TW201416997A - Driving image recognition device and method thereof - Google Patents
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本發明是有關於一種行車影像辨識裝置及其方法，特別是有關於一種可預先計算行動載具周遭物件彼此間之距離以及行動載具周遭物件與行動載具之間的距離，並可利用控制模組控制行動載具，進而達到近階感測、判斷通道是否可通過、自動收折後照鏡、自動駕駛以及自動停車等功效的行車影像辨識裝置及其方法。The invention relates to a driving image recognition device and a method thereof, in particular to a pre-calculation of the distance between objects around a mobile vehicle and the distance between the object around the mobile vehicle and the mobile vehicle, and the control can be utilized. The module controls the mobile vehicle to realize the driving image recognition device and the method for the near-order sensing, judging whether the channel can pass, the automatic folding mirror, the automatic driving and the automatic parking.
現今，民眾之車輛大多裝設有行車紀錄裝置，其利用裝設於車輛上之攝像鏡頭擷取車身周遭之影像，作為監控車輛周圍環境之用，以便於發生交通事故時能還原當時影像，並依據該影像作為判斷事故發生原因、釐清雙方責任歸屬之用。然而，習知的行車紀錄裝置所擷取之影像僅作為事故發生時佐證之用，而不能進一步地加以應用實為可惜。Nowadays, most of the people's vehicles are equipped with a driving record device, which uses the camera lens mounted on the vehicle to capture the image of the surrounding body as a monitoring environment for the vehicle, so that the current image can be restored in the event of a traffic accident, and According to the image, it is used to determine the cause of the accident and clarify the responsibility of the two parties. However, the image captured by the conventional driving record device is only used as evidence for the accident, and it is a pity that it cannot be further applied.
此外，目前車輛大多都裝設有倒車雷達或死角偵測系統，以作為車輛倒車或變換車道時，駕駛對於後方視野不足之一補償之用。例如當駕駛於倒車、變換車道或要停車時，可顯示一影像畫面，讓駕駛可依據該影像畫面執行車輛行進；若車輛太過接近後方周遭車輛時，該倒車雷達或死角偵測系統亦可發出警示聲以提示駕駛，可有效輔助駕駛停車，或避免倒車、變換車道時發生碰撞意外。然而，雖倒車雷達及死角偵測系統具備有上述優點，但於實際停車或變換車道前，駕駛仍必須以顯示之影像畫面自行判斷自身車輛是否可安全無誤地停入目標地或進行車道變換，而無法幫駕駛預先進行判斷並於顯示幕上進行提示。In addition, most vehicles are currently equipped with a reversing radar or a dead angle detection system to compensate for one of the lack of rear view when the vehicle is reversing or changing lanes. For example, when driving in reverse, changing lanes or going to stop, an image screen can be displayed, allowing the driver to perform vehicle travel according to the image screen; if the vehicle is too close to the rear surrounding vehicle, the parking radar or dead angle detection system can also A warning sound is given to prompt driving, which can effectively assist driving and stopping, or avoid collisions when reversing or changing lanes. However, although the reversing radar and dead angle detection system have the above advantages, before driving or changing lanes, the driver must still judge whether the vehicle can safely stop at the target or change lanes by using the displayed image screen. It is not possible to help the driver to make advance judgments and prompt on the display screen.
因此，為提供駕駛更佳之行車便利及安全性，本發明之發明人思索並設計一種行車影像辨識裝置，以針對現有技術之缺失加以改善，進而增進產業上之實施利用。Therefore, in order to provide better driving convenience and safety, the inventors of the present invention have conceived and designed a driving image recognition device to improve the lack of the prior art, thereby enhancing the industrial use and utilization.
有鑑於上述習知技藝之問題，本發明之目的就是在提供一種行車影像辨識裝置及其方法，以解決習知行車紀錄裝置僅具備影像擷取及紀錄功能，及倒車雷達、死角偵測系統無法預先提供駕駛者更進一步之駕車資訊之問題。In view of the above-mentioned problems of the prior art, the object of the present invention is to provide a driving image recognition device and a method thereof, which can solve the problem that the conventional driving recording device only has the image capturing and recording function, and the parking reversing radar and the dead angle detecting system cannot Provide drivers with further driving information.
根據本發明之目的，提出一種行車影像辨識裝置，適用於一行動載具。此行車影像辨識裝置包含：一攝像紀錄模組、一影像處理模組、一顯示模組以及一控制模組。攝像紀錄模組設置於行動載具上，以擷取行動載具周遭之一影像。影像處理模組連接攝像紀錄模組，以計算出影像中所存在物件彼此間之距離值，以及物件與行動載具之間之距離值。顯示模組連接影像處理模組，以選擇性地顯示影像以及影像處理模組所計算出之各距離值。控制模組連接影像處理模組及顯示模組，以依據行動載具之車身長度或寬度與各物件彼此間之距離值之對應關係，產生一提示訊息並顯示於顯示模組。In accordance with the purpose of the present invention, a driving image recognition apparatus is provided for use in a mobile vehicle. The driving image recognition device comprises: an image recording module, an image processing module, a display module and a control module. The camera recording module is placed on the mobile vehicle to capture an image of the surrounding vehicle. The image processing module is connected to the image recording module to calculate the distance between the objects in the image and the distance between the object and the mobile vehicle. The display module is connected to the image processing module to selectively display the image and the distance values calculated by the image processing module. The control module is connected to the image processing module and the display module to generate a prompt message and display the display module according to the corresponding relationship between the length or width of the vehicle body of the mobile vehicle and the distance between the objects.
較佳地，當行動載具與影像中之各物件間之距離值小於一第一預定距離時，控制模組計算行動載具之車身長度或寬度是否小於物件彼此間之距離值，若是，控制模組產生之提示訊息為一通行訊息。Preferably, when the distance between the mobile vehicle and the object in the image is less than a first predetermined distance, the control module calculates whether the length or width of the vehicle body of the mobile vehicle is smaller than the distance between the objects, and if so, The prompt message generated by the control module is a pass message.
較佳地，當行動載具之車身寬度大於物件彼此間之距離值時，控制模組計算行動載具之後照鏡收合後之車身寬度是否小於物件彼此間之距離值，若是，控制模組收合行動載具之後照鏡，且控制模組產生之提示訊息為通行訊息，若否，提示訊息則為一警示訊息。Preferably, when the width of the body of the mobile vehicle is greater than the distance between the objects, the control module calculates whether the width of the vehicle after the action carrier is smaller than the distance between the objects, and if so, the control module. After the action carrier is photographed, the prompt message generated by the control module is a pass message, and if not, the message is a warning message.
較佳地，當提示訊息為通行訊息時，控制模組產生一路徑偵測訊號至影像處理模組，使影像處理模組依據影像計算出一行進路徑，控制模組則依據行進路徑控制行動載具之方向盤及油門。Preferably, when the prompt message is a traffic message, the control module generates a path detection signal to the image processing module, so that the image processing module calculates a travel path according to the image, and the control module controls the action according to the travel path. With steering wheel and throttle.
較佳地，行車影像辨識裝置可更包含一警示模組，其連接控制模組，且影像處理模組可更依據影像計算出行動載具與影像中之各物件之間的一相對速度；當行動載具與各物件之距離值小於一第二預定距離且相對速度大於一預定速度時，控制模組產生一控制訊號至警示模組以發出一警示聲，或開啟行動載具之警示燈號；其中，第二預定距離小於第一預定距離。Preferably, the driving image recognition device further comprises a warning module connected to the control module, and the image processing module can further calculate a relative speed between the mobile vehicle and each object in the image according to the image; When the distance between the mobile vehicle and each object is less than a second predetermined distance and the relative speed is greater than a predetermined speed, the control module generates a control signal to the warning module to issue a warning sound or activate the warning light of the mobile vehicle. Wherein the second predetermined distance is less than the first predetermined distance.
根據本發明之目的，再提出一種行車影像辨識方法，適用裝設於ㄧ行動載具上之一行車影像辨識裝置，行車影像辨識裝置包含一攝像紀錄模組、一影像處理模組、一顯示模組以及一控制模組，而方法包含下列步驟：藉由攝像紀錄模組擷取行動載具周遭之一影像；利用影像處理模組計算出影像中所存在物件彼此間之距離值，以及物件與行動載具之間之距離值；通過顯示模組選擇性地顯示影像以及影像處理模組所計算出之各距離值；以及經由控制模組依據行動載具之車身長度或寬度與各物件彼此間之距離值之對應關係，產生一提示訊息並顯示於顯示模組。According to the object of the present invention, a driving image recognition method is provided, which is applicable to a driving image recognition device installed on a mobile vehicle. The driving image recognition device comprises an imaging recording module, an image processing module and a display module. And a control module, and the method comprises the steps of: capturing an image of the surrounding of the mobile vehicle by the camera recording module; calculating the distance between the objects in the image by using the image processing module, and the object and the object The distance between the mobile vehicles; the display module selectively displays the image and the distance values calculated by the image processing module; and the length or width of the vehicle according to the motion carrier and the objects of each other via the control module The correspondence between the distance values generates a prompt message and displays it on the display module.
承上所述，依本發明之行車影像辨識裝置及其方法，其可擷取行動載具周遭之影像，並可進一步地計算出影像中所存在物件彼此間之距離以及各物件與行動載具間之距離，以預先判斷各物件間之間距是否可供行動載具通過或停駐，進而發出提示予駕駛，可有效地提升行車安全。此外，行車影像辨識裝置更可依據該影像所計算出之各種數據，執行自動控制，例如自動縮放後照鏡、自動駕駛以及自動停車等功能。According to the invention, the driving image recognition device and the method thereof can capture images of the surrounding of the mobile vehicle, and can further calculate the distance between the objects existing in the image and the objects and the mobile vehicle. The distance between the two to pre-determine whether the distance between the objects can be used for the mobile vehicle to pass or stop, and then give a prompt to the driving, which can effectively improve driving safety. In addition, the driving image recognition device can perform automatic control according to various data calculated by the image, such as automatic zooming, mirroring, automatic driving, and automatic parking.
為利貴審查員瞭解本發明之技術特徵、內容與優點及其所能達成之功效，茲將本發明配合附圖，並以實施例之表達形式詳細說明如下，而其中所使用之圖式，其主旨僅為示意及輔助說明書之用，未必為本發明實施後之真實比例與精準配置，故不應就所附之圖式的比例與配置關係解讀、侷限本發明於實際實施上的權利範圍，合先敘明。The technical features, contents, and advantages of the present invention, as well as the advantages thereof, can be understood by the present inventors, and the present invention will be described in detail with reference to the accompanying drawings. The subject matter is only for the purpose of illustration and description. It is not intended to be a true proportion and precise configuration after the implementation of the present invention. Therefore, the scope and configuration relationship of the attached drawings should not be interpreted or limited. First described.
請參閱第1圖，其係為本發明之行車影像辨識裝置之實施例之方塊圖。如圖所示，本發明之行車影像辨識裝置1係設置於行動載具2上，行車影像辨識裝置1包含攝像紀錄模組11、影像處理模組12、顯示模組13、控制模組14以及警示模組15。攝像紀錄模組11設於行動載具2上，並用來擷取行動載具2周遭之影像。影像處理模組12連接於攝像紀錄模組11，並計算出影像中的車輛或障礙物彼此間的距離，或是各車輛或各障礙物與行動載具2間之距離。此外，影像處理模組亦可依據該影像計算出行動載具2與該影像中之各物件之間的一相對速度。其中，物件可為靜止或移動中的各種車輛、牆壁、三角錐以及各種形式的障礙物，但不以此為限。顯示模組13連接於影像處理模組12，並用來顯示該影像以及影像處理模組12所計算出之各距離值。控制模組14連接於影像處理模組12以及顯示模組13，並於行動載具2與該影像中之各物件間之距離值小於一第一預定距離時，依據行動載具2車身長度或寬度與該影像中之車輛或障礙物彼此間的距離值比對，以產生提示訊息並顯示於顯示模組13。警示模組15連接於控制模組14，並於行動載具2與該影像中之車輛或障礙物間之距離值小於一第二預定距離且該相對速度大於一預定速度時，發出警示聲警示行動載具2之駕駛或靠近行動載具2之車輛或開啟該行動載具2之方向燈。其中，第二預定距離係小於第一預定距離。Please refer to FIG. 1 , which is a block diagram of an embodiment of the driving image recognition device of the present invention. As shown in the figure, the driving image recognition device 1 of the present invention is disposed on the mobile vehicle 2, and the driving image recognition device 1 includes an imaging recording module 11, an image processing module 12, a display module 13, a control module 14, and Warning module 15. The camera recording module 11 is disposed on the mobile vehicle 2 and is used to capture images of the mobile vehicle for 2 weeks. The image processing module 12 is connected to the image recording module 11 and calculates the distance between the vehicles or obstacles in the image or the distance between each vehicle or each obstacle and the mobile vehicle 2. In addition, the image processing module can also calculate a relative speed between the mobile carrier 2 and each object in the image according to the image. Among them, the object can be various vehicles, walls, triangular cones and various forms of obstacles in static or moving, but not limited thereto. The display module 13 is connected to the image processing module 12 and is used to display the image and the distance values calculated by the image processing module 12. The control module 14 is connected to the image processing module 12 and the display module 13 and is based on the length of the vehicle 2 when the distance between the mobile carrier 2 and each object in the image is less than a first predetermined distance. Or the width is compared with the distance between the vehicles or obstacles in the image to generate a prompt message and displayed on the display module 13. The warning module 15 is connected to the control module 14 and issues an alert sound when the distance between the mobile vehicle 2 and the vehicle or obstacle in the image is less than a second predetermined distance and the relative speed is greater than a predetermined speed. The vehicle of the mobile vehicle 2 or the vehicle near the mobile vehicle 2 or the direction light of the mobile vehicle 2 is turned on. Wherein the second predetermined distance is less than the first predetermined distance.
於此實施例中，當影像處理模組12計算出影像中的各種資訊後，控制模組14可預先比對車輛長度或寬度與各間距值，以產生一提示訊息並顯示於顯示模組13。因此，駕駛可依據此提示訊息得知行動載具2是否可通過前方各物件之間，或各物件間之間距是否足夠提供行動載具2停車之用。In this embodiment, after the image processing module 12 calculates various information in the image, the control module 14 can compare the length or width of the vehicle and the distance values in advance to generate a prompt message and display it on the display module 13 . . Therefore, the driver can know whether the mobile vehicle 2 can pass between the objects in front, or whether the distance between the objects is sufficient to provide parking for the mobile vehicle 2 according to the prompt message.
進一步地，控制模組14可依據影像處理模組所計算出之各資訊，控制行動載具2之行車速度、引擎轉速、水箱水溫、檔位、手煞車及煞車、方向盤、駐車燈、緊急警示燈、左右方向燈、大燈、小燈、左右車門開啟及關閉、後車門開啟及關閉、引擎蓋門、進氣閥油門、後照鏡之開合、安全帶以及電瓶電壓等等，但不以此為限。Further, the control module 14 can control the driving speed of the mobile vehicle 2, the engine speed, the water temperature of the water tank, the gear position, the handbrake and the brake, the steering wheel, the parking lamp, and the emergency according to the information calculated by the image processing module. Warning lights, left and right direction lights, headlights, small lights, left and right door opening and closing, rear door opening and closing, hood door, intake valve throttle, rear view mirror opening, seat belt and battery voltage, etc., but Not limited to this.
因此，本發明之行車影像辨識裝置1可使車輛能具有近接感測、判斷通道是否可通過、物件間之間距是否可供停車、自動駕駛以及自動停車等功能，使民眾於駕駛該車輛上更為方便。為使便於理解，以下將詳細描述行車影像辨識裝置1的詳細運作程序。Therefore, the driving image recognition device 1 of the present invention can enable the vehicle to have proximity sensing, determine whether the passage can pass, whether the distance between objects is available for parking, automatic driving, and automatic parking, so that the public can drive the vehicle. For convenience. For ease of understanding, the detailed operational procedure of the driving image recognition device 1 will be described in detail below.
當使用者駕駛行動載具2時，攝像紀錄模組11會持續擷取行動載具2周遭之影像。影像處理模組12則依據該影像計算影像中之各物件(車輛或障礙物)彼此間之距離值、各物件與行動載具2間之距離值以及各物件與行動載具2之間的相對速度。當行動載具2與該影像中之各物件間之距離值小於一第一預定距離時，控制模組14係計算行動載具2之車身長度或寬度是否小於物件彼此間之距離值，若是，則表示物件間之間距可供行動載具2通過，所以控制模組14產生一通行訊息並顯示於顯示模組13。若否，控制模組14則接著計算行動載具2之後照鏡收合後的車身寬度是否小於物件彼此間之距離值，若是，控制模組14係收合行動載具2之後照鏡，並產生一通行訊息顯示於顯示模組13；若否，控制模組14則係產生一警示訊息並顯示於顯示模組13。藉此，行車影像辨識裝置1可預先幫助駕駛進行判斷並顯示提示訊息，使駕駛該行動載具2之民眾可依據顯示模組13所顯示之通行訊息或警示訊息，得知該行動載具2是否可通過前方各物件間所夾之間距，或是可得知是否可執行停車動作。When the user drives the mobile vehicle 2, the camera recording module 11 continuously captures images of the mobile vehicle for 2 weeks. The image processing module 12 calculates a distance value between each object (vehicle or obstacle) in the image, a distance between each object and the mobile vehicle 2, and a relative relationship between each object and the mobile vehicle 2 according to the image. speed. When the distance between the mobile vehicle 2 and each object in the image is less than a first predetermined distance, the control module 14 calculates whether the length or width of the vehicle body of the mobile vehicle 2 is smaller than the distance between the objects. , the distance between the objects is allowed to pass through the action carrier 2, so the control module 14 generates a traffic message and displays it on the display module 13. If not, the control module 14 then calculates whether the vehicle body width after the camera carrier 2 is smaller than the distance between the objects, and if so, the control module 14 folds the action vehicle 2 and then the mirror, and A traffic message is displayed on the display module 13; if not, the control module 14 generates a warning message and displays it on the display module 13. Therefore, the driving image recognition device 1 can assist the driving to judge and display the prompt message, so that the driving the mobile device 2 can know the mobile vehicle 2 according to the traffic message or the warning message displayed by the display module 13. Whether it is possible to pass the distance between the objects in front, or whether the parking action can be performed.
再者，當行動載具2與周遭之物件的距離小於一第二預定距離且該相對速度大於一預定速度時，例如後方周遭車輛快速接近行動載具2時，控制模組14則產生控制訊號至警示模組15，以發出警示聲提示行動載具2之駕駛。或者，控制模組14可開啟行動載具2之第三煞車燈作為警示燈號，以警示接近行動載具2周遭之物件。此設計係為了提示行動載具2之駕駛太靠近周遭之物件，或者是提示太靠近行動載具2之車輛。因此第二預定距離係小於第一預定距離。其中，第一預定距離及第二預定距離可依據使用者之需求而進行設定。Moreover, when the distance between the mobile vehicle 2 and the surrounding object is less than a second predetermined distance and the relative speed is greater than a predetermined speed, for example, when the rear surrounding vehicle approaches the mobile vehicle 2 quickly, the control module 14 generates a control signal. To the warning module 15, a warning sound is issued to prompt the driving of the mobile vehicle 2. Alternatively, the control module 14 can activate the third brake light of the mobile vehicle 2 as a warning light to alert the object 2 of the action vehicle. This design is intended to alert the vehicle 2 that the driving of the vehicle 2 is too close to the surrounding object, or to the vehicle that is too close to the mobile vehicle 2. Therefore the second predetermined distance is less than the first predetermined distance. The first predetermined distance and the second predetermined distance may be set according to the needs of the user.
值得一提的是，當控制模組14產生之提示訊息為通行訊息時，控制模組14可同時產生一路徑偵測訊號至影像處理模組12，使影像處理模組12從所擷取之影像中計算出可供行動載具2通過之行進路徑，並將此行進路徑回傳至控制模組14。控制模組14在接收到行進路徑後，會依據此行進路徑控制行動載具2之方向盤及油門，以達到自動駕駛之功效。It is worth mentioning that when the prompt message generated by the control module 14 is a traffic message, the control module 14 can simultaneously generate a path detection signal to the image processing module 12, so that the image processing module 12 can capture the image. A travel path through which the mobile vehicle 2 passes is calculated in the image, and the travel path is transmitted back to the control module 14. After receiving the travel path, the control module 14 controls the steering wheel and the throttle of the mobile vehicle 2 according to the travel path to achieve the effect of automatic driving.
此外，當影像處理模組12預先計算出可供行動載具2通行之行進路徑後，亦可將此行進路徑顯示於顯示模組13，以提供駕駛行動載具2之民眾參考之用。In addition, after the image processing module 12 pre-calculates the travel path for the mobile carrier 2 to pass, the travel path can also be displayed on the display module 13 to provide the public reference for the driving action vehicle 2.
進一步地，行車影像辨識裝置1之顯示模組13可為一觸控式顯示面板。當顯示模組13顯示該影像時，駕駛可於該影像上點擊欲行進之位置，使影像處理模組12可依據該位置計算較符合使用者需求之行進路徑。再者，控制模組14可依據該行進路徑自動控制行動載具2通過前方物件間之通道，或控制行動載具2安全無誤地停入兩物件所夾之間距中。Further, the display module 13 of the driving image recognition device 1 can be a touch display panel. When the display module 13 displays the image, the driving can click the position to be traveled on the image, so that the image processing module 12 can calculate a traveling path that conforms to the user's demand according to the position. Moreover, the control module 14 can automatically control the movement of the mobile vehicle 2 through the front object according to the travel path, or control the mobile vehicle 2 to safely stop into the space between the two objects.
順帶一提的是，行車影像辨識裝置1亦可設計成讓使用者可點擊顯示模組13上所顯示之車輛，並由影像處理模組12計算行動載具2與該車輛之距離，再透過控制模組14自動跟隨該車輛行進，並保持於一預定距離，以達到自動跟車之功效。Incidentally, the driving image recognition device 1 can also be designed to allow the user to click on the vehicle displayed on the display module 13, and the image processing module 12 calculates the distance between the mobile vehicle 2 and the vehicle. The control module 14 automatically follows the vehicle and maintains it at a predetermined distance to achieve the effect of automatic follow-up.
請參閱第2(a)~(d)圖，其係為本發明之行車影像辨識裝置之實施例之第一示意圖至第四示意圖。如第2(a)圖所示，位於行動載具2前方之二物件3間之距離值為d1，各物件3與行動載具2之距離分別為D1及D2，而行動載具2之車身寬度為d2。因為d1大於d2，所以影像處理模組可依據攝像紀錄裝置所擷取之影像計算出行進路徑P1，並經由控制模組控制行動載具2自動行駛於行進路徑P1。其中，D1及D2係小於第一預定距離。Please refer to FIG. 2(a)-(d), which are first to fourth schematic views of an embodiment of the driving image recognition device of the present invention. As shown in Fig. 2(a), the distance between the two objects 3 in front of the mobile vehicle 2 is d1, the distance between each object 3 and the mobile vehicle 2 is D1 and D2, respectively, and the body of the mobile vehicle 2 The width is d2. Because d1 is greater than d2, the image processing module can calculate the travel path P1 according to the image captured by the image capture device, and control the mobile vehicle 2 to automatically travel on the travel path P1 via the control module. Wherein D1 and D2 are smaller than the first predetermined distance.
如第2(b)及2(c)圖所示，位於行動載具2前方之二物件3間之距離值為d1，其小於行動載具2之車身寬度d2。因此，行動載具2不能直接通過前方二物件3之間。於是，控制模組計算行動載具2之後照鏡收合後的車身寬度d3是否小於d1，若是，影像處理模組則依據攝像紀錄裝置所擷取之影像計算出行進路徑P2，並經由控制模組控制行動載具2自動行駛於行進路徑p2。As shown in Figures 2(b) and 2(c), the distance between the two objects 3 located in front of the mobile vehicle 2 is d1, which is smaller than the vehicle body width d2 of the mobile vehicle 2. Therefore, the action carrier 2 cannot pass directly between the two objects 3 in front. Therefore, the control module calculates whether the vehicle body width d3 after the action of the camera 2 is less than d1, and if so, the image processing module calculates the travel path P2 according to the image captured by the image recording device, and passes the control mode. The group control action vehicle 2 automatically travels on the travel path p2.
如第2(d)圖所示，位於行動載具2後方之物件3與行動載具2之距離值為D3，其係小於第二預定距離，且此第二預定距離小於第一預定距離。因此，控制模組係產生控制訊號至警示模組，以發出警示聲警告行動載具2之駕駛。或者，控制模組也可開啟行動載具2之方向燈，以警示後方之物件3。As shown in FIG. 2(d), the distance between the object 3 located behind the mobile vehicle 2 and the mobile vehicle 2 is D3, which is less than the second predetermined distance, and the second predetermined distance is less than the first predetermined distance. Therefore, the control module generates a control signal to the warning module to issue a warning sound to warn the driving of the mobile vehicle 2. Alternatively, the control module can also turn on the directional light of the mobile vehicle 2 to alert the object 3 behind.
儘管前述在說明本發明之行車影像辨識裝置的過程中，亦已同時說明本發明之行車影像辨識方法的概念，但為求清楚起見，以下仍另繪示流程圖詳細說明。Although the concept of the driving image recognition method of the present invention has been described in the foregoing in the description of the driving image recognition device of the present invention, for the sake of clarity, a detailed description of the flowchart will be further described below.
請參閱第3圖，其係為本發明之行車影像辨識方法之流程圖。
在步驟S11中：藉由該攝像紀錄模組擷取該行動載具周遭之一影像。
在步驟S12中：利用該影像處理模組計算出該影像中所存在物件彼此間之距離值，以及物件與該行動載具之間之距離值。
在步驟S13中：通過該顯示模組選擇性地顯示該影像以及該影像處理模組所計算出之各距離值。
在步驟S14中：經由該控制模組依據該行動載具之車身長度或寬度與各物件彼此間之距離值之對應關係，產生一提示訊息並顯示於該顯示模組。Please refer to FIG. 3, which is a flow chart of the method for identifying the driving image of the present invention.
In step S11, one image of the surrounding of the mobile vehicle is captured by the camera recording module.
In step S12, the image processing module is used to calculate the distance value between the objects existing in the image and the distance between the object and the mobile vehicle.
In step S13, the image and the distance values calculated by the image processing module are selectively displayed by the display module.
In step S14, a message is generated and displayed on the display module according to the corresponding relationship between the length or width of the vehicle body of the mobile vehicle and the distance between the objects.
本發明之行車影像辨識方法的詳細說明以及實施方式已於前面敘述本發明之行車影像辨識裝置時描述過，故在此便不再重複敘述。The detailed description and embodiment of the driving image recognition method of the present invention have been described in the foregoing description of the driving image recognition device of the present invention, and therefore will not be repeatedly described herein.
綜上所述，本發明之行車影像辨識裝置及其方法除了可擷取行動載具周遭之影像外，更可依據該影像以影像處理方法擷取各種影像資訊，並顯示於顯示模組，以預先提供駕駛者進一步的駕車資訊，並有效地提升行車安全。此外，控制模組可依據影像處理模組所計算出之各種數據執行各種自動控制功能，如自動縮放後照鏡、自動駕駛以及自動停車等功能。In summary, the driving image recognition device and the method thereof can capture image of the surrounding of the mobile vehicle, and can also capture various image information by using the image processing method according to the image, and display the image information in the display module. Provide drivers with further driving information in advance and effectively improve driving safety. In addition, the control module can perform various automatic control functions according to various data calculated by the image processing module, such as automatic zooming, mirroring, automatic driving, and automatic parking.
以上所述僅為舉例性，而非為限制性者。任何未脫離本發明之精神與範疇，而對其進行之等效修改或變更，均應包含於後附之申請專利範圍中。The above is intended to be illustrative only and not limiting. Any equivalent modifications or alterations to the spirit and scope of the invention are intended to be included in the scope of the appended claims.
1．．．行車影像辨識裝置1. . . Driving image recognition device
11．．．攝像紀錄模組11. . . Camera recording module
12．．．影像處理模組12. . . Image processing module
13．．．顯示模組13. . . Display module
14．．．控制模組14. . . Control module
15．．．警示模組15. . . Warning module
2．．．行動載具2. . . Action vehicle
3．．．物件3. . . object
D1、D2、D3、d1、d2．．．距離D1, D2, D3, d1, d2. . . distance
P1、P2．．．行進路徑P1, P2. . . Travel path
S11~S14．．．步驟流程S11~S14. . . Step flow
第1圖係為本發明之行車影像辨識裝置之實施例之方塊圖。
第2(a)圖係為本發明之行車影像辨識裝置之實施例之第一示意圖。
第2(b)圖係為本發明之行車影像辨識裝置之實施例之第二示意圖。
第2(c)圖係為本發明之行車影像辨識裝置之實施例之第三示意圖。
第2(d)圖係為本發明之行車影像辨識裝置之實施例之第四示意圖。
第3圖係為本發明之行車影像辨識方法之流程圖。Figure 1 is a block diagram of an embodiment of the driving image recognition device of the present invention.
Fig. 2(a) is a first schematic view showing an embodiment of the driving image recognition device of the present invention.
Figure 2(b) is a second schematic view of an embodiment of the driving image recognition device of the present invention.
Figure 2(c) is a third schematic view of an embodiment of the driving image recognition device of the present invention.
The second (d) is a fourth schematic diagram of an embodiment of the driving image recognition device of the present invention.
Figure 3 is a flow chart of the method for identifying the driving image of the present invention.
1．．．行車影像辨識裝置1. . . Driving image recognition device
11．．．攝像紀錄模組11. . . Camera recording module
12．．．影像處理模組12. . . Image processing module
13．．．顯示模組13. . . Display module
14．．．控制模組14. . . Control module
15．．．警示模組15. . . Warning module
2．．．行動載具2. . . Action vehicle
Claims (10)
一攝像紀錄模組，係設置於一行動載具上，以擷取該行動載具周遭之一影像；
一影像處理模組，係連接該攝像紀錄模組，以計算出該影像中所存在物件彼此間之距離值，以及物件與該行動載具之間之距離值；
一顯示模組，係連接該影像處理模組，以選擇性地顯示該影像以及該影像處理模組所計算出之各距離值；以及
一控制模組，係連接該影像處理模組及該顯示模組，以依據該行動載具之車身長度或寬度與各物件彼此間之距離值之對應關係，產生一提示訊息並顯示於該顯示模組。A driving image recognition device comprising:
A camera recording module is disposed on a mobile vehicle to capture an image of the surrounding of the mobile vehicle;
An image processing module is connected to the camera recording module to calculate a distance value between the objects existing in the image and a distance between the object and the mobile vehicle;
a display module is coupled to the image processing module for selectively displaying the image and the distance values calculated by the image processing module; and a control module connecting the image processing module and the display The module generates a prompt message and displays it on the display module according to the corresponding relationship between the length or width of the vehicle body of the mobile vehicle and the distance between the objects.
藉由該攝像紀錄模組擷取該行動載具周遭之一影像；
利用該影像處理模組計算出該影像中所存在物件彼此間之距離值，以及物件與該行動載具之間之距離值；
通過該顯示模組選擇性地顯示該影像以及該影像處理模組所計算出之各距離值；以及
經由該控制模組依據該行動載具之車身長度或寬度與各物件彼此間之距離值之對應關係，產生一提示訊息並顯示於該顯示模組。A driving image recognition method is applicable to a driving image recognition device mounted on a mobile vehicle, the driving image recognition device comprising a camera recording module, an image processing module, a display module and a control module. And the method includes the following steps:
Taking an image of the surrounding of the mobile vehicle by the camera recording module;
Using the image processing module to calculate a distance value between the objects existing in the image and a distance between the object and the mobile vehicle;
Selecting, by the display module, the image and the distance values calculated by the image processing module; and determining, by the control module, the length or width of the vehicle body and the distance between the objects Corresponding relationship generates a prompt message and displays it on the display module.
當該行動載具與該影像中之各物件間之距離值小於一第一預定距離時，藉由該控制模組係計算該行動載具之車身長度或寬度是否小於物件彼此間之距離值，若是，該控制模組產生之該提示訊息係為一通行訊息。For example, the driving image recognition method described in claim 6 of the patent application further includes the following steps:
When the distance between the mobile vehicle and the object in the image is less than a first predetermined distance, the control module calculates whether the length or width of the vehicle is smaller than the distance between the objects. If yes, the prompt message generated by the control module is a pass message.
當該行動載具之車身寬度大於物件彼此間之距離值時，藉由該控制模組計算該行動載具之後照鏡收合後之車身寬度是否小於物件彼此間之距離值，若是，利用該控制模組收合該行動載具之後照鏡，且該控制模組產生之該提示訊息係為該通行訊息，若否，該提示訊息則係為一警示訊息。For example, the driving image recognition method described in claim 7 of the patent application further includes the following steps:
When the vehicle body width of the mobile vehicle is greater than the distance between the objects, the control module calculates whether the vehicle body width after the camera is folded after the action carrier is smaller than the distance between the objects, and if so, The control module captures the camera after the action vehicle is captured, and the prompt message generated by the control module is the traffic message. If not, the message is a warning message.
當該提示訊息為該通行訊息時，藉由該控制模組產生一路徑偵測訊號至該影像處理模組，使該影像處理模組依據該影像計算出一行進路徑；以及
利用該控制模組依據該行進路徑控制該行動載具之方向盤及油門。For example, the driving image recognition method described in claim 8 of the patent application further includes the following steps:
When the prompt message is the traffic message, the control module generates a path detection signal to the image processing module, so that the image processing module calculates a travel path according to the image; and utilizes the control module. The steering wheel and the throttle of the mobile vehicle are controlled according to the travel path.
藉由該影像處理模組依據該影像計算出該行動載具與該影像中之各物件之間的一相對速度；
當該行動載具與各物件之距離值小於一第二預定距離且該相對速度大於一預定速度時，藉由該控制模組產生一控制訊號至該警示模組以發出一警示聲，或開啟該行動載具之一警示燈號；其中，該第二預定距離係小於該第一預定距離。The driving image recognition method of claim 9, wherein the driving image recognition device further comprises a warning module, and the method further comprises the following steps:
Calculating, by the image processing module, a relative speed between the mobile vehicle and each object in the image according to the image;
When the distance between the mobile vehicle and the object is less than a second predetermined distance and the relative speed is greater than a predetermined speed, the control module generates a control signal to the warning module to issue a warning sound or turn on One of the action vehicles is a warning light number; wherein the second predetermined distance is less than the first predetermined distance.
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| TWI607911B (en) * | 2016-04-28 | 2017-12-11 | H P B Optoelectronic Co Ltd | Vehicle safety protection system and method |
| TWI776572B (en) * | 2021-06-29 | 2022-09-01 | 大陸商鴻富錦精密工業(深圳)有限公司 | Warning method, system, and transportation thereof |
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| CN104309533A (en) * | 2014-10-31 | 2015-01-28 | 成都众易通科技有限公司 | Vehicle driver assistance system |
| GB201818058D0 (en) * | 2015-05-18 | 2018-12-19 | Mobileye Vision Technologies Ltd | Safety system for a vehicle to detect and warn of a potential collision |
| CN104924988A (en) * | 2015-06-03 | 2015-09-23 | 奇瑞汽车股份有限公司 | Automatic car following system |
| TWI693578B (en) * | 2018-10-24 | 2020-05-11 | 緯創資通股份有限公司 | Image stitching processing method and system thereof |
| CN112721799A (en) * | 2019-10-12 | 2021-04-30 | 上海博泰悦臻电子设备制造有限公司 | Reminding method and device and computer storage medium |
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| JP3645196B2 (en) * | 2001-02-09 | 2005-05-11 | 松下電器産業株式会社 | Image synthesizer |
| KR20060021922A (en) * | 2006-01-26 | 2006-03-08 | 한민홍 | Two camera based obstacle detection method and device |
| DE102006041651A1 (en) * | 2006-08-24 | 2008-03-13 | Valeo Schalter Und Sensoren Gmbh | Motor vehicle ability determining method for use in e.g. parking space, in roadway, involves detecting restricted gap in roadway, and defining vehicle image of vehicle, and comparing vehicle image with restricted gap |
| JP2009049943A (en) * | 2007-08-22 | 2009-03-05 | Alpine Electronics Inc | Top view display unit using range image |
| JP2010121995A (en) * | 2008-11-18 | 2010-06-03 | Calsonic Kansei Corp | Device for generating distance image data for vehicle |
| US20110068953A1 (en) * | 2009-09-24 | 2011-03-24 | Salvador Toledo | Vehicle Park Assist System and Method for Parking a Vehicle Using Such System |
| CN102685516A (en) * | 2011-03-07 | 2012-09-19 | 李慧盈 | Active safety type assistant driving method based on stereoscopic vision |
| CN202018744U (en) * | 2011-04-12 | 2011-10-26 | 长安大学 | Vehicle safety driving assisting system based on monocular distance measurement |
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- 2012-10-19 TW TW101138636A patent/TW201416997A/en unknown
- 2012-11-06 CN CN201210436920.9A patent/CN103770703A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI607911B (en) * | 2016-04-28 | 2017-12-11 | H P B Optoelectronic Co Ltd | Vehicle safety protection system and method |
| TWI776572B (en) * | 2021-06-29 | 2022-09-01 | 大陸商鴻富錦精密工業(深圳)有限公司 | Warning method, system, and transportation thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103770703A (en) | 2014-05-07 |
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