TW201621840A - 3-dimensional depth sensing system for collision avoidance and operation method thereof - Google Patents

Abstract

The invention relates to a 3-dimensional depth sensing system for collision avoidance and an operation method thereof. Moving objects or fixed objects in the range of at least about dozens of meters around a vehicle can be detected by using structure optical scanning technique for detecting the moving directions, moving speed and exterior profiles so as to classify the objects according to the exterior appearances or further determine if traffic safety would be substantially affected by referring to the moving directions and the speed of the objects. A warning message will be sent when a risk exists so that drivers can notice it.

Description

Stereo depth sensing system for collision avoidance and operation method thereof 【0001】

The present invention relates to a stereoscopic depth sensing system and a method for operating the same, and more particularly to a vehicle for sensing whether an object within a few tens of meters of a vehicle is likely to pose a risk to the safety of the vehicle, and can be used to alert the driver to prevent collision. occur.

【0002】

Based on the comfort that driving can provide, the car becomes one of the vehicles widely used by the public. However, when the vehicle is driving on the road, it may cause visual dead angle, mental fatigue or other non-compliance. Driving and the safety of pedestrians are both threatened. In order to improve safety, many passive safety equipments have been equipped as standard equipment for vehicles, and active safety equipment has been continuously developed under the efforts of major manufacturers.

[0003]

Among the existing active safety equipment technologies, there are some safety warning function devices that allow users to immediately warn users, such as setting a signal transmitter and a signal receiver as a reversing radar, or installing sound effects when other objects are close to the vehicle body. Remind the driving equipment. However, these active safety devices are not enough to allow the driver to predict the crisis of the collision of the vehicle earlier, such as raising the warning time to several seconds and having enough time to avoid it, especially the object that may collide with the vehicle itself. On the move.

[0004]

Moreover, since the prior art only judges the distance between the object and the vehicle body, there is a lack of sufficient ability to effectively recognize the contour of the surrounding object, so that it is impossible to distinguish what the object is actually. Therefore, when the vehicle is surrounded by weeds and the like, the object will still be Produce warning sounds, and even trigger automatic braking, causing unnecessary trouble.

[0005]

The main object of the present invention is to provide a stereoscopic depth sensing system for collision avoidance, which uses structured light scanning technology to detect the position of objects around the vehicle, such as other vehicles, pedestrians or fences. The dynamic information of the objects is obtained by continuous scanning for further analysis of whether the objects collide with the vehicle, so that the vehicle driving can be warned first when there is a risk of collision.

[0006]

Another object of the present invention is to provide a stereoscopic depth sensing system for collision avoidance, which uses a structured light scanning technology, which not only has high accuracy, but also is not easily affected by the environment, and can achieve a detection range of up to Tens of meters in height, with a high degree of early warning capability.

【0007】

It is still another object of the present invention to provide a stereoscopic depth sensing system for collision avoidance that can obtain an outline of an obstacle, thereby automatically classifying the obstacle to determine whether it affects the safety of the vehicle, such as a vehicle. It is a collision with a taller grass, and the safety of the vehicle is not affected. Under such conditions, there is no need to warn of driving.

[0008]

In order to achieve the above object, the present invention discloses a stereoscopic depth sensing system for collision avoidance, which is disposed on a mobile vehicle, which comprises: a structured light projection module that projects a light plane on the movement At least one surface of the object around the carrier; a camera module that receives a light image message reflected by the surface of the object through the light plane; a vehicle chip module coupled to the camera module And using the optical image information to calculate a distance between the surface of the object and the moving carrier and a contour of the surface of the object; and a warning module coupled to the vehicle chip module to send a warning message Within the mobile vehicle. The operation step includes: continuously projecting a plurality of light planes on a surface of at least one object around the moving carrier by using a structured light projection module; and receiving a projection of the surface of the object through the projection of the light plane by using a camera module a plurality of optical image messages; using a vehicle chip module to calculate a first movement information of the object by using the light image information, and estimating the object and the second movement information by using the second movement information of the mobile vehicle The possibility of moving the carrier collision; and if the object has a possibility of collision with the mobile carrier, the vehicle chip module sends a warning message to a warning module and uses the warning module to issue a warning notice.

1‧‧‧Mobile Vehicles
2‧‧‧Structural light projection module
21‧‧‧Laser light source unit
22‧‧‧ lens group
3‧‧‧ camera module
4‧‧‧Car chip module
5‧‧‧Warning module
51‧‧‧ sound unit
6‧‧‧Power Module
7‧‧‧Light plane
8‧‧‧ objects
S10~13‧‧‧Steps

【0009】

Figure 1 is a schematic view showing the components of a preferred embodiment of the present invention;
2 is a schematic diagram of an application of a preferred embodiment of the present invention for indicating a light plane projected onto an object;
3 is a schematic diagram of a light plane comprising a two-dimensional array of dots in a preferred embodiment of the invention; and FIG. 4 is a flow chart showing the steps of another preferred embodiment of the present invention.

[0010]

For a better understanding and understanding of the features and advantages of the present invention, the preferred embodiments and the detailed description are described as follows:

[0011]

First, referring to FIG. 1 and FIG. 2 together, the stereoscopic depth sensing system for collision avoidance disclosed in the present invention is disposed on a mobile vehicle 1, such as a car, and the stereoscopic depth sense for collision avoidance. The measuring system comprises a structural light projection module 2, a camera module 3, a vehicle wafer module 4 and a warning module 5 on the hardware structure. The above modules can be coupled to a power module 6 to obtain power supply for operation.

[0012]

The structured light projection module 2 includes a laser light source unit 21 and a lens group 22 for detecting whether there is an object in the space within a few ten meters of the moving carrier 1 that may affect driving safety, for example, Pedestrians, animals, other mobile vehicles, or fixed fences, bushes, etc. The detection method used in the present invention is a structured light technology. The principle is to use a light source to project a controllable light spot, a light strip or a light plane on the surface of the object to be measured, and then obtain a reflected image by a sensor such as a camera. The geometric coordinates of the object can be obtained. In a preferred embodiment, the laser is used as a light source, and has the characteristics of good coherence, slow attenuation, long measuring distance, high precision, and the fact that it is not easily affected by other light sources, so the light is more common. Projection is better. The light source provided by the laser light source unit 21 is diverged after passing through the lens group 21, which is a light plane 7 in space. The lens group 21 used in the present invention may include a pattern lens having a patterned microstructure such that the light plane formed by the penetrating laser source has patterned features, such as in a two-dimensional plane. The array of spots is presented as shown in Figure 3.

[0013]

If there are other objects 8 around the moving carrier 1, when the light plane 7 is projected on the surface of the object 8, the light is reflected and received by the camera module 3 as a light image message. The light image message is a deformation pattern formed by the irregularity reflected by the light plane 7 projected by the structured light projection module 2 on the surface of the object 8 itself. After the camera module 3 receives the deformation pattern, the system can further utilize the image. The deformation pattern reconstructs the three-dimensional appearance of the object 8.

[0014]

The vehicle chip module 4 is coupled to the camera module 3, which can be a Field Programmable Gate Array (FPGA) chip, which can perform the light image information obtained by the camera module 3. Calculation and analysis, using the degree of change to obtain the distance between the object 8 and the moving carrier 1, and the appearance of the object 8. In the practical application of the present invention, the structured light projection module 2 continuously projects the light plane 7 to the outside of the moving carrier 1, so that when the object 8 falls within its projection range, the camera module 3 naturally continues. The plurality of light image messages reflected by the surface of the object 8 are obtained, and the vehicle wafer module 4 can reconstruct the three-dimensional appearance of the plurality of objects 8, thereby calculating the movement information of the object 8.

[0015]

In view of the fact that there are different types of objects 8 in the periphery of the mobile vehicle 1, and various objects 8 have different degrees of influence on the safety of driving, for example, other fast moving vehicles may collide with their own vehicles in a short time, and slowly. Pedestrians who walk may have a possibility of colliding after a long period of time, the vehicle may hit a lot of weeds, but in reality this is not dangerous... etc., so the present invention is reconstructed using the vehicle wafer module 4 After the stereoscopic appearance of the plurality of objects 8 and the first movement information of the object 8 are calculated, the object 8 is first classified to determine whether it poses a threat to the mobile vehicle 1. The classification method can be identified by using the appearance features of different objects, and the characteristics of the object 8 are compared with the pre-stored data in the database; the database can be a storage module coupled to the vehicle wafer module 4 Or use a wireless transmission unit to connect to a cloud-based database through the network. If classified, the system can determine whether the object 8 does not affect the safety of the mobile vehicle 1, such as grass that does not pose a danger to driving safety. At this time, the vehicle wafer module 4 has to ignore the object and does not consume computing resources. The possibility of colliding the object with the moving carrier is estimated.

[0016]

On the other hand, if the object 8 affects the security of the mobile vehicle 1 in classification, the vehicle wafer module 4 uses the second movement information of the mobile vehicle 1 as one of the parameters to integrate the first movement information. The possibility of collision of the object 8 with the moving carrier 1 is estimated. Both the first mobile information and the second mobile information include information such as the moving speed and the moving direction. If the predicted result shows that there is a possibility that the object 8 collides with the mobile carrier 1, the vehicle chip module 4 sends a warning message to the warning module 5 coupled to the vehicle wafer module 4 to utilize The warning module 5 issues a warning notice to enable the driver to know that the crisis exists.

[0017]

In the preferred embodiment of the present invention, if the mobile vehicle 1 is automatically driven by a computer, the warning notification issued by the warning module 5 can trigger a corresponding avoidance mechanism to prevent the mobile vehicle 1 from being the same. The moving speed and the moving direction advance. If the mobile vehicle 1 is controlled by a manual human driving, the warning module 5 can issue a warning sound or a preset reminding voice as a notification through the sound effect unit 51 included therein. In addition, the alert notification can be further set to continue playing until the possibility of collision is reduced.

[0018]

The sound effect unit 51 can use a spatial configuration in the mobile vehicle 1 to emit sound in different directions, for example, a plurality of sound effects units 51 are respectively disposed in a plurality of corners of the mobile vehicle 1 and refer to the orientation of the object 8 relative to the vehicle. At the time of the warning, only the sound effect unit 51 in the azimuth sounds, and the assisted driving is alerted to the object 8 which may cause danger in the fastest time.

[0019]

According to the above structure and operation mechanism, please refer to FIG. 4, the operation method of the present invention for the stereoscopic depth sensing system for collision avoidance can be organized into steps including:


Step S10: continuously projecting a plurality of light planes on a surface of at least one object around the moving carrier by using a structured light projection module;
Step S11: receiving, by using a camera module, a plurality of light image messages reflected by the surface of the object through the projection of the light plane;
Step S12: using a vehicle chip module to calculate the first movement information of the object by using the light image information, and using the second movement information of the mobile vehicle to estimate the collision between the object and the mobile vehicle. Possibility; and step S13: if the object has a possibility of colliding with the mobile carrier, the vehicle chip module sends a warning message to a warning module to issue an alert notification by using the warning module.

[0020]

In a preferred embodiment, the present invention is applicable to a traveling vehicle with a speed of 40 km or less, that is, an urban driving vehicle is mainly used, and the location is also an area where a traffic accident is more likely to occur, and the number of surrounding lights is used. A space of 10 meters, for example, a space of about 20 meters, to obtain dynamic information of objects around the vehicle, has a relatively high application value.

[0021]

In summary, the present invention discloses in detail a stereoscopic depth sensing system for collision avoidance and a method for operating the same, which uses a structured light scanning technique to detect the position of an object within a few tens of meters of the periphery of the vehicle, and The dynamic information of the objects is obtained by continuous scanning for further analysis of whether the objects collide with the vehicle, so that the vehicle driving can be warned first when there is a risk of collision. Furthermore, the present invention can simultaneously analyze the contour of the object, thereby automatically classifying the object to determine whether it will affect the safety of the vehicle, and avoid wasting the computing resources of the system on objects that are not necessary for warning. Moreover, the invention is based on the high accuracy, is not susceptible to environmental influences, and does not need to change the structure of the vehicle body during installation, and can be directly applied to general vehicles. Based on the increasing public attention to driving safety, the three-dimensional depth sensing system for collision avoidance and the method for operating the same have undoubtedly deep development potential and application value.

[0022]

The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and the variations, modifications, and modifications of the shapes, structures, features, and spirits described in the claims of the present invention. All should be included in the scope of the patent application of the present invention.

1‧‧‧Mobile Vehicles

2‧‧‧Structural light projection module

21‧‧‧Laser light source unit

22‧‧‧ lens group

3‧‧‧ camera module

4‧‧‧Car chip module

5‧‧‧Warning module

51‧‧‧ sound unit

6‧‧‧Power Module

8‧‧‧ objects

Claims (9)

[Item 1] A stereoscopic depth sensing system for collision avoidance is provided on a mobile vehicle, which comprises:
a structured light projection module that projects a light plane on a surface of at least one object around the moving carrier;
a camera module that receives a projection of the surface of the object through the projection of the light plane to reflect a light image message;
a vehicle chip module coupled to the camera module, and using the light image information to calculate a distance between the object and the mobile vehicle and an outline of the object; and a warning module coupled Connected to the vehicular wafer module, it sends a warning message to the mobile carrier. [Item 2] The stereoscopic depth sensing system for collision avoidance according to claim 1, wherein the structured light projection module comprises a laser light source unit and a lens group. [Item 3] The stereoscopic depth sensing system for collision avoidance of claim 2, wherein the lens assembly comprises a patterned lens such that the laser source has patterned features through the patterned lens. [Item 4] The stereoscopic depth sensing system for collision avoidance according to claim 3, wherein the patterned feature comprises a two-dimensional dot array. [Item 5] The stereoscopic depth sensing system for collision avoidance according to claim 1, wherein the warning module comprises at least one sound effect unit. [Item 6] A method for operating a three-dimensional depth sensing system for collision avoidance is provided on a mobile vehicle, the method comprising the steps of:
Using a structured light projection module to continuously project a plurality of light planes on a surface of at least one object around the moving carrier;
Using a camera module to receive a plurality of light image messages reflected by the surface of the object through the projection of the light plane;
Using a vehicle chip module to calculate the first movement information of the object by using the light image information, and using the second movement information of the mobile vehicle to estimate the possibility of the object colliding with the mobile vehicle; And if the object has a possibility of colliding with the mobile carrier, the vehicle chip module sends a warning message to a warning module to issue an alert notification by using the warning module. [Item 7] The method for operating a stereoscopic depth sensing system for collision avoidance according to claim 7, wherein in the step of using the warning module to issue the warning notification, at least one sound effect unit of the warning module is used. Issue this alert notification. [Item 8] The method for operating a stereoscopic depth sensing system for collision avoidance according to claim 7, wherein before the step of calculating the first movement information of the object, the method further comprises the steps of:
Using the vehicle chip module to calculate the contour of the object by using the light image information;
The type is analyzed according to the contour of the object; and if the object is of a type that does not affect the safety of the moving vehicle, the object is ignored, and the possibility that the object collides with the moving carrier is not estimated. [Item 9] The method for operating a stereoscopic depth sensing system for collision avoidance as described in claim 9 wherein the type of safety that does not affect the mobile vehicle comprises grass.