are most symmetrical with respect to the center position of the face 13 in the picture taken by the vehicle body 10, the adjacent ones are compared. The pixel value of the group image, in which the pixel average of one group of images is closest to the vertical scanning line dNHmax of the picture 13 is the image formed by the body 20: N i Ni 1 _ NHmax= i=l".N 2 2 When the value of xi is the smallest, Pi is the left rear light image of the vehicle body 20. Therefore, the image P1 represents a car body in the left lane, so only the right rear car image is captured in the kneading surface 13, and the left and right rear car images PL represented by the car body 20 are represented by P2 and P3. , PR, P4 and P5 represent the left and right rear car lights of one of the cars in the right lane. The images of PI, P4 and P5 are filtered because they belong to the image of the car body of different lanes. And the pixel value N(HK) can be obtained by N2 and N3: N HK = N3- N2 According to the above embodiment, the driving safety distance monitoring device 11 of the present invention is in the hs and cot of the lens 12 (0 driving safely driving In the case where the parameters such as the safety distance monitoring h) are known, the actual distance HK between the vehicle body 10 and the vehicle body 20 can be accurately calculated. Reference No. 6 12 200948648 The figure shows a system architecture diagram for establishing relevant parameters of the lens 12, fixing the lens 12 above a frame 30 to avoid errors caused by vibration, and setting an adjustable scale horizontal scale below the frame 30. 31. When the distance between the horizontal scale 31 and the lens 12 is ]νπ, then the width of the section of the head 12 and the horizontal scale 31 is Li, and when the distance between the horizontal scale 31 and the lens 12 is M2, the lens The width of the section taken on the horizontal scale 31 of 1 to 2 is L2. According to the simple triangle theorem, cot(0h) can be represented by the following equation··

Cot eh =31^2-Mi L2- LI M and tis are as follows: hs Ml hs M2

L] L2 _ M2xL1~MJx 1.7 L2~ LI hs. With the above parameter calculation process, various photographic lenses can be applied to the driving safety distance monitoring device η of the present invention.

Since the driving safety distance monitoring device u does not need to perform full-face image recognition, it is possible to use a simple hard computer, and refer to the seventh figure as the circuit of the operation circuit 4 of the vehicle-wide full-distance monitoring device u. Composition. As shown in the figure, the arithmetic circuit 4 includes the image signal of the chick = and the soap color ' of the jin is required. Generally speaking, since the vehicle d is composed of a light source, it is therefore in the case of the case. The off-circuit 41 is used to separate the red signal. The circuit 40 further includes a comparison circuit 42 for receiving the red signal and comparing it with a brightness threshold provided by a threshold setting circuit 43 to determine the position of the rear vehicle image. The comparison circuit 42 is further connectable to an interval circuit 44 for limiting the brightness of the brightness determination between the horizontal scanning lines NV1 and NV2 to reduce the amount of calculation by the comparison circuit 42. The result calculated by the comparison circuit 42 is further supplied to a SISO (serial input string output) register 45, and the displacement operation of the SISO register 45 is controlled by a synchronous φ circuit 46. The SISO register 45 then supplies the received data to an OR circuit 47 for OR operation and outputs the operation result Ycom to obtain the position of the rear vehicle image of the vehicle body in front of the same lane. Referring to FIG. 8 , a signal waveform diagram for determining the arithmetic circuit 40 shown in FIG. 7 , and performing an OR operation on each horizontal scanning line between the horizontal scanning lines NV1 and NV2 to obtain a waveform of Ycom′. According to the waveform of Ycom', the pixel value occupied between the two rear lamp images can be calculated: QN HK NR1 NR2 - j NL1 NL2 When calculating the pixel value occupied between the two rear lamp images, The actual distance HK between the two bodies can be calculated by the aforementioned correlation equation. In an embodiment of the invention, the driving safety distance monitoring device 11 can be further connected with a collision preventing circuit to avoid collision of the two vehicle bodies whose vehicle distance is too short. When the measured vehicle distance HK is less than a predetermined value HG calculated according to the current vehicle speed, the brake light can be actively driven to illuminate to remind the rear vehicle to perform the deceleration operation or preparation, and can be used in one step. Warning light or bee cries, $ Α 车 distance. Referring to the ninth figure, the driver is required to maintain the safety thunder. From the ♦ is a circuit diagram of the collision prevention circuit 50 of the present invention--the embodiment, Yao Li prevents the receiving operation circuit nose circuit 51 from being used for the step 4 and the vehicle speed signal. The power required by circuit 51 is calculated by -". The regulated power supply 52 is for the ❹ Ο Ο Γΐ Γΐ Ο ? ? 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直 垂直= Speed signal is calculated - when the field is smaller than the Queen's distance, the calculation circuit 51 drives a bee to light 'to remind the rear to decelerate the movement:: the calculation circuit 51 can be further connected to a display 55 for direct It is indicated that the current distance is the reference for this display. In summary, the driving safety distance monitoring device of the present invention can measure the distance between vehicles by using a conventional CCD or CMOS lens to provide monitoring of the safety distance, and since it is not necessary to perform the whole The image recognition of the screen can greatly reduce the cost and time of the calculation, and the effect of filtering the vehicles in different lanes can reduce the measurement error. Having described the preferred embodiments of the present invention in detail, it will be apparent to those skilled in the art that various modifications and changes can be made without departing from the scope and spirit of the inventions. Embodiments of the embodiments set forth in the description. BRIEF DESCRIPTION OF THE DRAWINGS The first figure is a system architecture diagram of a driving safety distance monitoring device according to an embodiment of the present invention. The second figure is a schematic view of a lens capture screen according to an embodiment of the present invention. ❹ The third figure is a schematic diagram of a side of a lens capturing portion of an embodiment of the present invention. 2A and 3B are schematic views of the lens capture surface at different distances according to an embodiment of the present invention. The fourth A picture or the fourth B picture is a signal waveform diagram of the face shown in the third A picture and the third B picture. Fig. 5 is a schematic view showing a screen for capturing a plurality of lane shirt images by a lens according to an embodiment of the present invention. Referring to a sixth figure, a system architecture diagram for establishing related parameters of a lens according to an embodiment of the present invention is shown. Reference is made to the seventh embodiment of the circuit diagram of an arithmetic circuit of a driving safety distance monitoring device according to an embodiment of the present invention. The eighth figure is a signal waveform diagram of the comparison circuit of the arithmetic circuit shown in the seventh figure. Figure 9 is a circuit diagram of a collision prevention circuit according to an embodiment of the present invention. 16 200948648 Component symbol description: 10, 20 - car body 11... driving safety distance monitoring device 12 - lens 13 - 昼 21, 22 - left and right rear lights 30... frame 31... horizontal measuring ❹ 40... arithmetic circuit 41...Signal separation circuit 42 - Comparison circuit 43 - Threshold setting circuit 44 - Interval circuit 45...SISO register 46---Synchronization circuit 47 - OR circuit 0 50 - Collision prevention circuit 51 - Nose circuit 5 2 -- - regulated power supply 53... buzzer 54... 煞 car light 55 - not 17

Claims (1)

The juice is calculated as the aforementioned vehicle 200948648 X. Patent application: 1. A driving safety distance monitoring device is arranged in a first vehicle body for measuring the distance between the first vehicle body and the second vehicle body in front, wherein The second vehicle body includes a set of left and right rear lights having a standard width DS, including an image module for capturing a image of the left and right rear lights of the second body. And a computing module for determining a distance hk between the first body and the second body based on a pixel value N (HK) of the image interval of the left and right rear lights in the facet. 2. If you apply for the stipulations of the stipulations, the safety of the vehicle is __, the basin is 2^ Mirror, and the parameters (10) (10) are known. Dinggeo~ Baojing伹3. As in the second paragraph of the patent application scope, the above-mentioned operational model safety distance monitoring device is based on the pixel value of the left and right German image interval ΝΟίΚΗχρ—the rear vehicle pixel value NHmax Proportion, front ~, '[maximum horizontal photography, then standard width DS and parameter COt (eh) with equation egg distance HK. 4. As in the scope of claim 1 of the patent application, wherein the operation module is the second:: the vehicle distance monitors the signal of the flat scan line area to obtain: the horizontal pixel value NL, NR 1 of the partial water image in the plane 1 Left and right rear car lights will be described as horizontal pixel value minus 200948648 minus (NR-NL) to find the pixel value N (HK) of the image interval of the left and right rear lights. 5. For the driving safety distance monitoring device of claim 4, the nose module is to calculate the pixel value of the left and right rear lamp spacing according to the pixel value of the center point of the left and right rear vehicle images. N (HK). 6. If the application of the patent scope 帛 4 items of the vehicle safety distance monitoring is performed, the operation module performs the 影像R operation on the signal of the partial horizontal scanning line area of the kneading surface to obtain the largest image set, as the foregoing left The pixel value of the right rear light image. 7. The driving safety distance monitoring device of claim 4, wherein the computing module is configured to use one of the image planes closest to the vertical scanning line of the screen as the left and right rear lights. image. 8. If the application for the safety and distance monitoring of the vehicle is applied, the advance step includes a collision prevention module for comparing the calculated distance from the HK胄-critical value. If the HK is smaller than the aforementioned threshold value, the aforementioned first lamp group is driven to light. ...' 9. If the vehicle safety distance monitoring is in the scope of the application for the scope of the patent, the critical value is based on the above-mentioned - and the vehicle is caught in the vehicle of 200948648 ι〇·If you apply for the patent scope, the safety vehicle When the distance from the monitoring is less than the aforementioned threshold value, the collision prevention module is driven and the buzzer sounds. 11. t Apply for the patent range 帛8 of the driving safety distance monitoring device. When the distance K is less than the above-mentioned critical value, the aforementioned collision prevention mode group drives a warning light to illuminate. 12·—The 彳τ car safety distance monitoring method 'is used to monitor the distance between the first body and the front side and the second body, wherein the second body includes a set of left sides with a standard width DS, The right rear light includes: capturing a side surface of the image of the left and right rear vehicles including the second body; calculating a pixel value Ν(ΗΚ) of the image interval of the left and right rear lights; The pixel value Ν(ΗΚ) is used to calculate the distance between the first body and the second body. 13. The method for monitoring the safe distance of the vehicle according to the scope of claim 12, and the maximum horizontal angle of the aforementioned picture 2 Θΐι and the maximum horizontal photographic pixel value NHmax are known. 14. The method for monitoring the safe distance of the vehicle according to the scope of the patent application No. 13 wherein the step of describing the distance from the HK includes the pixel value N (HK) according to the image interval of the left and right rear lights and the maximum The ratio of the horizontal photographic pixel value NHmax, the aforementioned standard width DS, and the parameter cot(0h) are calculated by the equation ΗΚ = 1 NHmax 2 N HK to calculate the aforementioned vehicle distance HK. 200948648 15·, such as the towel (4), the driving safety distance monitoring method of the 12th item, wherein the step of calculating the aforementioned pixel value Ν(ΗΚ) includes counting: a signal of a part of the horizontal broom line area in the kneading surface is obtained Do not j the left and right rear car image image horizontal pixel values nl, nr, and subtract the horizontal pixel value (Nr_nl) to obtain the left and right rear car, the lamp's shirt image interval pixel value N (HK) . For example, if the calculation of the aforementioned pixel value n(HK) is carried out, the step of calculating the aforementioned pixel value n(HK) includes calculating the left and right rear car according to the pixel value of the center point of the left and right rear lamp images. The pixel value N (HK) of the image interval of the lamp. 17. If you want to apply for the safety distance monitoring of the 15th item, the method of calculating the aforementioned pixel value N (HK) is included in the procedure. The signal in the horizontal scanning line area is subjected to 〇R operation to obtain a maximum image set as the pixel value of the aforementioned left and right rear lamp ❹ images. 8. For example, the vehicle safety distance monitoring 2 of Shen Qing Patent Fan u, wherein the step of calculating the aforementioned pixel value N(HK) includes one of the other vertical scanning lines closest to the middle surface of the surface. The image point serves as an image of the left and right rear lights. For example, the vehicle safety distance monitoring H of the application patent scope U includes further comparing the calculated vehicle distance - with the -I value. When the vehicle distance ΗΚ is less than the aforementioned threshold value, 21 200948648 drives the aforementioned first vehicle. One of the body lights is lit. 20. The method according to claim 19, wherein the threshold value is changed according to the speed of the first vehicle body. 21. If the vehicle is safely monitored for distance monitoring in item 19 of the patent application, the device 'when the distance K is less than the aforementioned threshold value' drives a buzzer and sounds. 22. If the vehicle safety distance monitoring method of claim 19 is used, the vehicle distance is less than the aforementioned threshold value. twenty two