1305829 九、發明說明： 【發明所屬之技術領域】 本發明是有關於一種位置偵測方法， a ^ 影像f訊進行演算，以求得=操^ 種影像擷取裝置位置自動偵測方法及使 用邊方法之車輛碰撞警示系統。 Κ 鲁【先前技術】 丨返有行技進展，生活富裕，機動車輛日益並 家庭，而增加交通的方便性。“隨著車輛使^的頻繁: =幾=輛造成的死亡人數始終居高不下。根據内政部 g文署、、先计，歷年來台灣地區每年因交通 =在三千人左右，受傷人數則在二十萬人=的:1305829 IX. Description of the invention: [Technical field of the invention] The present invention relates to a position detection method, a ^ image f-calculation, to obtain an automatic detection method and use of the image capture device The vehicle collision warning system of the side method. Κ 鲁 [Previous technology] There is progress in technology, life is affluent, motor vehicles are increasingly family, and the convenience of transportation is increased. "With the frequent use of vehicles: = a few = the number of deaths caused by the vehicle is always high. According to the Ministry of the Interior, the Ministry of the Interior, the first count, the annual traffic in Taiwan over the years = about 3,000 people, the number of injured In 200,000 people =:
===年台灣地區因交通事故的死、傷人數各為2,894 及200, 009人。平均每天有8人因交通事故死亡。 =其筆事原因’百分之九十七以上是駕敬不當所 ，事故师又以追撞案例佔大宗。這些交通事故不僅造 成，人及家庭的負擔’耗費社會有限的醫療資源，並造成 國家生產力的損失。 /有馨於此，如果能以攝影機，建立一車用之碰撞警示 糸統，應用先進的影像處理技術辨識出本車週圍車輛並估 測與其之相對距離’並於距離過近時提出警示訊號，鐾土 駕駛者作”當處置，如減財速料，㈣免事故的^ 6 1305829 ， 生’亦可降低交通事故發生機率。 然而，在估測本車與它車之間距時，攝影機相對於地 面的高度資訊是必要的，而在習用之技術中，通常為人員 量測攝影機之高度，並自行輸入之系統内。例如中華民國 • ^利公告號第1246665號所揭露之技術，可以量測本車與 .$車之距離，不過卻需要使用者量測攝影機之高度，因而 造成不便。為了使用者便利性，因此亟需一種影像揭取褒 φ 置位置自動偵測方法及使用該方法之車輛碰撞警示系統來 自動估測攝影機高度，以利後續的距離估測。 【發明内容】 本發明的主要目的是提供一種影像榻取裝置位置自動 管、過操取校正工具之影像’並對該影像進行運 -处里，達到自動估測影像擷取裝置高度之目的。 本發明的次要目的是提供一種車輛 ===具之影像，並對該影像進行運i處2怯= 距置之高度’達到順利估算本車與它車之相對 為了達到上述之目的，本發明 ㈣測方法，其係包括有下列步驟 影^取於一車輛上；提供一校正工具設置於該 計算之:取範圍内；彌取該校正工具之影像，並 該影像操取裝置之高度。根據—逆透視投影法，計算 1305829 較佳的是，計算其影像之一特徵值係為計算該校正工 座標系中之該特徵值大小。而前述所謂之特徵 "Ιί二ϋ寬度’其單位為晝素(Plxel)。該影像座 铩糸之乾圍則為顯示該影像之顯示幕大小。 ㈣’該逆透視投影法更包括有下列步驟：計算影 !二比例因子；以及將該校正工具於空間座伊 系中對應該特徵值之實體大小、該特徵值、該影^ 置之角度以及該比例因子進行運算，^ 置之回度。其中該比例因子包括有該顯示幕高度 ^像操取裝置内之影像感測器（image sens〇〇之高声= t值以及顯示幕寬度畫素數量與 二： 測器（服狀啊⑹之寬度之比值。置内之心像感 ^達到上述之目的，本發明更提供 統，包括··至少一影像操取裝置， ^不系 之影像資訊;-影像處理與控制模組 擷取裝置所操取之影像資訊 收“像 物體之相對距離而產生一邀亍，:解析車輛與周遭 組更可以根據該影像操取以之=像處理與控制模 序而得知該影像操取裝置傳=像^訊進行演算程 影像處理與控制模組相連接，该顯干:頁不早疋’其係與該 理與控制模組所傳遞之訊號以顯干1Γ傻凡可接收該影像處 接收該警示訊號以產生警報拉、、且相連接，該警示單元可 f實施方式】 8 1305829 ΊΚ ‘更進一步的認目的及功能有 .部結構以及設計 二:之裝=關細 以了:本發明之特點，詳細;;：：=如;委員可 -裝置位置自_測方法該影像擷取 提供—_取裝==驟車=進 響该影像擷取裝置可 置於單輛上， 前述之組合的位置上。接著車二之：、後、左、右或者是 具設置於該影像榻取裝115提供一校正工 取該校正工具之影像，以步㈣操 像擷取裝置位置自動偵測方明 車輛 正工具9!之尺寸為已知並榻尺取斗車輛9〇前方之影像。該校 據使用者之需要而定。〃大小或者是外形’可以根 =象:畢之後，先進行判斷在擷取之影像中是否 二 工，、之影像’如果沒有的話則回到步驟12繼姨 像；反之，如果有的話則，進行步驟 轉像之-特徵值。請參閱圖—β所示 象 该特徵值之方式係以步驟131，計算該校正工^： =像座標系中之該特徵值大小。在本實施㈣，_ = 值為=正工具之寬度（其單Μ 不，该圖係為本發明之影像操取裝置位置自動偵測方$ 9 1305829 ^^圖。財間絲线㈣可定義岐正工 裝置位置自動偵測方法之影=標 例如在正工具91影像之座標系， 在本例中係為顯示幕3所構成之座標系。 逆透1::圖：？示’步驟13後再進行步驟“，根據-圖法’計鼻該影像擷取裝技置之高度。請參閱 測方法，係為本發明之影像操料置位置自動偵 ㈣視投影法流程示意圖。所謂逆投視投影 ΐ移影像座標系中任—點可經過數次座標旋轉與 千移而轉換至空間座標系，而得以計算出攝影機之高度。 4圯透視投影法14更包括有下列步驟乂步 =像顧取裝置之-比例因子。然後，以步 ^工具於空間座標系中對應該特徵值之實體大小、該特 敛值、該影像擷取裝置之角度以及該比例因子套入一" 進行運算’以得到該影像擷取裝置之高度。請 回—人Θ四所不’其中，該校正工具91於空間座標系中之 ^應該特徵值之實體大小係為⑴丄），其係為已知且單位 取：：徵值係為(Mi) ’其單位為晝素;該影像擷 又 之角度61，係為在設置影像擷取裝置2時即可得 知；該比·子包括有簡轉高度Η晝素 取裝置内之影像感測器(imagesens〇r)之高度之:二員 顯不幕i度W晝素數量與影㈣取裝置内 之寬度之比值，該比例因子之單位為書t 公尺。 —^ (1)1305829 該演算之公式如下式（1)所示 (Xcr-Xc,ifSffi sin9 + h=== The number of deaths and injuries in Taiwan due to traffic accidents was 2,894 and 200,009 respectively. On average, 8 people die every day due to traffic accidents. = The reason for his penny> More than 97% of the cases are improperly guarded, and the accidental divisions account for a large number of cases. These traffic accidents not only cause the burden of people and families to consume socially limited medical resources and cause loss of national productivity. / There is a sweetness here, if you can use a camera to establish a collision warning system for vehicles, use advanced image processing technology to identify the vehicle around the vehicle and estimate the relative distance between it and provide warning signals when the distance is too close. The driver of the bauxite "when disposing, such as reducing fuel, (4) accident-free ^ 6 1305829, life 'can also reduce the probability of traffic accidents. However, when estimating the distance between the car and its car, the camera is relatively The height information on the ground is necessary, and in the conventional technology, the height of the camera is usually measured by the personnel and input into the system. For example, the technology disclosed in the Republic of China • Li Ann Bulletin No. 1226665 can be used. Measuring the distance between the car and the car, but it requires the user to measure the height of the camera, which is inconvenient. For the convenience of the user, there is a need for an image detection method for automatically detecting the position and using the method. The vehicle collision warning system automatically estimates the height of the camera to facilitate subsequent distance estimation. SUMMARY OF THE INVENTION The main object of the present invention is to provide an image couch The position of the device is automatically controlled, and the image of the correction tool is processed and the image is carried out to achieve the purpose of automatically estimating the height of the image capturing device. The secondary object of the present invention is to provide a vehicle=== Image, and the image is carried out at 2怯=the height of the distance' to achieve a smooth estimation of the vehicle and its vehicle. In order to achieve the above purpose, the present invention (4) measuring method includes the following steps: a vehicle; providing a calibration tool disposed in the calculation: taking the range; capturing the image of the calibration tool, and taking the height of the device. According to the inverse perspective projection method, calculating 1305829, preferably, calculating One of the image feature values is the size of the feature value in the calibration work coordinate system. The so-called feature "Ιί二ϋWidth' is in the form of a pixel (Plxel). The display screen size of the image is displayed. (4) The inverse perspective projection method further comprises the following steps: calculating the shadow! two scale factor; and the entity corresponding to the feature value in the space coordinate system The size, the characteristic value, the angle of the image, and the scale factor are calculated, and the scale factor includes the image sensor in the display screen height image image capturing device (image sens〇)高高高 = t value and the number of display screen width pixels and two: the ratio of the width of the detector (the shape of the service (6). The heart image of the inside of the device ^ to achieve the above purpose, the present invention provides more, including · at least An image manipulation device, ^ not image information; - image processing and control module capture device image information received by the "image object relative distance to generate an invitation,: analysis of vehicles and surrounding groups can According to the image manipulation, the image processing device and the control module are used to learn that the image processing device transmits the image processing and the control module, and the display is not early. The signal transmitted by the control and control module is used to display the warning signal to generate the alarm, and the alarm unit can be connected to the image. The warning unit can be implemented. 8 1305829 ΊΚ 'Further Purpose and function There are part structure and design two: the installation = close detail: the characteristics of the invention, in detail;;:: = such as; member can - device position from the _ test method the image capture provides - _ take == Car = Incoming The image capturing device can be placed on a single vehicle, in the position of the aforementioned combination. Then the second: the rear, the left, the right, or the image provided on the image pickup device 115 to provide a calibration tool for the correction tool, to automatically detect the position of the device by step (4) The size of 9! is the image of the front of the 9-foot vehicle. The school is based on the needs of the user. 〃 size or shape 'can be root=image: after the completion, first determine whether the second image is captured in the captured image, and the image 'If not, return to step 12 to follow the image; otherwise, if there is , perform the step-to-image-feature value. Referring to the figure - β, the eigenvalue is determined by the step 131, and the calibrated work is calculated: = the size of the feature value in the coordinate system. In the present embodiment (4), the value of _ = = the width of the positive tool (the single is not, the figure is the automatic detection position of the image manipulation device of the present invention, $ 9 1305829 ^ ^ picture. The financial wire (four) can be defined影 岐 岐 装置 装置 = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = Then proceed to the step ", according to the - map method", the height of the image capture device is set. Please refer to the measurement method, which is the flow chart of the positional automatic detection (four) view projection method of the image manipulation device of the present invention. Depending on the projection shift image coordinate system, any point can be converted to the space coordinate system after several coordinate rotations and thousand shifts, and the height of the camera can be calculated. 4圯The perspective projection method 14 further includes the following steps: Taking the scale factor of the device. Then, using the step tool in the space coordinate system, the physical size corresponding to the feature value, the singular value, the angle of the image capturing device, and the scaling factor are set into a " 'To get the height of the image capture device Please return - the person is not four. Among them, the correction tool 91 in the space coordinate system ^ should be the characteristic value of the entity size is (1) 丄), the system is known and the unit is taken: the levy system is ( Mi) 'The unit is a halogen; the angle of the image is 61, which is known when the image capturing device 2 is set; the ratio includes the image sense in the device The height of the detector (imagesens〇r): the ratio between the number of the two members and the width of the shadow (4) taking the width of the device, the unit of the scale factor is the book t meters. —^ (1)1305829 The formula of the calculus is as shown in the following formula (1) (Xcr-Xc, ifSffi sin9 + h
\ yc fS c〇s0 J 其中： h :影像擷取裝置距離地面之高度，單位為公尺 Xcr:校正工具於空間座標系中右緣之X向座標， 尺（請參閱圖三所示）； Xcl :校正工具於空間座標系中左緣之X向座標， 尺（請參閱圖三所示）； .杈正工具於影像座標系中右緣之χ向座標， 素（請參閱圖四所示）； .k正工具於影像座標系中右緣之χ向座標， 素（請參閱圖四所示）； yC .扠正工具於影像座標系中底部之γ向座標 素（請參閱圖四所示）； W:螢幕寬度，單位為查音（ 缺 平1苟旦素（5月參閱圖四所示）； ς •，咼度’單位為晝素(請參閱圖四所示）； X方向比例因子，單位為晝素/公尺. 方向比例因子，單位為畫素/公尺； f.焦距，單位為公尺； Θ:影像操取裝置與地面之夹角（請參閱圖三所 在4=:::高„取裝置之高度後， 新回到牛明彳9 w试 又疋否合理，如果不合理，則重 A ，後續之步驟。反之，如果合理的話，則\ yc fS c〇s0 J where: h : the height of the image capturing device from the ground, in meters Xcr: the X-direction coordinate of the correcting tool in the right edge of the space coordinate system, ruler (see Figure 3); Xcl: The X-direction coordinate of the left edge of the calibration tool in the space coordinate system, the ruler (see Figure 3); the 杈正 tool in the right coordinate of the right coordinate edge of the image coordinate system, prime (see Figure 4) ); .k is the coordinate of the right edge of the image coordinate system, (see Figure 4); yC. The fork is the gamma to the bottom of the image coordinate system (see Figure 4) W): the width of the screen, the unit is the sound of the sound (the lack of flat 1 苟 ( (see Figure 4 in May); ς •, the unit of 咼 is the element (see Figure 4); X direction Scale factor, unit is 昼 / / 尺. Direction scale factor, the unit is pixels / meter; f. focal length, the unit is meter; Θ: the angle between the image manipulation device and the ground (please refer to Figure 3 where 4 =:::High „ After taking the height of the device, it is reasonable to return to Niu Mingqi 9 w. If it is unreasonable, then it will be heavy A and then Continued steps. Conversely, if reasonable, then
XX
X 單位為公 單位為公 單位為晝 單位為晝 單位為畫 示 1305829 可以以步驟15將所估算之高度記錄下來。 配請參閱圖五所示’雖然前述之影像擷取裝置以圖二之 鱼來進行，但影像摘取裝置並不被限制僅能設置於 像方。在圖五中’車輛9G周圍之位置都可以設置影 、/衣置2_’至於其設置高度之演算方法，如前所 播ί不崎述。此外’該影像操取裝置2a〜2d可選擇 p摆^或者是—紅外線影像齡裝置。其中該攝影機 ^擇為-光電轉合元件（加聊―c〇upiedDevice·⑽The X unit is the public unit is the public unit 昼 The unit is 昼 The unit is the drawing 1305829 The estimated height can be recorded in step 15. Please refer to FIG. 5'. Although the image capturing device described above is performed by the fish of FIG. 2, the image capturing device is not limited to be set only on the image side. In Figure 5, the position around the 9G of the vehicle can be set to the shadow, / clothing 2_' as to the setting height of the method, as previously broadcasted. Further, the image capturing devices 2a to 2d may select a p-pendulum or an infrared image-age device. Among them, the camera is selected as - photoelectric conversion component (plus chat - c〇upiedDevice·(10)
Meta"互η補式金氧半之光學感測元件(Co__taryMeta" Mutual η Complementary Gold Oxygen Half Optical Sensing Element (Co__tary
Metal-〇xlde Semic〇nduct〇r> CM0S)^t^- 〇 利用前述之偵測方法， 系統6。請來閱圖丄所_ =収&供—車輛碰撞警示 *系統較佳實：=::==明之車輛碰撞警 至少一爭偾描俶壯明 忑皁輛娅揎警不系統6，具有 干單元衣6卜一影像處理與控制模組60、一顯 i = H ^單元⑷該影賴取裝置6卜其係 了以彳σ貞取車輛周圍之寻彡務次μ '、 ==控^ 61所傳之影像資訊進行 了=據該影像擷取裝置 61之高度。 ’、#序而侍知該影像擷取裝置 接，該顯示與该影像處理與控制模組60相連 遞之訊號嘯影與控龍㈣所傳 之距離估算值等相關 3辆追縱晝面、與它車 心像與文予數據等資訊。該顯示單 12 1305829 .元63可為液晶顯示器或者是發光二極體顯示器等，但不在 此限。該警示單元64，其係與該影像處理與控制模組60 相連接，該警示單元64可接收該警示訊號以產生警報，以 提醒駕駛者本車與它車之間距過近。該警示單元64可對駕 駛可發出聲、光或振動等方式警示訊號。 ' 該車輛碰撞警示系統6其係更具有一使用者控制單元 - 62，該使用者控制單元62可提供使用者一操控界面，以供 使用者進行啟動該車輛碰撞警示系統6、用於設定是否啟 • 動碰撞警示系統6、進行影像擷取裝置61位置偵測程序或 車輛追蹤與測距程序。該影像擷取裝置61位置偵測程序為 前述之影像擷取裝置位置自動偵測方法所述之步驟。而該 車輛追蹤與測距程序則為利用影像資訊來偵測車輛與車輛 周圍之物體之距離，以維持車輛之行進安全。 該影像處理與控制模組60更包含：一影像擷取與解碼 單元601、一數位訊號處理與控制單元600以及一影像編 碼與輸出單元603。該影像擷取與解碼單元601，其係與該 參 影像擷取裝置61相連接，以將該影像擷取裝置61所擷取 之資訊轉成一數位化影像資訊。該數位訊號處理與控制單 元600，其係可接收該數位化影像資訊，進行演算與解析。 該影像編碼與輸出單元603,其係與該數位訊號處理與控 制單元600以及該顯示單元63相連接，該影像編碼與輸出 單元603可接收該數位訊號處理與控制單元600所輸出之 一控制訊號將影像編碼並輸出影像視訊給該顯示單元63。 此外，該影像處理與控制模組60更包含：一影像隨機 存取記憶體602以及一非揮發性可程式記憶體604。該影 1305829 .像隨機存取記憶體602,其係可記憶該數位化影像資訊以 及經由該數位訊號處理與控制單元600處理完畢之影像， 該影像隨機存取記憶體602可提供該數位化影像資訊給該 數位訊號處理與控制單元600以及提供處理完畢之影像給 該影像編碼與輸出單元603。該非揮發性可程式記憶體 604,可記錄該數位訊號處理與控制單元600所運算解析之 • 該影像擷取裝置61之估算高度。 當透過使用者控制單元62切換至車輛追蹤與測距程序 • 時，該影像處理與控制模組60亦將根據影像擷取裝置61 所接收到的影像資訊，辨識與追蹤車輛並估測與其之相對 距離。並將計算出之相對距離疊加於原始影像資訊上，以 成一新的車輛追蹤影像資訊，並儲存於該影像隨機存取記 憶體602。而該影像隨機存取記憶體602内的影像資訊將 傳至該影像編碼與輸出單元603，轉成可支援顯示單元63 的影像視訊訊號，輸出影像，以顯示車輛追蹤與測距晝面。 惟以上所述者，僅為本發明之較佳實施例，當不能以 • 之限制本發明範圍。即大凡依本發明申請專利範圍所做之 均等變化及修飾，仍將不失本發明之要義所在，亦不脫離 本發明之精神和範圍，故都應視為本發明的進一步實施狀 況。 綜合上述，本發明提供之影像擷取裝置位置自動偵測 方法及使用該方法之車輛碰撞警示系統，具有自動估測攝 影機高度，以利後續的距離估測之優點，因此可以滿足業 界之需求，進而提高該產業之競爭力以及帶動週遭產業之 發展，誠已符合發明專利法所規定申請發明所需具備之要 1305829 貴審查委員允 件，故爰依法呈提發明專利之申請，謹請 撥時間惠予審視，並賜准專利為禱。Metal-〇xlde Semic〇nduct〇r> CM0S)^t^- 〇 Using the aforementioned detection method, System 6. Please come to the map _ = collection & supply - vehicle collision warning * system is better: =:: = = Ming vehicle collision police at least one contends 俶 俶 俶 忑 辆 辆 辆 辆 辆 揎 揎 揎 不 不 不 不 6 The dry unit clothing 6-an image processing and control module 60, an explicit i = H ^ unit (4), the shadow-receiving device 6 is 彳 贞 贞 贞 贞 贞 车辆 车辆 车辆 车辆 车辆 车辆 车辆 车辆 车辆 车辆 ' ' ' ' ' ^ 61 The image information transmitted is performed according to the height of the image capturing device 61. ', #################################################################################################### With its car heart and text and other information. The display sheet 12 1305829. The element 63 may be a liquid crystal display or a light emitting diode display, etc., but not limited thereto. The warning unit 64 is connected to the image processing and control module 60. The warning unit 64 can receive the warning signal to generate an alarm to remind the driver that the vehicle is too close to the vehicle. The alert unit 64 can alert the driver by sound, light or vibration. The vehicle collision warning system 6 further has a user control unit 62. The user control unit 62 can provide a user control interface for the user to activate the vehicle collision warning system 6 for setting whether The dynamic collision warning system 6 performs a position detection program of the image capturing device 61 or a vehicle tracking and ranging program. The image capturing device 61 position detecting program is the step described in the foregoing image capturing device position automatic detecting method. The vehicle tracking and ranging procedure uses image information to detect the distance between the vehicle and objects around the vehicle to maintain the safety of the vehicle. The image processing and control module 60 further includes an image capturing and decoding unit 601, a digital signal processing and control unit 600, and an image encoding and output unit 603. The image capturing and decoding unit 601 is connected to the image capturing device 61 to convert the information captured by the image capturing device 61 into a digital image information. The digital signal processing and control unit 600 can receive the digitized image information for calculation and analysis. The image encoding and output unit 603 is connected to the digital signal processing and control unit 600 and the display unit 63. The image encoding and output unit 603 can receive a control signal output by the digital signal processing and control unit 600. The image is encoded and the image is output to the display unit 63. In addition, the image processing and control module 60 further includes an image random access memory 602 and a non-volatile programmable memory 604. The image 1305829. The random access memory 602 can memorize the digitized image information and the image processed by the digital signal processing and control unit 600. The image random access memory 602 can provide the digitized image. Information is provided to the digital signal processing and control unit 600 and the processed image is provided to the image encoding and output unit 603. The non-volatile programmable memory 604 can record the estimated height of the image capturing device 61 calculated by the digital signal processing and control unit 600. When the user control unit 62 is switched to the vehicle tracking and ranging program, the image processing and control module 60 will also identify and track the vehicle based on the image information received by the image capturing device 61 and estimate the same. relative distance. The calculated relative distance is superimposed on the original image information to form a new vehicle tracking image information and stored in the image random access memory 602. The image information in the image random access memory 602 is transmitted to the image encoding and output unit 603, converted into an image video signal capable of supporting the display unit 63, and the image is output to display the vehicle tracking and ranging surface. However, the above is only the preferred embodiment of the present invention, and the scope of the present invention cannot be limited. It is to be understood that the scope of the present invention is not limited by the spirit and scope of the present invention, and should be considered as a further embodiment of the present invention. In summary, the method for automatically detecting the position of the image capturing device provided by the present invention and the vehicle collision warning system using the same have the advantages of automatically estimating the height of the camera to facilitate the subsequent distance estimation, thereby meeting the needs of the industry. In order to improve the competitiveness of the industry and promote the development of the surrounding industries, Cheng has already met the requirements of the 1305,829 reviewing committee required to apply for inventions as stipulated by the invention patent law, so please file an application for invention patents according to law. I will review it and give the patent a prayer.
1305829 【圖式簡單說明】 圖一 A係為本發明之影像擷取裝置位置自 佳實施例流程示意圖。 、剛方法之較 動偵測方法之計 動偵測方法之逆 圖一 B係為本發明之影像擷取裝置位置自 算其影像之一特徵值流程示意圖。 圖一 C係為本發明之影像擷取裝置位置自 透視投影法流程示意圖。 動偵測方法之擷取 圖二係為本發明之影像擷取裝置位置自 才父正工具影像不·意圖。 圖三係為本發明之影像擷取裝置位置自動偵測方法之处 座標系示意圖。 工 圖四係為本發明之影像擷取裝置位置自動偵測方法之顯示 幕顯座標系示意圖。 圖五係為本發明之影像擷取裝置配置位置示意圖。 圖/、係為本發明之車輛碰撞警示系統較佳實施例示意圖。 【主要元件符號說明】 1-影像擷取裝置位置自動偵測方法 10〜15-步驟 131-步驟 141〜142-步驟 影像擷取裝置 2a〜2d-影像操取裝置 3-顯示幕 1305829 6-車輛碰撞警示系統 60- 影像處理與控制模組 600- 數位訊號處理與控制單元 601- 影像擷取與解碼單元 602- 影像隨機存取記憶體 603- 影像編碼與輸出單元 604- 非揮發性可程式記憶體 61- 影像擷取裝置 62- 使用者控制單元 63- 顯示單元 64- 警示單元 90-車輛 91 -校正工具 92-影像擷取範圍 171305829 [Simple description of the drawings] Fig. 1 is a schematic flow chart of a preferred embodiment of the image capturing device of the present invention. The inverse of the motion detection method of the method for detecting motion of the method is shown in Fig. 1. B is a schematic diagram of the process of calculating the characteristic value of one of the images of the image capturing device of the present invention. Figure 1C is a schematic flow chart of the position of the image capturing device of the present invention from the perspective projection method. The second method of the image capture device of the present invention is the image of the image capture device of the present invention. FIG. 3 is a schematic diagram of the coordinates of the method for automatically detecting the position of the image capturing device of the present invention. Figure 4 is a schematic diagram showing the display of the screen display coordinate system of the image capturing device in the present invention. FIG. 5 is a schematic diagram showing the configuration position of the image capturing device of the present invention. Figure / is a schematic diagram of a preferred embodiment of the vehicle collision warning system of the present invention. [Main component symbol description] 1-Image capture device position automatic detection method 10~15-Step 131-Step 141~142-Step Image capture device 2a~2d-Image manipulation device 3-Display screen 1305829 6-Vehicle Collision Warning System 60 - Image Processing and Control Module 600 - Digital Signal Processing and Control Unit 601 - Image Capture and Decode Unit 602 - Image Random Access Memory 603 - Image Encoding and Output Unit 604 - Non-volatile Programmable Memory Body 61 - Image capture device 62 - User control unit 63 - Display unit 64 - Alert unit 90 - Vehicle 91 - Correction tool 92 - Image capture range 17