TW201515888A - Warning system and method for vehicle - Google Patents

Abstract

A warning system for a vehicle includes a capture device, a processor device, and a warning device. The capture device is used to capture image about a scene, and generates a video stream. The processor device determines whether a moving object retains therein. When a moving object retains in the scene, the processor device generates speed of the moving object according to a location of the moving object and a frequency that the capture device captures image. The processor device further generates a number of warning levels according to the location and the speed of the moving object, to prompt the warning device to alarm.

Description

Vehicle warning system and method

The present invention relates to a vehicle warning system and method.

When the bus is parked, the knight who is often behind the locomotive or bicycle is forced to pass between the bus and the stop sign due to factors such as impatience waiting. However, the conventional bus equipment cannot distinguish between the condition of the bus door and the condition of the rear road. Therefore, when the vehicle personnel rush to get off the bus without paying attention to the road conditions such as the rear car, it is easy to cause the bus and the station to be forced. The vehicle between the cards accidentally occurred due to the fact that the vehicle was hit by the driver.

In view of the above, it is necessary to provide a vehicle warning system and method that can prompt the person getting off the road.

A vehicle warning system includes:

An image capturing device is configured to capture a scene to obtain an image frame corresponding to the scene, and the camera device is further configured to output an image image including a distance information of each object in the scene relative to the camera device;

a processing device, receiving an image frame transmitted by the camera device and including a distance information of each object in the scene relative to the camera device, and determining, according to the image frame, whether there is a moving object in the scene; when there is a moving object in the scene The processing device calculates the speed of the moving object according to the distance between the object and the photographing device and the frequency at which the camera captures the scene; the processing device also sets a corresponding warning level according to the position and speed of the moving object. ;and

A warning device outputs a corresponding warning message according to each warning level.

A vehicle warning method includes:

Obtaining an image image corresponding to a scene;

Outputting an image frame containing distance information of each object in the scene relative to a camera device;

Determining whether there is a moving object in the scene;

When there is a moving object in the scene, the speed of the moving object is calculated according to the distance between the moving object and the photographing device and the frequency at which the camera captures the scene;

Setting a corresponding warning level according to the position and speed of the moving object; and

The corresponding warning message is output according to each warning level.

The above vehicle early warning system and method set the corresponding early warning level according to the position and running speed of the moving object in the scene, so that it is convenient to remind the vehicle personnel to get off safely.

1 is a block diagram of a preferred embodiment of the vehicle warning system of the present invention.

Figure 2 is a block diagram of a preferred embodiment of the camera device and processing device of Figure 1.

3 is a schematic view of the warning device of FIG. 1 mounted on a vehicle.

4 is a schematic diagram of the image determination unit of FIG. 1 determining whether a moving object exists in the scene.

Figure 5 is a flow chart of a preferred embodiment of the vehicle warning method of the present invention.

Figure 6 is a flow chart of a preferred embodiment of step S4 of Figure 5.

Figure 7 is a flow chart of a preferred embodiment of step S5 of Figure 5.

Figure 8 is a flow chart included between step S7 and step S8 of Figure 5.

Referring to FIG. 1 , a preferred embodiment of the vehicle warning system of the present invention includes an imaging device 10 for acquiring an image frame of a scene 60 (shown in FIG. 4 ), a storage device 40 for storing the image frame, and a storage device 40 . The processing device 20 for determining whether there is a moving object in the scene and a warning device 30 for outputting a corresponding warning message according to the position and speed of the moving object in the scene 60. In the present embodiment, the imaging device 10 is mounted on the right front of the front portion of a vehicle 50 (shown in FIG. 3) for imaging the space behind the vehicle 50 (ie, the scene 60).

Referring to FIG. 2 and FIG. 3 , the camera device 10 includes a light beam generating unit 100 , a model establishing unit 102 , and an image output unit 104 .

The beam generating unit 100 is configured to continuously output a reference beam in the scene 60. The model establishing unit 102 acquires an image of the scene 60 and a distance between the object in the scene 60 and the camera device 10 according to a time difference between transmission and reception of the reference beam.

In this embodiment, the reference beam generated by the beam generating unit 100 is transmitted in the scene 60. When an object exists in the scene 60, the propagation of the reference beam will be hindered, and the reference beam is reflected back by the object. . When the camera device 10 receives the reference beam reflected by the object, the model establishing unit 102 calculates the object and the camera device 10 according to the time difference between transmitting the reference beam and receiving the reference beam and the speed of the reference beam transmission. The distance between them to create an image of the image containing the 3D model of the object. In the present embodiment, the distance between the object and the image pickup apparatus 10 is converted into a corresponding pixel value (255 to 0). For example, suppose the maximum distance that the camera device 10 can detect is 15 meters, and the maximum distance corresponding to the pixel value is 255. The model establishing unit 102 generates the object relative to the camera according to the relationship between the distance between the object and the camera device 10 and the pixel value corresponding to the maximum detection distance and the maximum detection distance. The pixel value of the distance between the devices 10. In the present embodiment, the imaging device 10 images the scene 60 at a frequency of capturing ten images per second.

The alert device 30 includes a warning light 300 and a warning tone playback device 302. The warning light 300 is mounted on the outside of the vehicle 50 to alert other vehicles or pedestrians outside the vehicle 50. The warning tone playing device 302 is installed at the position of the door 500 of the vehicle 50 to prompt the vehicle in the vehicle 50. personnel. In other embodiments, the warning light 300 can also be mounted inside the cabin of the vehicle 50 to alert the occupants inside the vehicle 50.

The image output unit 104 is configured to output an image screen of the three-dimensional model of the scene 60 generated by the model establishing unit 102.

The processing device 20 includes an image acquisition unit 200, an image determination unit 202, and an alert setting unit 204.

The image acquisition unit 200 is configured to acquire the image frame of the three-dimensional model including the scene 60 by the imaging device 10 .

The image determining unit 202 determines whether the moving image is present in the obtained image frame by the image acquiring unit 200.

Referring to FIG. 4, the image determining unit 202 determines whether there is a moving object in the scene 60 according to images adjacent to the two frames in the image. In this embodiment, images adjacent to two frames in the image frame are defined as first and second images 600 and 602, respectively. Specifically, it is assumed that a moving object 80 exists in both the first and second images 600 and 602. The image determining unit 202 obtains the feature value of the first image 600 and the feature value of the second image 602, and determines the first and second images 600 according to the feature values of the first image 600 and the second image 602. Whether there is an area with different feature values in the 602; when there is an area with different feature values in the first image 600 and the second image 602, the image determining unit 202 determines that there is a moving object in the scene 60. The image determining unit 202 also acquires the position of the moving object in the first and second images 600 and 602. When the feature values of the first image 600 and the second image 602 are the same, the image determining unit 202 determines that there is no moving object in the scene 60.

In the embodiment, when there is an area having different feature values in the first image 600 and the second image 602, the image determining unit 202 has different feature values in the first image 600 and the second image 602. The area acts as a third image 604. The image determining unit 202 further acquires the position of the moving object 80 in the first image 600 according to the first image 600 and the third image 604, such as the first position 83 in the first image 600; the image determining unit 202 The position of the moving object 80 in the second image 602 is obtained according to the second image 602 and the third image 604, such as a second position 82 in the second image 602.

In other embodiments, the image determining unit 204 obtains the corresponding object in the image according to the model detecting method, so as to obtain the position of the moving object 80 in the corresponding image, wherein the model detecting method is a conventional technique, so This will not be repeated here.

When there is a moving object in the scene 60, the alert setting unit 204 respectively acquires the distance between the moving object corresponding to the camera device 10 according to the position of the moving object in the two adjacent frames. Since the three-dimensional model of the moving object 80 includes the pixel value of the distance information between the object and the photographing device 10, the alert setting unit 204 calculates the object object 80 according to the position of the moving object in the corresponding image. a distance from the camera device 10, such as obtaining a distance between the moving object and the camera device 10 according to the first position 83 of the moving object in the first image 600, to obtain a first distance, The moving object acquires a distance between the moving object and the camera device 10 at a second position 82 in the second image 602 to obtain a second distance. The alert setting unit 204 further calculates the moving object speed according to the difference between the distance between the moving object and the camera device 10 in the adjacent two frames of images, and the frequency captured by the camera device 10, and according to the moving object currently The distance and speed of the imaging device 10 are set to correspond to an early warning level. If the warning level includes low warning, medium warning and high warning.

Specifically, when the shooting device 10 detects a distance of 15 meters and the shooting device 10 captures a frequency of ten frames per second, if the warning setting unit 204 calculates the position of the moving object in the two adjacent images Corresponding to the difference in distance between the photographing devices 10 being less than 0.6 meters, the speed of the moving object can be calculated to be less than 20 kilometers per hour. The alert setting unit 204 sets the moving object as a low alert. At this time, the warning setting unit 204 controls the warning sound playing device 302 in the warning device 30 to emit a relatively gentle sound, and also controls the warning light 300 to prompt a low blinking frequency yellow signal. When the shooting device 10 detects a distance of 15 meters and the shooting device 10 captures a frequency of ten frames per second, if the warning setting unit 204 calculates that the moving object corresponds to the position in the two adjacent images. When the distance difference between the photographing devices 10 is between 0.6 m and 1.1 m, the speed of the moving object can be calculated to be 20 to 40 km per hour. The alert setting unit 204 sets the moving object as a medium alert. At this time, the warning setting unit 204 controls the warning sound playing device 302 in the warning device 30 to emit a prompting sound, and also controls the warning light 300 to prompt a high blinking frequency yellow prompt. When the shooting device 10 detects a distance of 15 meters and the shooting device 10 captures a frequency of ten frames per second, if the warning setting unit 204 calculates that the moving object corresponds to the position in the two adjacent images. When the distance difference between the photographing devices 10 is greater than 1.1 meters, the speed of the moving object can be calculated to be greater than 40 kilometers per hour. The alert setting unit 204 sets the moving object as a height alert. At this time, the warning setting unit 204 controls the warning sound playing device 302 in the warning device 30 to emit a prompt sound with a high decibel and a high decibel frequency, and also controls the warning light 300 to prompt a high blinking frequency yellow prompt.

In other embodiments, the alert setting unit 204 can also set a corresponding alert level according to the weight between the current position of the moving object 80 and the speed of the moving object 80.

In other embodiments, when there is a moving object 80 in the scene 60, the image determining unit 202 determines whether the running direction of the moving object 80 is away from the vehicle 50 according to the two frames of images adjacent to each other in the image frame. When the moving object 80 is operated away from the vehicle 50, the alert setting unit 204 controls the alert device 30 not to output an alert signal. Otherwise, when the moving object 80 is running toward the vehicle 50, the warning setting unit 204 sets a corresponding warning level according to the position and speed of the moving object 80 to prompt the insider to alert the vehicle.

In other embodiments, when there is no moving object in the scene 60, the alert setting unit 204 does not output an alert message.

In this embodiment, the image determining unit 202 selects a distance between the pixel value of the first position 83 of the first image 600 and the pixel value of the second position 82 of the second image 602 and the camera device 10 respectively. A relationship is made to determine whether the moving object 80 is running away from the vehicle 50, such as when the second position 82 of the second image 602 is greater than the first position 83 of the first image 600 relative to the camera 10 with respect to the camera device 10 When the distance is determined, the moving object 80 is determined to be away from the vehicle 50; otherwise, when the second position 82 of the second image 602 is smaller than the first position 83 of the first image 600 relative to the camera device 10 When the distance of the imaging device 10 is reached, it is determined that the moving object 80 is traveling toward the vehicle 50.

Referring to FIG. 5, an embodiment of the vehicle warning method of the present invention includes the following steps:

In step S1, the scene 60 is photographed by the imaging device 10 at a predetermined frequency to acquire two image frames with respect to the scene.

In step S2, the two image frames are three-dimensionally modeled to obtain a three-dimensional model corresponding to the scene. The three-dimensional model includes a distance information between each object in the scene and the camera device 10. The distance information of each object is represented by the corresponding pixel value.

In step S3, the image determining unit 202 detects the two image frames.

In step S4, the image determining unit 202 determines whether there is a moving object in the scene. When there is a moving object in the scene, step S5 is performed; otherwise, when there is no moving object in the scene, the process returns to step S1.

In step S5, the image determining unit 202 acquires the position of the moving object in the two adjacent frames.

In step S6, the alert setting unit 204 respectively acquires the distance of the moving object corresponding to the camera device according to the position of the moving object in the two adjacent frames.

In step S7, the alert setting unit 204 calculates the moving speed of the moving object according to the difference between the distance of the moving object in the two frames of the image corresponding to the distance of the image capturing device 10 and the frequency of the image capturing.

Step S8, according to the current object and the position and speed of the camera device, the corresponding warning level is set.

In step S9, the corresponding warning signal is output according to the warning level.

Referring to FIG. 6, in this embodiment, step S4 further includes the following steps:

In step S40, the image determining unit 202 acquires feature values of the first and second images of two adjacent frames.

In step S44, the image determining unit 202 determines whether the first and second images have regions with different feature values. When the first and second images have regions with different feature values, step S46 is performed; otherwise, when the first and second images do not have regions with different feature values, step S48 is performed.

In step S46, the image determining unit 202 determines that there is a moving object in the scene.

In step S48, the image determining unit 202 determines that there is no moving object in the scene.

Referring to FIG. 7, in this embodiment, step S5 further includes the following steps:

In step S52, the image determining unit 202 uses the region between the first image 600 and the second image as the third image 604.

In step S56, the image determining unit 202 acquires the first position 83 of the moving object in the first image 600 according to the first image 600 and the third image 604.

In step S58, the image determining unit 202 acquires the second position 83 of the moving object in the second image 602 according to the second image 602 and the third image 604.

Referring to FIG. 8, in this embodiment, the following steps are further included between step S7 and step S8:

Step S74, the warning setting unit 204 determines whether the moving object is away from the vehicle according to the position of the moving object in the adjacent images of the two frames before and after, and when the moving object is away from the vehicle, step S76 is performed; otherwise, when the moving object When the vehicle is running, step S8 is performed.

In step S76, the warning signal is turned off.

The above vehicle early warning system and method set the corresponding early warning level according to the position and running speed of the moving object in the scene, so that it is convenient to remind the vehicle personnel to get off safely. The vehicle warning system and method further controls whether the warning device transmits a corresponding warning signal according to the running direction of the moving object, thereby improving the accuracy of the warning.

In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above-described embodiments, and those skilled in the art will be able to make equivalent modifications or variations in accordance with the spirit of the present invention. It should be covered by the following patent application.

10‧‧‧ camera

20‧‧‧Processing device

30‧‧‧Warning device

40‧‧‧Storage device

100‧‧‧beam generating unit

102‧‧‧Model building unit

104‧‧‧Image output unit

200‧‧‧Image acquisition unit

202‧‧‧Image Judging Unit

204‧‧‧Warning setting unit

60‧‧‧Scenario

80‧‧‧moving objects

600, 602, 604‧‧ first to third images

50‧‧‧ Vehicles

300‧‧‧ warning lights

500‧‧ ‧ car door

302‧‧‧Warning sound playback device

83‧‧‧ first position

82‧‧‧second position

no

10‧‧‧ camera

20‧‧‧Processing device

30‧‧‧Warning device

40‧‧‧Storage device

Claims (14)

A vehicle warning system includes:
An image capturing device is configured to capture a scene to obtain an image frame corresponding to the scene, and the camera device is further configured to output an image image including a distance information of each object in the scene relative to the camera device;
a processing device, receiving an image frame transmitted by the camera device and including a distance information of each object in the scene relative to the camera device, and determining, according to the image frame, whether there is a moving object in the scene; when there is a moving object in the scene When the processing device calculates the speed of the moving object according to the distance difference between the moving object and the shooting device and the frequency at which the camera captures the scene; the processing device is further configured according to the speed of the moving object. Setting a corresponding warning level; and a warning device, outputting a corresponding warning message according to each warning level. The vehicle warning system of claim 1, wherein the camera device comprises a beam generating unit, a model establishing unit and an image output unit, wherein the beam generating unit is configured to emit a reference beam; when the scene exists The reference beam is reflected when the object is reflected; the model establishing unit generates a distance information corresponding to the camera according to the time difference between the emitted reference beam and the received reference beam, the image output unit output containing the object An image screen of the distance message relative to the camera. The vehicle warning system of claim 1, wherein the processing device comprises an image acquisition unit, an image determination unit, and an alarm setting unit; the image acquisition unit is configured to acquire an image image output by the camera device, The image determining unit acquires the first and second images adjacent to the two frames in the image frame, and acquires feature values of the first and second images; the image determining unit determines whether the first and second images have An area of different feature values; when there are regions of different feature values in the first and second images, the image determining unit determines that there is a moving object in the scene; when the feature values in the first and second images are the same, The image determination unit determines that there is no moving object in the scene. The vehicle warning system according to claim 3, wherein the image determining unit further acquires a position of the moving object in two adjacent frames, and obtains the position of the moving object in the two adjacent frames. The moving object corresponds to the distance of the camera, and the image determining unit further calculates the moving object speed according to the difference between the distance between the moving object and the camera in the two adjacent frames and the frequency captured by the camera. The vehicle warning system according to the fourth aspect of the invention, wherein the image determining unit uses the region of the first image and the second image as a third image; the image determining unit is configured according to the first image. And acquiring a first position of the moving object in the first image, and acquiring a second position of the moving object in the second image according to the second image and the third image; the warning setting unit is configured according to the The moving object calculates the moving object speed at a difference between a first position in the first image and a distance corresponding to the camera in the second position in the second image and a frequency captured by the camera. The vehicle warning system according to claim 5, wherein the image determining unit further determines a running direction of the moving object according to a distance of a position of the moving object corresponding to the camera device in the adjacent images of the two frames before and after; When the distance of the second position of the second image relative to the camera device is greater than the distance of the first position of the first image relative to the camera device, the image determining unit determines that the moving object is traveling away from the vehicle; when the second image is When the distance of the second position relative to the imaging device is smaller than the distance of the first position of the first image with respect to the imaging device, the image determination unit determines that the moving object is traveling toward the vehicle. The vehicle warning system according to any one of claims 1-6, wherein the distance information of the object in the scene is represented by a corresponding pixel value, and the maximum distance detected by the camera device corresponds to a pixel value. a first value; the model establishing unit generates a pixel value corresponding to the object according to a proportional relationship between a distance between the object and the camera device and a maximum distance and a pixel value corresponding to the maximum distance . The vehicle warning system according to any one of claims 2-6, wherein the warning setting unit sets a corresponding warning level according to the moving object speed, when the speed of the moving object is less than a first preset value, The warning device outputs a first warning message; when the speed of the moving object is greater than the first preset value and less than a second preset value, the warning device outputs a second warning message; when the speed of the moving object is greater than the The second preset value outputs the third alert message to the alerting device. A vehicle warning method includes:
Obtaining an image screen corresponding to a scene of a vehicle;
Outputting an image frame containing distance information of each object in the scene relative to a camera device;
Determining whether there is a moving object in the scene;
When there is a moving object in the scene, the speed of the moving object is calculated according to the distance difference between the moving object and the shooting device, and the frequency at which the camera captures the scene;
Setting a corresponding warning level according to the position and speed of the moving object; and outputting a corresponding warning message according to each warning level. The vehicle warning method according to claim 9, wherein the step of “determining whether there is a moving object in the scene” includes:
Obtaining feature values of the first and second images adjacent to the two frames in the image frame;
Determining whether there are regions having different feature values in the first and second images;
When there are images of different feature values in the first and second images, it is determined that there is a moving object in the scene;
When the first and second images have the same feature value, it is determined that there is no moving object in the scene. The vehicle warning method according to claim 9, wherein the step of calculating the distance according to a distance difference between the two adjacent images in the front and rear of the moving object and the frequency at which the camera captures the scene is The speed of moving objects" includes:
And determining, by the first image, an area different from the feature value in the second image as a third image;
Acquiring a first position of the moving object in the first image according to the first image and the third image;
Acquiring a second position of the moving object in the second image according to the second image and the third image; and correspondingly corresponding to the second position in the second image according to the moving object in the first image The moving object speed is calculated by the difference between the distances of the imaging device and the frequency captured by the imaging device. The vehicle warning method according to claim 11, wherein the step of setting a corresponding warning level according to the speed of the moving object includes:
When the distance of the second position of the second image relative to the camera device is greater than the distance between the first position of the first image and the camera device, determining that the moving object travels away from the vehicle does not output a warning message;
When the distance of the second position of the second image relative to the camera device is less than the distance between the first position of the first image and the camera device, the image determining unit determines that the moving object is traveling toward the vehicle, and performs the step “According to Each warning level outputs a corresponding warning message." The vehicle warning method according to claim 11 or 12, wherein the step of setting a corresponding warning level according to the speed of the moving object further includes:
When the speed of the moving object is less than a first preset value, outputting a first warning message;
When the speed of the moving object is greater than the first preset value and less than a second preset value, outputting a second warning message; and when the speed of the moving object is greater than the second preset value, outputting a third warning message. The vehicle warning method according to claim 13 , wherein the step of “outputting an image frame including a distance information of each object in the scene relative to the camera device” includes:
Sending a reference beam in the scene;
When the scene has an object stored therein, the reference beam is reflected;
And generating a distance information corresponding to the object according to a time difference between the reference beam emitted and the reference beam received by the reference beam being reflected and reflected, and outputting an image picture including the distance information of the object.