1316480 九、發明說明： 【發明所屬之技術領域】 本發明係為-種複合式感測裝置 結合異質感測器之複合式感測裝置。凡其是有關於一種 【先前技術】 目前車輛上了 €測器來輔 有距離感測器（超音波、紅外線、* 丁早女全，最常見的 感測器（CXD/C應）。就目前的及影像 器主要輔助於需要精確距離制之駕 =1，距離感測 航系統、倒車雷達等)’而影像感測器則4 =應性巡 察判斷之駕駛行為(如：車道/車輛辨識‘車眼觀 _等)。無論何種單1測器所構成之裝』盲: 缺失及不完善’距離感測器對於距離的感測=現= 精確知道障礙物相對於本車輛之方位（採用雙距離感^器 玎以從感測重疊區運算出相對物體方位角）及無法辨識物 體变態；影像感測益則針對物體辨識及相對方位角，但對 於距離估測部產生很大的誤差值。再者，單一感測器對於 天候瓖境的適應均不同，如部分的距離感測器對於天候的 影響相對於影像感測器來的優勢，也就在天候不良時，亦 能補償影像感測器的不足。因此若可同時得之障礙物型 態、方位及距離，並在適應較多的行車環境，異質感測器 整合勢必可以對於行車安全的防護可以提供更完善資 5 1316480 a。本裝置將以大型連結車為初步發展應用車輛，原因在 於此種車輛盲點多，以目前單一感測器的方式無法提供完 全之車輛防護及他人用路安全，只要應用多組本裝置及搭 配適合之人機介面設計就可以解決上述之行車危險。 中華民國新型專利第458073號係揭露一種車輛安全 防護系統之車距偵測裝置，該案係可測知前車與本車間之1316480 IX. Description of the Invention: [Technical Field of the Invention] The present invention relates to a composite sensing device in which a composite sensing device is combined with a heterogeneous sensor. Where it is related to a [prior art] At present, the vehicle is equipped with a distance sensor (ultrasonic, infrared, * Ding early female, the most common sensor (CXD / C should). The current and imaging devices are mainly used to support the precise distance system, the distance sensing system, the parking sensor, etc.] and the image sensor 4 = the driving behavior of the patrol inspection (eg lane/vehicle identification) 'Car eye view _, etc.). Regardless of the type of single 1 detector, the blindness: missing and imperfect 'distance sensor's sense of distance = now = accurately know the position of the obstacle relative to the vehicle (using a double distance sensor) The relative azimuth of the object is calculated from the sensing overlap region and the object metamorphosis cannot be recognized; the image sensing benefit is for the object recognition and the relative azimuth, but a large error value is generated for the distance estimating portion. Furthermore, the single sensor has different adaptations to the weather environment. For example, the influence of the distance sensor on the weather is relative to the image sensor, and it can compensate the image sensing when the weather is bad. Insufficient. Therefore, if the obstacle type, orientation and distance can be obtained at the same time, and in adapting to more driving environment, the integration of heterogeneous sensors is bound to provide more perfect protection for driving safety. The device will be used as a preliminary development vehicle for large-scale connected vehicles. The reason is that such vehicles have many blind spots. The current single sensor can not provide complete vehicle protection and safety for others. As long as multiple sets of devices are used and matched The human-machine interface design can solve the above-mentioned driving danger. The Republic of China New Patent No. 458073 discloses a vehicle distance detecting device for a vehicle safety protection system, which can detect the front vehicle and the workshop.
相對距離，進而配合軟件將其前車鎖定，以供相關服務軟件 據以取得資料而提供例如：安全距離與碰撞警示等服務 者，該技術雖可進行障礙物偵測與相對距離運算，然而卻 僅進行單一感測器偵測及運算，因此仍存在前述單一類型 感〉則器之缺點。Relative distance, and then cooperate with the software to lock the front car, so that the relevant service software can obtain data according to the service, such as: safety distance and collision warning, the technology can perform obstacle detection and relative distance calculation, but Only a single sensor detection and operation is performed, so there is still a disadvantage of the aforementioned single type of sensor.
Hiroshi Kuroda等人於2003年「日立評論」雜誌中曾 發表-篇「用於安全駕駛之車輛控制及資訊系統（Vehicle Control and Information Systems f〇r Safe Driving ) j (mTAcm REVIEW volume 52 Number i Apru 2〇〇3)，其 係：露-種使用影像感測器及測距雷達以進行輔助駕駛 =車^控制及資訊系統；該技術___異質_ =而其中之影像感測器係用於車道辨識而測距雷達則 與相對距T貞測，兩感測器之間仍為單獨運作 而無相互資訊連接之關係。 緣此，本案之發明人係研究出—種複 ， 像及測距ί件之優點以達到提高本身車輛及 他用路人或載具之安全。 1316480 【發明内容】 本發明之主要目的係為提供一種複合式感測裝置，其 係利用異質偵測器之互相搭配，進而達成提供更完整障礙 物資訊之目的。 為達上述目的，本發明係提供一種複合式感測裝置， 包含： 一中央控制單元； 一距離偵測單元，係與該中央控制單元電連接並偵測 障礙物距離； 一影像偵測單元，係與該中央控制單元電連接並偵測 障礙物方位；以及 一警示單元，係與該中央控制單元電連接； 其中，該中央控制單元係將該障礙物距離與該障礙物 方位進行結合，並據以作動該警示單元。 又為達上述目的，本發明更提供一種複合式感測方 法，包含步驟： (a) 提供一複合式感測裝置，包括一中央控制單元以及 分別與該中央控制單元電連接之距離偵測單元、影 像偵測單元以及警示單元； (b) 作動該複合式感測裝置，使得該距離偵測單元及影 像偵測單元分別偵測障礙物距離與障礙物方位；以 及 7 1316480 (C)該中央控制單元係將該障礙物距離與該障礙物方 位結合並據以作動該警示單元。 為使貴審查委員對於本發明之結構目的和功效有 更進-步之了解與認同，兹配合圖示詳細說明如後。 【實施方式】 本毛月之複合式感測裝置之系統架構示意圖係如圖 所示4複合式感測裝置J包含：中央控制器、複合 谓測模組U，以及警示器12 ;其中，該複合偵測模組u 包括-距離偵測器UG與―影像偵測器iu，該距離偵測 器110係用於偵測障礙物距離，該影像该測器U1係用於 偵測障礙物方位及型態（例如：行人、小型車或大型車 ^且該距離制器11G與該影像偵測器lu係分別與該 中央控制器10電連接。 於圖一中，該中央控制器1〇更包含一處理單元、 ，，則處理單元1(n 一類比/數位轉換單元脱、一快 閃》己L體103、-同步動態隨機存取記憶體1〇4(8〇 ·=走電-1〇5。該處理單元100係例如為嵌入式32位元 你ΐ处里單元且主要負責接收該影像偵測器111訊號之影 处理、影像辨識 '與接收該距離_器削訊號計算相 *距離與:貝料融合、系統流程主控及即時警示訊號輸 =該影像前處理單元肌負責影像資料擷取及前處理。 §通比/數位轉換單元1〇2則用於輸出經由處理單元⑽完 8 1316480 成影像辨識及資料融合後之影像資訊。該快閃記憶體103 與同步動態隨機存取記憶體104則係作為系統運作之暫存 空間。電源105則用於供應複合式感測裝置1整體運作時 所需之電力。在此種架構下，該中央控制器10係可進行 影像處理、影像辨識、距離運算、障礙物相對位置關係運 算、異質資料融合、影像輸出及警示訊號處理等作業。 於本發明之架構中，複合式感測裝置1更包含與該中 央控制器10電連接之警示器12及顯示器13。該警示器 12係可發出聲音或燈光來警示使用者；該顯示器13則可 用於顯示障礙物影像及方位距離等資訊。 又，為強化該複合偵測模組11之障礙物感測能力，該 複合偵測模組11更設有一辅助照明之輔助照明元件112。 再請參照圖二，該圖係為本發明之複合式感測裝置應 用於大型車輛時之系統架構圖。於圖二中，係使用三組複 合式感測裝置20、21及22來分別進行車輛左方、右方及 後方之障礙物偵測，該等複合式感測裝置20、21及22係 分別與一影像切換單元23電連接，該影像切換單元23係 可將輸入之多組障礙物影像進行切換或切割，之後再傳送 至一車用顯示器24顯示之，使得駕駛者可據以瞭解車輛 左方、右方及後方之障礙物型態、位置與距離。 如此，當安裝於大型連結貨車30之拢車31兩侧310、 311及後方312時，本發明複合式感測裝置由於結合了距 離偵測器與影像偵測器之優點，故可解決此類車輛之行車 9 !316480 盲點，進而達成盲點偵測以提升道路安全，如圖三所示。 人再请參照圖四，該圖係為本發明複合式感測裴置之複 二，感測方法流程圖。複合式感測方法係使用前 式感測裝置且包括步驟： 稷口 作動該複合式感測裝置，使得該距離偵測器及影像 、測器分別偵測障礙物距離與障礙物方位； 妗人42-5亥中央控制器係將該障礙物距離與該障礙物方位 並據以作動該警示器（例如當障礙物之距離離車體過 ，且其方位係位於車身行進或轉彎之路線上時）；以及 该顯示器係顯示該障礙物距離與障礙物方位。 次/f,丨較佳地’本發明複合式感測裝置之距離偵測器係以20 二/M上之頻率偵測，偵測距離範圍為〇.3〜10米，解析 :傻二5:2()公分’水平偵測角為15度；而影像偵測器之 水平視角允許範圍較佳為60〜90度，影像擷取 fl、.'…5〜30幅/秒；即時影像輸出較佳則為15〜2〇幅/ 二上述_器之視角及個距離規格係僅為示例，其係 二=車型及安裝位置的不同而有所調整。又，本發明複 回置較佳係於該中央控制器中内建32MB以上之 。乂 &隨機存取記憶體與16MB以上之快閃記憶體。 斷产游22發明所使用之測距元件係可根據回波型態判 次:值&子在與否，並將障礙物之相對距離及相對速度 円禮，央控制器·’而使用之影像感測元件則可掏取 Θ w、過衫像處理、光流法及影像特徵辨識技術，描 * 1316480 述出障礙物之形狀及方位，並可同時鎖定追蹤障礙物。故 本發明之複合式感測裝置係將距離偵測器的回傳測得障 礙物及相對距離與影像偵測器主要辨識障礙物型態及相 對方位之資訊整合，故能完整顯示出障礙物之資訊，包 括：障礙物之形狀、大小、方位、相對距離及速度等，其 外部介面及資料格式依照需求進行客製化，如圖五所示， 使駕駛者能取得完整的行車資訊以提供更完善的輔助安 全裝置應用。 唯以上所述者，僅為本發明之最佳實施態樣爾，當不 能以之限定本發明所實施之範圍。即大凡依本發明申請專 利範圍所作之均等變化與修飾，皆應仍屬於本發明專利涵 蓋之範圍内，謹請貴審查委員明鑑，並祈惠准，是所至 禱。 【圖式簡單說明】 圖一係為本發明之複合式感測裝置之系統架構示意圖； 圖二係為本發明之複合式感測裝置應用於大型車輛時之 系統架構圖； 圖三係為本發明之複合式感測裝置應用於大型車輛時之 债測範圍示意圖； 圖四係為本發明複合式感測方法之方法流程圖；以及 圖五係為本發明複合式感測裝置所顯示資訊之示意圖。 11 1316480 【主要元件符號說明】 I- 複合式感測裝置 10-中央控制器 II- 複合偵測模組 12- 警示器 13- 顯示器 20- 複合式感測裝置 21- 複合式感測裝置 22- 複合式感測裝置 23- 影像切換單元 24- 車用顯示器 30- 大型連結貨車 31- 拢車 100- 處理單元 101- 影像前處理單元 102- 類比/數位轉換單元 103- 快閃記憶體 10 4 -同步動態隨機存取記憶體 10 5 -電源 110-距離偵測器 III- 影像偵測器 112-輔助照明元件 310-右侧 12 1316480 311- 左側 312- 後側Hiroshi Kuroda et al. published in the "Hitachi Review" magazine in 2003 - "Vehicle Control and Information Systems f〇r Safe Driving" j (mTAcm REVIEW volume 52 Number i Apru 2 〇〇 3), its system: dew - use image sensor and ranging radar for assisted driving = car ^ control and information system; the technology ___ heterogeneous _ = and the image sensor is used in Lane identification and ranging radar and relative distance T test, the two sensors still operate independently without mutual information connection. Therefore, the inventor of this case researched - complex, image and ranging The advantage of the invention is to improve the safety of the vehicle itself and other passers-by or vehicle. 1316480 SUMMARY OF THE INVENTION The main object of the present invention is to provide a composite sensing device that utilizes a heterogeneous detector to match each other. In order to achieve the above objective, the present invention provides a composite sensing device, comprising: a central control unit; a distance detecting unit; The central control unit is electrically connected to and detects an obstacle distance; an image detecting unit is electrically connected to the central control unit and detects an obstacle orientation; and a warning unit is electrically connected to the central control unit; The central control unit combines the obstacle distance with the obstacle orientation and actuates the warning unit. For the above purpose, the present invention further provides a composite sensing method, comprising the steps of: (a) providing A composite sensing device includes a central control unit and a distance detecting unit, an image detecting unit and a warning unit respectively electrically connected to the central control unit; (b) actuating the combined sensing device to enable the distance detecting The measuring unit and the image detecting unit respectively detect the obstacle distance and the obstacle orientation; and 7 1316480 (C) the central control unit combines the obstacle distance with the obstacle orientation and actuates the warning unit accordingly. Your review committee has a more in-depth understanding and recognition of the structural purpose and efficacy of the present invention, as detailed in the accompanying drawings. The system architecture diagram of the composite sensing device of the Maoyue is as shown in the figure. The composite sensing device J includes: a central controller, a composite predicate module U, and a warning device 12; wherein the composite The detection module u includes a distance detector UG and an image detector iu, and the distance detector 110 is used for detecting an obstacle distance. The image U1 is used for detecting an obstacle orientation and a type (for example, a pedestrian, a small car, or a large car), and the distance controller 11G and the image detector are respectively electrically connected to the central controller 10. In FIG. 1, the central controller 1 further includes a Processing unit, ,, processing unit 1 (n an analog/digital conversion unit off, a flash) L body 103, - synchronous dynamic random access memory 1 〇 4 (8 〇 · = power -1 〇 5 . The processing unit 100 is, for example, an embedded 32-bit unit in your cell and is mainly responsible for receiving the image processing of the image detector 111, image recognition, and receiving the distance_the clipping signal to calculate the distance*: Material fusion, system flow master control and instant warning signal transmission = the image pre-processing unit muscle is responsible for image data acquisition and pre-processing. § The analog/digital conversion unit 1〇2 is used to output image information after image recognition and data fusion through the processing unit (10). The flash memory 103 and the synchronous dynamic random access memory 104 serve as a temporary storage space for the system operation. The power source 105 is used to supply the power required for the overall operation of the composite sensing device 1. Under this architecture, the central controller 10 can perform operations such as image processing, image recognition, distance calculation, obstacle relative positional operation, heterogeneous data fusion, image output, and warning signal processing. In the architecture of the present invention, the hybrid sensing device 1 further includes an alerter 12 and a display 13 electrically coupled to the central controller 10. The warning device 12 can emit sound or light to alert the user; the display 13 can be used to display information such as obstacle images and azimuth distances. In addition, in order to enhance the obstacle sensing capability of the composite detection module 11, the composite detection module 11 further includes an auxiliary illumination component 112 for auxiliary illumination. Referring again to FIG. 2, the figure is a system architecture diagram of the composite sensing device of the present invention applied to a large vehicle. In FIG. 2, three sets of composite sensing devices 20, 21, and 22 are used to detect obstacles on the left, right, and rear of the vehicle, respectively. The composite sensing devices 20, 21, and 22 are respectively The image switching unit 23 is electrically connected to an image switching unit 23, which can switch or cut the input plurality of obstacle images, and then transmit the image to a vehicle display 24, so that the driver can understand the left side of the vehicle. Obstruction type, position and distance of square, right and rear. Thus, when mounted on the sides 310, 311 and rear 312 of the cart 31 of the large-linked truck 30, the composite sensing device of the present invention can solve such an advantage by combining the advantages of the distance detector and the image detector. The vehicle travels 9 !316480 blind spots, and then blind spot detection is achieved to improve road safety, as shown in Figure 3. Referring to FIG. 4 again, the figure is a second embodiment of the composite sensing device of the present invention, and a flow chart of the sensing method. The composite sensing method uses a front sensing device and includes the steps of: operating the composite sensing device by the mouth opening, so that the distance detector, the image and the detector respectively detect the obstacle distance and the obstacle orientation; The 42-5 Hai central controller uses the obstacle distance and the obstacle orientation to actuate the warning device (for example, when the obstacle is separated from the vehicle body and its orientation is on the course of the body traveling or turning) And the display shows the obstacle distance and obstacle orientation. Times/f, 丨 preferably, the distance detector of the composite sensing device of the present invention detects at a frequency of 20 bis/M, and the detection distance ranges from 〇.3 to 10 meters. : 2 () cm 'level detection angle is 15 degrees; and the horizontal angle of view of the image detector is preferably 60 to 90 degrees, image capture fl, . '...5~30 frames / sec; instant image output Preferably, the angle of view is 15~2/two. The angle of view and the distance specification of the above-mentioned device are only examples, and the system is adjusted according to the difference between the model and the installation position. Moreover, the reset of the present invention is preferably built in the central controller by more than 32 MB.乂 & random access memory with more than 16MB of flash memory. The distance measuring component used in the invention of the production trip 22 can be judged according to the echo type: the value & the presence or absence of the obstacle, and the relative distance and relative speed of the obstacle are used, and the controller is used. The image sensing component can capture Θ w, over-shirt image processing, optical flow method and image feature recognition technology, and the shape and orientation of the obstacle can be described by 1316480, and the obstacle can be locked at the same time. Therefore, the composite sensing device of the present invention integrates the detected obstacles and relative distances of the distance detectors with the information of the image detectors to identify the obstacle types and relative orientations, so that the obstacles can be completely displayed. The information includes: the shape, size, orientation, relative distance and speed of the obstacles. The external interface and data format are customized according to the requirements, as shown in Figure 5, so that the driver can obtain complete driving information to provide A more complete auxiliary safety device application. The above is only the preferred embodiment of the invention, and the scope of the invention is not limited thereto. That is to say, the equivalent changes and modifications made by the applicants in accordance with the scope of the patent application of the present invention should still fall within the scope of the patents of the present invention. I would like to ask your review committee to give a clear explanation and pray for the best. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of a system architecture of a composite sensing device of the present invention; FIG. 2 is a system architecture diagram of a composite sensing device of the present invention applied to a large vehicle; FIG. 4 is a flow chart of a method for detecting a composite sensing method according to the present invention; and FIG. 5 is a flow chart of the composite sensing device of the present invention; schematic diagram. 11 1316480 [Main component symbol description] I-Composite sensing device 10 - Central controller II - Composite detection module 12 - Warning device 13 - Display 20 - Composite sensing device 21 - Composite sensing device 22 - Composite sensing device 23 - Image switching unit 24 - Vehicle display 30 - Large linked truck 31 - Bus 100 - Processing unit 101 - Image preprocessing unit 102 - Analog/digital converter unit 103 - Flash memory 10 4 - Synchronous Dynamic Random Access Memory 10 5 - Power Supply 110 - Distance Detector III - Image Detector 112 - Auxiliary Lighting Element 310 - Right Side 13 1316480 311 - Left Side 312 - Rear Side