TW201600376A - Image based intelligent security system for vehicle combined with sensor - Google Patents
Image based intelligent security system for vehicle combined with sensor Download PDFInfo
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Abstract
Description
下列敘述是有關於一種車用影像安全系統，特別是有關於一種在攝影模組上結合感測器技術以及影像偵測處理技術作綜合判斷以產生安全警示結果的車用智能影像安全系統。
The following description relates to a vehicle image security system, and more particularly to a vehicle intelligent image security system that combines sensor technology and image detection processing technology on a camera module to make a comprehensive judgment to generate a safety warning result.
車用影像安全系統為現今車輛上常配備有的電子系統，藉由裝配攝影機以及感測器在車身周圍，攝影機以拍攝車身周圍之影像，以降低駕駛之視覺死角並提升行車安全，而感測器以超音波技術或雷達技術偵測車身周圍之物體。請參見第1圖，其為習知技藝之車用影像安全系統之方塊圖。傳統車用影像系統大多採用中央運算機制，其包含多個攝影單元31、多個感測器2以及一個中央控制裝置9。所有攝影單元31所擷取之影像以及所有感測器2產生的感測訊號皆傳送到中央控制裝置9，由中央控制裝置9進行全部影像偵測處理以及判斷，例如障礙物偵測處理、行車左右盲區警示偵測處理或是道路偏移偵測處理。
The vehicle image security system is an electronic system commonly used in today's vehicles. By assembling cameras and sensors around the body, the camera captures images around the body to reduce the visual dead angle of driving and improve driving safety. The object is detected by ultrasonic technology or radar technology. Please refer to FIG. 1 , which is a block diagram of a vehicle image security system of the prior art. Conventional vehicle imaging systems mostly employ a central computing mechanism that includes a plurality of camera units 31, a plurality of sensors 2, and a central control unit 9. All the images captured by the camera unit 31 and the sensing signals generated by all the sensors 2 are transmitted to the central control device 9, and the central control device 9 performs all image detection processing and determination, such as obstacle detection processing and driving. Left and right blind zone warning detection processing or road offset detection processing.
此種機制的優點在於攝影單元31僅需有簡單結構與電路，容易符合體積小與耐熱耐震的需求。此外，只需更新中央控制裝置9的程式便可修改或增加車用影像安全系統的功能。但是，此種機制的缺點也在於中央控制裝置9必須負擔全部運算，所以必須配置高階的處理模組以及較多的記憶體。一旦原本出廠的中央控制裝置9的硬體無法負荷新功能的運算，車主只能付出昂貴費用更新中央控制裝置9，方能使用新的車用安全功能。
The advantage of this mechanism is that the photographing unit 31 only needs to have a simple structure and circuit, and is easy to meet the requirements of small volume and heat and vibration resistance. In addition, the function of the vehicle image security system can be modified or added by simply updating the program of the central control unit 9. However, the disadvantage of this mechanism is that the central control unit 9 has to bear all the calculations, so it is necessary to configure a high-order processing module and a large amount of memory. Once the hardware of the original central control unit 9 cannot be loaded with the calculation of the new function, the owner can only use the expensive central control device 9 to use the new vehicle safety function.
有鑑於上述問題，本發明之目的係提供一種結合感測器的車用智能影像安全系統，其可降低對車輛之中央控制模組的運算能力的需求。
In view of the above problems, it is an object of the present invention to provide a vehicle intelligent image security system incorporating a sensor that reduces the need for computing power of a central control module of the vehicle.
有鑑於上述問題，本發明之另一目的係提供一種結合感測器的車用智能影像安全系統，其可透過更換攝影模組以擴充車輛安全功能，藉此提高功能更新的便利性以及降低更新成本。
In view of the above problems, another object of the present invention is to provide a vehicle intelligent image security system incorporating a sensor, which can expand a vehicle security function by replacing a camera module, thereby improving the convenience of function update and reducing the update. cost.
有鑑於上述問題，本發明之再一目的係提供一種結合感測器的車用智能影像安全系統，以降低車商安裝車輛安全系統所需面對的複雜度以及縮短產品設計時程。
In view of the above problems, it is still another object of the present invention to provide a vehicle intelligent image security system incorporating a sensor to reduce the complexity and shorten the product design time required for a vehicle manufacturer to install a vehicle safety system.
基於上述目的，本發明係提供一種結合感測器的車用智能影像安全系統，其適用於一行動載具，行動載具可具有一車用主機以及一感測器，其係偵測行動載具周遭之障礙物並輸出第一偵測資訊。此車用智能影像安全系統包含攝影模組。攝影模組包含攝影單元、影像處理單元、控制單元以及通訊介面，攝影單元可擷取行動載具之外部影像，通訊介面係直接電性連接感測器與車用主機，控制單元係透過通訊介面接收第一偵測資訊，影像處理單元係對外部影像進行影像偵測處理以產生第二偵測資訊。控制單元可根據第一偵測資訊與第二偵測資訊以判斷產生安全警示訊號，並透過通訊介面傳送安全警示訊號至車用主機，車用主機以影像或音訊提醒駕駛者。
Based on the above object, the present invention provides a vehicle intelligent image security system incorporating a sensor, which is suitable for a mobile vehicle. The mobile vehicle can have a vehicle main body and a sensor, which is a detection mobile load. Have obstacles around and output the first detection information. This vehicle intelligent image security system includes a photography module. The photographic module includes a photographic unit, an image processing unit, a control unit, and a communication interface. The photographic unit can capture an external image of the mobile vehicle. The communication interface is directly connected to the sensor and the vehicle host, and the control unit communicates through the communication interface. Receiving the first detection information, the image processing unit performs image detection processing on the external image to generate second detection information. The control unit can determine the safety warning signal according to the first detection information and the second detection information, and transmit the safety warning signal to the vehicle host through the communication interface, and the vehicle host reminds the driver by image or audio.
較佳地，感測器更可電性連接車用主機，以輸出第一偵測資訊至車用主機，車用主機再將第一偵測資訊透過通訊介面傳送至攝影模組。
Preferably, the sensor is electrically connected to the vehicle host to output the first detection information to the vehicle host, and the vehicle host transmits the first detection information to the camera module through the communication interface.
較佳地，影像處理單元更可包含對外部影像進行一顯示視角轉換處理以產生第一影像，或是進行顯示範圍處理以產生第二影像，或是將安全警示訊號以影像疊加於第一影像、第二影像或外部影像以產生第三影像，控制單元係透過通訊介面選擇性傳送外部影像、第一影像、第二影像或第三影像至車用主機。
Preferably, the image processing unit may further include performing a display angle conversion process on the external image to generate the first image, or performing display range processing to generate the second image, or superimposing the security warning signal on the first image. And the second image or the external image is used to generate the third image, and the control unit selectively transmits the external image, the first image, the second image, or the third image to the vehicle host through the communication interface.
較佳地，影像偵測處理種類有複數個，可包含移動物件偵測處理、道路偏移偵測處理、障礙物偵測處理、行車左右盲區警示偵測處理或後方兩側來車偵測處理，控制單元可根據該通訊介面所得到行動載具之移動速度、左右轉方向燈號、方向盤舵角或是行車檔位，產生不同的控制訊號執行單一或複數個影像偵測處理，而感測器可包含複數個超音波感知器或障礙物偵測雷達。
Preferably, there are a plurality of types of image detection processing, which may include moving object detection processing, road offset detection processing, obstacle detection processing, left and right blind spot warning detection processing, or rear side detection processing. The control unit can generate different control signals to perform single or multiple image detection processes according to the movement speed of the mobile vehicle, the left and right direction direction lights, the steering wheel rudder angle or the driving position according to the communication interface, and the sensing unit performs sensing. The device can include a plurality of ultrasonic sensors or obstacle detection radars.
較佳地，攝影模組係安裝於行動載具之後方，複數個超音波感知器或障礙物偵測雷達係分別安裝在行動載具之左側與右側，控制單元可根據影像處理單元進行行車左右盲區警示偵測處理所產生的第二偵測資訊以及複數個超音波感知器或障礙物偵測雷達輸出的第一偵測資訊，以產生安全警示訊號。
Preferably, the camera module is mounted behind the mobile vehicle, and a plurality of ultrasonic sensor or obstacle detection radar systems are respectively installed on the left and right sides of the mobile vehicle, and the control unit can perform driving according to the image processing unit. The second detection information generated by the blind spot warning detection process and the first detection information output by the plurality of ultrasonic sensor or obstacle detection radars are generated to generate a safety warning signal.
較佳地，攝影模組係安裝於行動載具之後方，複數個超音波感知器係分別安裝在行動載具之後方適當區域，控制單元可根據影像處理單元進行移動物件偵測處理或障礙物偵測處理所產生的第二偵測資訊以及複數個超音波感知器輸出的第一偵測資訊，以產生安全警示訊號。
Preferably, the photographic module is mounted behind the mobile vehicle, and the plurality of ultrasonic sensors are respectively installed in the appropriate area after the mobile vehicle, and the control unit can perform the moving object detection processing or the obstacle according to the image processing unit. The second detection information generated by the detection process and the first detection information output by the plurality of ultrasonic sensors are generated to generate a safety warning signal.
基於上述目的，本發明再提供一種結合感測器的車用智能影像安全系統，其適用於具有一感測器的一行動載具，感測器用以偵測行動載具周遭之障礙物並輸出第一偵測資訊。此車用智能影像安全系統包含中央控制裝置以及攝影模組。中央控制裝置電性連接感測器以接收第一偵測資訊。攝影模組包含攝影單元、影像處理單元、控制單元以及通訊介面。攝影單元可擷取行動載具之外部影像，通訊介面可電性連接中央控制裝置，控制單元係透過通訊介面從中央控制裝置接收第一偵測資訊，影像處理單元係對外部影像進行影像偵測處理以產生第二偵測資訊。控制單元可根據第一偵測資訊與第二偵測資訊以判斷產生安全警示訊號，並透過通訊介面傳送安全警示訊號至中央控制裝置，中央控制裝置以影像或音訊提醒駕駛者。
Based on the above object, the present invention further provides a vehicle intelligent image security system incorporating a sensor, which is suitable for a mobile vehicle having a sensor for detecting obstacles around the mobile vehicle and outputting The first detection information. The vehicle intelligent image security system includes a central control unit and a photography module. The central control device is electrically connected to the sensor to receive the first detection information. The photography module includes a photographing unit, an image processing unit, a control unit, and a communication interface. The camera unit can capture the external image of the mobile vehicle. The communication interface can be electrically connected to the central control device. The control unit receives the first detection information from the central control device through the communication interface, and the image processing unit performs image detection on the external image. Processing to generate second detection information. The control unit can determine the safety warning signal according to the first detection information and the second detection information, and transmit the safety warning signal to the central control device through the communication interface, and the central control device alerts the driver with images or audio.
較佳地，影像偵測處理種類有複數個，可包含移動物件偵測處理、道路偏移偵測處理、障礙物偵測處理、行車左右盲區警示偵測處理或後方兩側來車偵測處理，控制單元可根據該通訊介面所得到行動載具之移動速度、左右轉方向燈號、方向盤舵角或是行車檔位，產生不同的控制訊號執行單一或複數個影像偵測處理。而感測器可包含複數個超音波感知器或障礙物偵測雷達。
Preferably, there are a plurality of types of image detection processing, which may include moving object detection processing, road offset detection processing, obstacle detection processing, left and right blind spot warning detection processing, or rear side detection processing. The control unit can generate a single control signal to perform a single or multiple image detection processes according to the movement speed of the mobile vehicle, the left and right direction direction lights, the steering wheel steering angle or the driving position. The sensor can include a plurality of ultrasonic sensors or obstacle detection radars.
較佳地，攝影模組係安裝於行動載具之後方，複數個超音波感知器或障礙物偵測雷達係分別安裝在行動載具之左後側與右後側，控制單元可根據影像處理單元進行行車左右盲區警示偵測處理所產生的第二偵測資訊以及複數個超音波感知器或障礙物偵測雷達輸出的第一偵測資訊，以產生安全警示訊號。
Preferably, the camera module is mounted behind the mobile vehicle, and a plurality of ultrasonic sensor or obstacle detection radar systems are respectively installed on the left rear side and the right rear side of the mobile vehicle, and the control unit can process according to the image. The unit performs second detection information generated by the left and right blind zone warning detection processing and the first detection information output by the plurality of ultrasonic sensor or obstacle detection radars to generate a safety warning signal.
基於上述目的，本發明再提供一種結合感測器的車用智能影像安全系統，行動載具包含一感測器以偵測該行動載具周遭之障礙物並輸出一第一偵測資訊，車用影像安全系統包含：一中央控制裝置，係電性連接該感測器以接收第一偵測資訊；一攝影模組，係包含一攝影單元、一影像處理單元、以及一通訊介面，攝影單元係擷取行動載具之一外部影像，影像處理單元係對外部影像進行一影像偵測處理以產生一第二偵測資訊。中央控制裝置透過通訊介面接收第二偵測資訊，並根據第一偵測資訊與第二偵測資訊以判斷產生一安全警示訊號，接著將安全警示訊號以影像或音訊提醒駕駛者。
Based on the above object, the present invention further provides a vehicle intelligent image security system incorporating a sensor, the mobile vehicle includes a sensor for detecting an obstacle around the mobile vehicle and outputting a first detection information. The image security system comprises: a central control device electrically connected to the sensor to receive the first detection information; a camera module comprising a camera unit, an image processing unit, and a communication interface, the camera unit The system captures an external image of the mobile device, and the image processing unit performs an image detection process on the external image to generate a second detection information. The central control device receives the second detection information through the communication interface, and determines to generate a security warning signal according to the first detection information and the second detection information, and then reminds the driver of the security warning signal by image or audio.
2‧‧‧感測器
21‧‧‧第一偵測資訊
3‧‧‧攝影模組
31‧‧‧攝影單元
311‧‧‧外部影像
32、39‧‧‧影像處理單元
33‧‧‧控制單元
34‧‧‧通訊介面
35‧‧‧第二偵測資訊
361‧‧‧第一影像
362‧‧‧第二影像
363‧‧‧第三影像
37‧‧‧控制訊號
4‧‧‧車用主機
41‧‧‧安全警示訊號
5‧‧‧行動載具
6、9‧‧‧中央控制裝置
71‧‧‧超音波感知器
81‧‧‧移動物件偵測處理
82‧‧‧障礙物偵測處理
83‧‧‧行車左右盲區警示偵測處理
85‧‧‧道路偏移偵測處理
86‧‧‧後方兩側來車偵測處理
D1~D3‧‧‧區域2‧‧‧Sensor
21‧‧‧First detection information
3‧‧‧Photography module
31‧‧‧Photographic unit
311‧‧‧External imagery
32, 39‧‧‧Image Processing Unit
33‧‧‧Control unit
34‧‧‧Communication interface
35‧‧‧Second detection information
361‧‧‧ first image
362‧‧‧Second image
363‧‧‧ Third image
37‧‧‧Control signal
4‧‧‧Car host
41‧‧‧Safety warning signal
5‧‧‧Mobile Vehicles
6, 9‧‧‧ central control unit
71‧‧‧Supersonic Sensor
81‧‧‧Mobile object detection processing
82‧‧‧ obstacle detection processing
83‧‧‧Traffic detection detection on left and right blind spots
85‧‧‧Road shift detection processing
86‧‧‧Cars on both sides of the rear
D1~D3‧‧‧ area
本發明之上述及其他特徵及優勢將藉由參照附圖詳細說明其例示性實施例而變得更顯而易知，其中：
第1圖係為根據習知技藝之車用影像安全系統之方塊圖。
第2圖係為根據本發明之結合感測器的車用智能影像安全系統之方塊圖。
第3圖係為根據本發明之結合感測器的車用智能影像安全系統之第一實施例之方塊圖。
第4圖係為根據本發明之結合感測器的車用智能影像安全系統之第一實施例之偵測範圍示意圖。
第5圖係為根據本發明之結合感測器的車用智能影像安全系統之第二實施例之方塊圖。
第6圖係為根據本發明之結合感測器的車用智能影像安全系統之第三實施例之方塊圖。
第7圖係為根據本發明之結合感測器的車用智能影像安全系統之第四實施例之方塊圖。
The above and other features and advantages of the present invention will become more apparent from the detailed description of the exemplary embodiments thereof
Figure 1 is a block diagram of a vehicle image security system in accordance with conventional techniques.
Figure 2 is a block diagram of a vehicle intelligent image security system incorporating a sensor in accordance with the present invention.
Figure 3 is a block diagram of a first embodiment of a vehicle intelligent image security system incorporating a sensor in accordance with the present invention.
Figure 4 is a schematic diagram showing the detection range of the first embodiment of the vehicle intelligent image security system incorporating the sensor according to the present invention.
Figure 5 is a block diagram of a second embodiment of a vehicle intelligent image security system incorporating a sensor in accordance with the present invention.
Figure 6 is a block diagram of a third embodiment of a vehicle intelligent image security system incorporating a sensor in accordance with the present invention.
Figure 7 is a block diagram of a fourth embodiment of a vehicle intelligent image security system incorporating a sensor in accordance with the present invention.
於此使用，詞彙“與/或”包含一或多個相關條列項目之任何或所有組合。當“至少其一”之敘述前綴於一元件清單前時，係修飾整個清單元件而非修飾清單中之個別元件。
As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. When the phrase "at least one of" is preceded by a list of elements, the entire list of elements is modified instead of the individual elements in the list.
參閱第2圖，其為根據本發明之結合感測器的車用智能影像安全系統之方塊圖。圖中，車用智能影像安全系統1適用於具有一車用主機4以及至少一感測器2的行動載具5。車用智能影像安全系統1包含至少一攝影模組3。
Referring to Figure 2, there is shown a block diagram of a vehicle intelligent image security system incorporating a sensor in accordance with the present invention. In the figure, the vehicle intelligent image security system 1 is applied to a mobile vehicle 5 having a vehicle main unit 4 and at least one sensor 2. The vehicle intelligent image security system 1 includes at least one camera module 3.
感測器2用以偵測行動載具5周遭之障礙物，並產生第一偵測資訊21。感測器2電性連接攝影模組3，將第一偵測資訊21傳送至攝影模組3；然而，感測器2視需要亦可電性連接車用主機4，以輸出第一偵測資訊21至車用主機4，由車用主機4再將第一偵測資訊21透過通訊介面 34傳送至攝影模組 3。較佳地，感測器2可包含複數個超音波感知器或障礙物偵測雷達。
The sensor 2 is configured to detect an obstacle of the action vehicle 5 weeks and generate the first detection information 21. The sensor 2 is electrically connected to the camera module 3, and transmits the first detection information 21 to the camera module 3; however, the sensor 2 can be electrically connected to the vehicle host 4 as needed to output the first detection. The information 21 is sent to the camera module 4 by the vehicle host 4, and the first detection information 21 is transmitted to the camera module 3 through the communication interface 34. Preferably, the sensor 2 can comprise a plurality of ultrasonic sensors or obstacle detection radars.
此外，車用主機4視需要亦可直接以影像或音訊提醒駕駛者。攝影模組3包含攝影單元31、影像處理單元32、控制單元33以及通訊介面34，攝影單元31可擷取行動載具5之外部影像311，通訊介面34係直接電性連接感測器2與車用主機4，控制單元33係透過通訊介面34接收第一偵測資訊21，影像處理單元32係對外部影像311進行影像偵測處理以產生第二偵測資訊35。
In addition, the vehicle host 4 can directly alert the driver with images or audio as needed. The photographic module 3 includes a photographic unit 31, an image processing unit 32, a control unit 33, and a communication interface 34. The photographic unit 31 can capture an external image 311 of the mobile vehicle 5. The communication interface 34 is directly electrically connected to the sensor 2 and The control unit 33 receives the first detection information 21 through the communication interface 34, and the image processing unit 32 performs image detection processing on the external image 311 to generate the second detection information 35.
較佳地，攝影單元31可為可見光車用攝影機或是紅外線車用攝影機，而其輸出影像訊號可為類比訊號，例如NTSC或PAL訊號；或是數位訊號，例如LVDS或Ethernet訊號。影像處理單元32可執行的影像偵測處理更可包含一道路偏移偵測處理(Lane Departure Warning，LDW)、一移動物件偵測處理(Moving Object Detection，MOD)、一行車左右盲區警示偵測處理(Blind Spot Warning，BSW)、一後方兩側來車偵測處理(Cross-Traffic Alert，CTA)、或是前述多個偵測處理的組合，而第二偵測資訊35可包含前述偵測處理的結果，例如行車是否發生道路偏移、是否有移動物件或障礙物、盲區內是否有移動物件等等的偵測結果。
Preferably, the photographing unit 31 can be a visible light vehicle camera or an infrared vehicle camera, and the output image signal can be an analog signal, such as an NTSC or PAL signal; or a digital signal such as an LVDS or an Ethernet signal. The image detection processing executable by the image processing unit 32 may further include a Lane Departure Warning (LDW), a Moving Object Detection (MOD), and a left and right blind spot detection. Blind Spot Warning (BSW), a Cross-Traffic Alert (CTA), or a combination of the foregoing multiple detection processes, and the second detection information 35 may include the foregoing detection The result of the processing, such as whether the road is offset, whether there are moving objects or obstacles, whether there are moving objects in the blind area, and the like.
控制單元33可根據第一偵測資訊21與第二偵測資訊35以判斷產生安全警示訊號41。例如，控制單元33可根據影像處理單元32進行行車左右盲區警示偵測處理所產生的第二偵測資訊35以及複數個超音波感知器或障礙物偵測雷達輸出的第一偵測資訊21作綜合判斷，以產生安全警示訊號41；或者，控制單元33可根據影像處理單元32進行移動物件偵測處理或障礙物偵測處理所產生的第二偵測資訊35以及複數個超音波感知器輸出的第一偵測資訊21作綜合判斷，以產生安全警示訊號41。
The control unit 33 can determine the security warning signal 41 according to the first detection information 21 and the second detection information 35. For example, the control unit 33 may perform the second detection information 35 generated by the image processing unit 32 for the left and right blind spot detection processing, and the first detection information 21 outputted by the plurality of ultrasonic sensors or obstacle detection radars. The second detection information 35 and the plurality of ultrasonic sensor outputs generated by the moving object detection processing or the obstacle detection processing according to the image processing unit 32 may be generated by the control unit 33. The first detection information 21 is comprehensively judged to generate a security alert signal 41.
除了產生安全警示訊號41，影像處理單元32視需要亦可對外部影像311進行一顯示視角轉換處理以產生一第一影像361，例如鳥瞰視角處理；或是進行顯示範圍處理以產生一第二影像362，例如，從外部影像311擷取部分產生新的影像作為第二影像362；或者視角轉換處理與顯示範圍處理同時進行；或是將安全警示訊號41以影像呈現方式疊加於第一影像361、第二影像362或外部影像311以產生一第三影像363。
In addition to generating the security alert signal 41, the image processing unit 32 may perform a display angle conversion process on the external image 311 to generate a first image 361, such as a bird's eye view processing, or perform display range processing to generate a second image. 362. For example, a new image is generated from the external image 311 as a second image 362; or the angle of view conversion processing is performed simultaneously with the display range processing; or the security warning signal 41 is superimposed on the first image 361 by image presentation. The second image 362 or the external image 311 is used to generate a third image 363.
控制單元33係透過通訊介面34選擇性傳送外部影像311、第一影像361、第二影像362、第三影像363或安全警示訊號41至車用主機4，由車用主機4以影像或音訊提醒駕駛者。例如，車用主機4可包含或電性連接螢幕或喇叭，螢幕可顯示外部影像311、第一影像361、第二影像362、第三影像363或對應安全警示訊號41的警示影像，而喇叭可輸出對應安全警示訊號41的警示音訊。
The control unit 33 selectively transmits the external image 311, the first image 361, the second image 362, the third image 363 or the security alert signal 41 to the vehicle host 4 through the communication interface 34, and the image is reminded by the vehicle host 4 by image or audio. driver. For example, the vehicle main unit 4 can include or be electrically connected to a screen or a speaker, and the screen can display an external image 311, a first image 361, a second image 362, a third image 363, or a warning image corresponding to the security alert signal 41, and the speaker can be The warning sound corresponding to the security alert signal 41 is output.
控制單元33可透過通訊介面34接收控制訊號37，並根據控制訊號37選擇性輸出上述影像。不同的控制訊號37可對應行動載具5不同的狀態，例如行動載具5之移動速度、左右轉方向燈號、方向盤舵角或是行車檔位。
The control unit 33 can receive the control signal 37 through the communication interface 34 and selectively output the image according to the control signal 37. The different control signals 37 may correspond to different states of the mobile vehicle 5, such as the moving speed of the mobile vehicle 5, the left and right direction lights, the steering wheel steering angle, or the driving position.
應注意的是，上述的通訊介面34可包含傳輸訊號或傳輸影像數據的介面，或其組合，例如，可包含NTSC、CAN、Ethernet，而且類比式介面或數位式介面皆可包含於通訊介面34中，而不受所述實施例之限制。
It should be noted that the communication interface 34 may include an interface for transmitting signals or transmitting image data, or a combination thereof. For example, NTSC, CAN, and Ethernet may be included, and an analog interface or a digital interface may be included in the communication interface 34. Without being limited by the described embodiments.
參閱第3圖與第4圖，其為根據本發明之車用智能影像安全系統之第一實施例之方塊圖以及偵測範圍示意圖。圖中，複數個超音波感知器71係分別安裝在行動載具5之左側與右側，用以分別偵測區域D1以及區域D2內出現的障礙物，並產生第一偵測資訊21。攝影模組3安裝於行動載具5之後方，攝影模組3內的攝影單元31可擷取行動載具5後方區域D3的外部影像311。
Referring to Figures 3 and 4, a block diagram and a detection range of a first embodiment of a smart image security system for a vehicle according to the present invention are shown. In the figure, a plurality of ultrasonic sensors 71 are respectively mounted on the left side and the right side of the mobile vehicle 5 for detecting obstacles appearing in the area D1 and the area D2, respectively, and generating the first detection information 21. The photographing module 3 is mounted behind the mobile vehicle 5, and the photographing unit 31 in the photographing module 3 can capture the external image 311 of the rear region D3 of the mobile vehicle 5.
在此實施例中，超音波感知器71輸出的第一偵測資訊21係先傳送到車用主機4，再由車用主機4透過通訊介面34傳送到攝影模組3。
In this embodiment, the first detection information 21 outputted by the ultrasonic sensor 71 is first transmitted to the vehicle main unit 4, and then transmitted by the vehicle main unit 4 to the photographing module 3 through the communication interface 34.
攝影模組3內的影像處理單元32可對外部影像311進行行車左右盲區警示偵測處理83，以判斷外部影像311中左右兩側影像內是否有移動物件，特別是朝行動載具5移動的物件，其產生的判斷結果便是第二偵測資訊35。因為攝影模組3的視野有限，障礙物或移動物件可能存在於區域D3以外的區域且對行車安全有影響，因此控制單元33根據第二偵測資訊35以及複數個超音波感知器71輸出的第一偵測資訊21作綜合判斷，以產生安全警示訊號41。
The image processing unit 32 in the photographic module 3 can perform the left and right blind spot warning detection processing 83 on the external image 311 to determine whether there are moving objects in the left and right images in the external image 311, especially moving toward the mobile vehicle 5. The object, which is determined by the second detection information 35. Because the field of view of the photographic module 3 is limited, an obstacle or a moving object may exist in an area other than the area D3 and has an impact on driving safety. Therefore, the control unit 33 outputs the output according to the second detection information 35 and the plurality of ultrasonic sensors 71. The first detection information 21 is comprehensively judged to generate a security alert signal 41.
例如，如果影像處理單元32偵測出前一張外部影像311中有移動物件，但在下一張外部影像311卻沒偵測到移動物件，此時控制單元33會進一步以第一偵測資訊21作判斷，如果第一偵測資訊21表示有偵測到物件，表示此物件移出區域D3到區域D1或區域D2中，因此控制單元33輸出代表有偵測到移動物件的安全警示訊號41，透過車用主機4提醒駕駛者。
For example, if the image processing unit 32 detects that there is a moving object in the previous external image 311 but does not detect the moving object in the next external image 311, the control unit 33 further uses the first detection information 21 It is determined that if the first detection information 21 indicates that an object is detected, indicating that the object moves out of the area D3 to the area D1 or the area D2, the control unit 33 outputs a security warning signal 41 indicating that the moving object is detected, and transmits the vehicle. The host 4 is used to alert the driver.
參閱第5圖，其為根據本發明之車用智能影像安全系統之第二實施例之方塊圖。圖中，第二實施例與第一實施例不同之處在於，攝影模組3透過通訊介面34直接接收來自超音波感知器71輸出的第一偵測資訊21，而影像處理單元32係執行移動物件偵測處理81或障礙物偵測處理82所產生的第二偵測資訊35，而控制單元33根據第二偵測資訊35以及複數個超音波感知器71輸出的第一偵測資訊21，以產生安全警示訊號41。
Referring to Figure 5, there is shown a block diagram of a second embodiment of a smart image security system for a vehicle in accordance with the present invention. In the figure, the second embodiment is different from the first embodiment in that the camera module 3 directly receives the first detection information 21 outputted from the ultrasonic sensor 71 through the communication interface 34, and the image processing unit 32 performs the movement. The second detection information 35 generated by the object detection processing 81 or the obstacle detection processing 82, and the control unit 33 according to the second detection information 35 and the first detection information 21 output by the plurality of ultrasonic sensors 71, To generate a security alert signal 41.
參閱第6圖，其為根據本發明之車用智能影像安全系統之第三實施例之方塊圖。圖中，第三實施例與上述實施例之間的差異在於，車用影像安全系統更包含一中央控制裝置6，其電性連接感測器2以接收第一偵測資訊21。攝影單元31之通訊介面34電性連接中央控制裝置6，控制單元33係透過通訊介面34從中央控制裝置6接收第一偵測資訊21，影像處理單元32係對外部影像311進行影像偵測處理以產生第二偵測資訊35。
Referring to Figure 6, there is shown a block diagram of a third embodiment of a smart image security system for a vehicle in accordance with the present invention. The difference between the third embodiment and the above embodiment is that the vehicle image security system further includes a central control device 6 electrically connected to the sensor 2 for receiving the first detection information 21. The communication interface 34 of the photographing unit 31 is electrically connected to the central control device 6. The control unit 33 receives the first detection information 21 from the central control device 6 through the communication interface 34, and the image processing unit 32 performs image detection processing on the external image 311. To generate second detection information 35.
控制單元33可根據第一偵測資訊21與第二偵測資訊35以判斷產生安全警示訊號41，並透過通訊介面34傳送安全警示訊號41至中央控制裝置6，由中央控制裝置6以影像或音訊提醒駕駛者。
The control unit 33 can determine the security warning signal 41 according to the first detection information 21 and the second detection information 35, and transmit the security warning signal 41 to the central control device 6 through the communication interface 34, and the central control device 6 can image or The audio reminds the driver.
參閱第7圖，其為根據本發明之車用智能影像安全系統之第四實施例之方塊圖。圖中，第四實施例與上述實施例之間的差異在於，中央控制裝置6亦搭載另一影像處理單元39，而攝影模組3可傳送外部影像311至中央控制裝置6。實施上，影像處理單元32與39可針對同一影像偵測處理作較佳之分工處理，或是各自對不同的影像偵測處理同時作多工處理。例如，當行動載具5倒車時，影像處理單元32執行一移動物件偵測處理81，而影像處理單元39執行一後方兩側來車偵測處理86。當行動載具5前進且移動速度超過門檻值時，影像處理單元32執行道路偏移偵測處理85，而影像處理單元39執行行車左右盲區警示偵測處理83。
Referring to Figure 7, there is shown a block diagram of a fourth embodiment of a smart image security system for a vehicle in accordance with the present invention. In the figure, the difference between the fourth embodiment and the above embodiment is that the central control unit 6 is also equipped with another image processing unit 39, and the camera module 3 can transmit the external image 311 to the central control unit 6. In practice, the image processing units 32 and 39 can perform better division processing for the same image detection processing, or perform multiplex processing on different image detection processing at the same time. For example, when the mobile vehicle 5 is reversing, the image processing unit 32 performs a moving object detection process 81, and the image processing unit 39 executes a rear side vehicle detection process 86. When the mobile vehicle 5 advances and the moving speed exceeds the threshold value, the image processing unit 32 performs the road offset detecting process 85, and the image processing unit 39 executes the left and right blind spot warning detecting process 83.
實施上，攝影模組3可直接從感測器2、超音波感知器71或障礙物偵測雷達接收偵測訊號，或是從車用主機4或中央控制裝置6間接接收訊號。
In practice, the camera module 3 can directly receive the detection signal from the sensor 2, the ultrasonic sensor 71 or the obstacle detection radar, or receive the signal indirectly from the vehicle host 4 or the central control device 6.
綜上所述，本發明利用具有影像處理功能的攝影模組結合各種感測器，由攝影模組以直接或間接的方式接收感測器輸出的偵測資訊，並在攝影模組內完成影像偵測處理，並參考感測器之偵測資訊而產生安全警示訊號，如此可不需要車上之車用主機做運算便可進一步提高車用安全。此外，本發明可增加一中央控制裝置以擴充影像偵測處理的運算能力。
In summary, the present invention utilizes a camera module having an image processing function in combination with various sensors, and the camera module directly or indirectly receives the detection information output by the sensor and completes the image in the camera module. The detection process and the detection information of the sensor are used to generate a safety warning signal, so that the vehicle can be used for the operation of the vehicle without the vehicle to further improve the safety of the vehicle. In addition, the present invention can add a central control device to expand the computing power of the image detection process.
在較佳實施例之詳細說明中所提出之具體實施例僅用以方便說明本發明之技術內容，而非將本發明狹義地限制於上述實施例，在不超出本發明之精神及以下申請專利範圍之情況，所做之種種變化實施，皆屬於本發明之範圍。
The specific embodiments of the present invention are intended to be illustrative only and not to limit the invention to the above embodiments, without departing from the spirit of the invention and the following claims. The scope of the invention and the various changes made are within the scope of the invention.
2‧‧‧感測器 2‧‧‧Sensor
21‧‧‧第一偵測資訊 21‧‧‧First detection information
3‧‧‧攝影模組 3‧‧‧Photography module
31‧‧‧攝影單元 31‧‧‧Photographic unit
311‧‧‧外部影像 311‧‧‧External imagery
32‧‧‧影像處理單元 32‧‧‧Image Processing Unit
33‧‧‧控制單元 33‧‧‧Control unit
34‧‧‧通訊介面 34‧‧‧Communication interface
35‧‧‧第二偵測資訊 35‧‧‧Second detection information
361‧‧‧第一影像 361‧‧‧ first image
362‧‧‧第二影像 362‧‧‧Second image
363‧‧‧第三影像 363‧‧‧ Third image
37‧‧‧控制訊號 37‧‧‧Control signal
4‧‧‧車用主機 4‧‧‧Car host
41‧‧‧安全警示訊號 41‧‧‧Safety warning signal
5‧‧‧行動載具 5‧‧‧Mobile Vehicles
Claims (12)
一攝影模組，係包含一攝影單元、一影像處理單元、一控制單元以及一通訊介面，該攝影單元係擷取該行動載具之一外部影像，該通訊介面係直接電性連接該感測器與該車用主機，該控制單元係透過該通訊介面接收該第一偵測資訊，該影像處理單元係對該外部影像進行一影像偵測處理以產生一第二偵測資訊；
其中，該控制單元係根據該第一偵測資訊與該第二偵測資訊以判斷產生一安全警示訊號，並透過該通訊介面傳送該安全警示訊號至該車用主機，該車用主機以影像或音訊提醒駕駛者。
The utility model relates to a vehicle intelligent image security system combined with a sensor, which is suitable for having a mobile vehicle, the mobile vehicle has a vehicle main body and a sensor, and the sensor detects the surrounding of the mobile vehicle. The obstacle and output a first detection information, the vehicle intelligent image security system includes:
A photographic module includes a photographic unit, an image processing unit, a control unit, and a communication interface, wherein the photographic unit captures an external image of the mobile device, and the communication interface directly electrically connects the sensing The first detection information is received by the control unit through the communication interface, and the image processing unit performs an image detection process on the external image to generate a second detection information;
The control unit determines to generate a security alert signal according to the first detection information and the second detection information, and transmits the security warning signal to the vehicle host through the communication interface, and the vehicle host uses the image Or the audio reminds the driver.
The vehicle intelligent image security system according to claim 1, wherein the sensor is electrically connected to the vehicle host to output the first detection information to the vehicle host, and the vehicle host The first detection information is transmitted to the photography module through the communication interface.
The vehicular intelligent image security system of claim 1, wherein the image processing unit further comprises: performing a display angle conversion process on the external image to generate a first image, or performing display range processing to generate a The second image is displayed by superimposing the security warning signal on the first image, the second image or the external image to generate a third image, and the control unit selectively transmits the external image through the communication interface, The first image, the second image or the third image is sent to the vehicle host.
The vehicle intelligent image security system of claim 1, wherein the image detection processing has a plurality of types, including a moving object detection processing, a road offset detection processing, and an obstacle detection processing. The detection and processing of the left and right blind areas of a row of vehicles or the detection of the vehicles on the rear side of the vehicle. The control unit obtains the moving speed of the mobile vehicle, the left and right direction lights, the steering wheel rudder angle or the driving gear according to the communication interface. A plurality of control signals are used to perform a single or multiple image detection process, and the sensor includes a plurality of ultrasonic sensors, a single or a plurality of obstacle detection radars.
The vehicle intelligent image security system according to claim 4, wherein the camera module is installed behind the mobile vehicle, and the plurality of ultrasonic sensors or the obstacle detection radar system are respectively installed. The non-front area of the mobile device, the control unit is configured to perform the second detection information generated by the left and right blind spot warning detection processing of the driving and the first detection of the plurality of ultrasonic sensor outputs according to the image processing unit The information is measured to generate the security alert signal.
The vehicle intelligent image security system according to claim 4, wherein the camera module is installed behind the mobile vehicle, and the plurality of ultrasonic sensors or the obstacle detection radar system are respectively installed. The non-front area of the mobile device, the control unit is configured to perform the second detection information generated by the moving object detection process or the obstacle detection process, and the plurality of ultrasonic sensor outputs according to the image processing unit The first detection information is generated to generate the security alert signal.
一中央控制裝置，係電性連接該感測器以接收該第一偵測資訊；
一攝影模組，係包含一攝影單元、一影像處理單元、一控制單元以及一通訊介面，該攝影單元係擷取該行動載具之一外部影像，該通訊介面係電性連接該中央控制裝置，該控制單元係透過該通訊介面從該中央控制裝置接收該第一偵測資訊，該影像處理單元係對該外部影像進行一影像偵測處理以產生一第二偵測資訊；
其中，該控制單元係根據該第一偵測資訊與該第二偵測資訊以判斷產生一安全警示訊號，並透過該通訊介面傳送該安全警示訊號至該中央控制裝置，該中央控制裝置以影像或音訊提醒駕駛者。
An intelligent image security system for a vehicle is applicable to a mobile vehicle. The mobile vehicle includes a sensor for detecting an obstacle around the mobile vehicle and outputting a first detection information. The vehicle uses smart image security. The system contains:
a central control device electrically connecting the sensor to receive the first detection information;
A photographic module includes a photographic unit, an image processing unit, a control unit, and a communication interface. The photographic unit captures an external image of the mobile device, and the communication interface is electrically connected to the central control device. The control unit receives the first detection information from the central control device through the communication interface, and the image processing unit performs an image detection process on the external image to generate a second detection information;
The control unit determines to generate a security alert signal according to the first detection information and the second detection information, and transmits the security warning signal to the central control device through the communication interface, and the central control device uses the image Or the audio reminds the driver.
For example, in the vehicle intelligent image security system described in claim 7, wherein the image detection processing has a plurality of types, including a moving object detection processing, a road offset detection processing, and an obstacle detection. The processing, the left and right blind zone warning detection processing or the rear side detection detection processing, the control unit obtains the moving speed of the mobile vehicle, the left and right direction signal, the steering wheel rudder angle or the driving according to the communication interface. The gear position generates different control signals to perform single or multiple image detection processes, and the sensor includes a plurality of ultrasonic sensors, single or multiple obstacle detection radars.
The vehicular intelligent image security system of claim 8, wherein the photographic module is installed behind the mobile vehicle, and the plurality of ultrasonic sensors or the obstacle detection radar system are respectively installed. The non-front area of the mobile device, the control unit is configured to perform the second detection information generated by the left and right blind spot warning detection processing of the driving and the first detection of the plurality of ultrasonic sensor outputs according to the image processing unit The information is measured to generate the security alert signal.
一中央控制裝置，係電性連接該感測器以接收該第一偵測資訊；以及
一攝影模組，係包含一攝影單元、一影像處理單元、以及一通訊介面，該攝影單元係擷取該行動載具之一外部影像，該影像處理單元係對該外部影像進行一影像偵測處理以產生一第二偵測資訊；
其中，該中央控制裝置透過該通訊介面接收該第二偵測資訊，並根據該第一偵測資訊與該第二偵測資訊以判斷產生一安全警示訊號，接著將該安全警示訊號以影像或音訊提醒駕駛者。
An intelligent image security system for a vehicle is applicable to a mobile vehicle. The mobile vehicle includes a sensor for detecting an obstacle around the mobile vehicle and outputting a first detection information. The vehicle uses smart image security. The system contains:
a central control device electrically connecting the sensor to receive the first detection information; and a camera module comprising a camera unit, an image processing unit, and a communication interface, the camera unit is captured An external image of the mobile device, the image processing unit performs an image detection process on the external image to generate a second detection information;
The central control device receives the second detection information through the communication interface, and determines to generate a security warning signal according to the first detection information and the second detection information, and then the security warning signal is image or The audio reminds the driver.
For example, the vehicle intelligent image security system described in claim 10, wherein the image detection processing has a plurality of types, including a moving object detection processing, a road offset detection processing, and an obstacle detection. The processing, the left and right blind zone warning detection processing or the rear side of the vehicle detection processing, and the sensor includes a plurality of ultrasonic sensor, single or multiple obstacle detection radar.
The vehicle intelligent image security system according to claim 11, wherein the camera module is installed behind the mobile vehicle, and the plurality of ultrasonic sensor or obstacle detection radar systems are respectively installed in the vehicle. a non-front area of the mobile vehicle, the central control device is configured to perform the second detection information generated by the left and right blind spot warning detection processing by the image processing unit, and the first detection of the plurality of ultrasonic sensor outputs The information is measured to generate the security alert signal.
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| TW103122424A TWI557003B (en) | 2014-06-27 | 2014-06-27 | Image based intelligent security system for vehicle combined with sensor |
| CN201410350422.1A CN105270260B (en) | 2014-06-27 | 2014-07-22 | Automobile-used intelligent image safety coefficient that combines sensor |
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| CN105946766A (en) * | 2016-07-14 | 2016-09-21 | 奇瑞汽车股份有限公司 | Vehicle collision warning system based on laser radar and vision and control method thereof |
| CN107798895A (en) * | 2016-08-29 | 2018-03-13 | 福特全球技术公司 | The vehicular traffic of stopping recovers alarm |
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| CN105270260A (en) | 2016-01-27 |
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