TWI520861B - Forward vehicle motion detection system and method thereof - Google Patents

Description

Front vehicle motion detection system and method thereof

The present invention relates to an image recognition method, and more particularly to a motion detection method for determining whether a vehicle is present in front and whether a vehicle in front is moving by using a continuous image.

The reversing radar system currently widely used in vehicles uses an ultrasonic sensor to detect the situation of the vehicle and surrounding obstacles. If the surrounding obstacle approaches a certain distance of the driver's vehicle, the warning system emits a warning sound, according to different There are different frequency warning sounds, and the driver can know the distance between the driving vehicle and the surrounding obstacles by the warning sounds of different frequencies, which relieves the driver from the trouble caused by parking, reversing, and starting the vehicle. It can improve the safety of driving; further, the reversing radar system is equipped with a photographic lens. When the vehicle is discharged into the reverse gear, the car display automatically displays the image of the car taken by the photographic lens, and the driver can use the car. The display image sees the obstacles outside the vehicle and grasps the distance between the driver's vehicle and the surrounding obstacles according to the warning sound emitted by the ultrasonic sensor.

The above reversing radar system is mainly used to grasp the situation behind the driver's vehicle. However, in the case of the driver's vehicle, no detection system is provided to facilitate the driver to grasp the condition of the vehicle.

The object of the present invention is to provide a vehicle motion detection system and a detection method thereof for detecting whether a vehicle exists in the front when a vehicle is stationary, and to issue a warning tone reminder according to the movement condition of the vehicle before the vehicle is stationary. The change of the car situation ahead.

The vehicle motion detection system disclosed in the present invention is applicable to a device, including an image capturing unit and an arithmetic processing unit. The image capturing unit captures the front of the vehicle when the camera is stationary to generate at least one continuous image, and the operation processing unit is connected to the image capturing unit to obtain the at least one continuous image from the image capturing unit, and determines that the content of the at least one continuous image includes one In the image of the front and rear of the car, analyze the change of the image of the front and rear of the car to determine the front of the vehicle when it is stationary. Whether the vehicle is moving.

The utility model mainly detects the vehicle condition in front of the vehicle, and actively provides the user with a warning signal about the change of the front vehicle condition, which is different from the prior art focusing on the vehicle condition detection behind the vehicle, and cannot actively inform the user of the vehicle condition when the vehicle condition changes. Change.

110‧‧‧Image capture unit

111‧‧‧Continuous imagery

120‧‧‧Operation Processing Unit

130‧‧‧Sonic transmitter unit

140‧‧‧Sonic sensing unit

141‧‧‧Reflected wave signal

142‧‧‧ Distance value

150‧‧‧Light transmission unit

160‧‧‧Light sensing unit

161‧‧‧Reflected optical signal

162‧‧‧ Distance value

200‧‧‧Standing vehicles

200A‧‧‧ Vehicles in front of stationary vehicles

S110~S140‧‧‧Step procedure

FIG. 1A is a block diagram showing the components of the vehicle motion detection system of the present invention.

FIG. 1B is a schematic flow chart of a vehicle motion detection system according to the present invention.

2A, 2B and 2C are schematic diagrams showing a first architecture of the vehicle motion detection system of the present invention.

3A, 3B and 3C are schematic diagrams showing a second architecture of the vehicle motion detection system of the present invention.

4A, 4B and 4C are schematic diagrams showing a third architecture of the vehicle motion detection system of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1A is a block diagram showing the components of the vehicle motion detection system of the present invention. The system includes at least an image capturing unit 110 and an arithmetic processing unit 120 connected to an image capturing unit 110. The system is suitable for being mounted on a vehicle, or is constructed on a driving recorder or an electronic device similar to image capturing capability, and such electronic devices are mounted on the vehicle.

The image capturing unit 110 images the front side of the vehicle to generate one or more continuous images 111. The image capturing unit 110 can be any hardware presentation mode such as a camera module, a circuit, a device, and a component, such as a CCD lens, a camera, and the like. The continuous image 111 can be a dynamic image data formed by a stream of images or a picture taken continuously.

When the vehicle is stationary, the arithmetic processing unit 120 connects the image capturing unit 110 to obtain the continuous image 111 described above, and analyzes the continuous image 111. When the operation processing unit 120 determines that the continuous image 111 includes a front vehicle rear image, it analyzes the change of the front vehicle rear image to determine whether the front vehicle is moving or exhibiting a stop state. The manner in which the operation processing unit 110 analyzes whether the continuous image 111 has a front-vehicle image includes at least the following manner: the operation processing unit 110 analyzes the continuous image 111 according to a tail feature information. The arithmetic processing unit 110 determines that the partial image conforms to the tail feature information when the partial image is in the continuous image 111, and determines that the partial image is the front vehicle rear image.

Please refer to FIG. 1B , which is a schematic flowchart of the vehicle motion detection method of the present invention. Please refer to FIG. 1A for understanding. The method includes at least the following steps: capturing the front of the vehicle when it is stationary via the image capturing unit 110 to generate at least one continuous image 111 (step S110). The continuous image 111 can be a dynamic image data formed by a streaming image or a continuously photographed image.

The at least one continuous image 111 is acquired from the image capturing unit 110 via the arithmetic processing unit 120 (step S120). The continuous image 111 may include any image such as a front pedestrian image, a surrounding scene state, and the like.

It is determined via the arithmetic processing unit 120 whether the content of the continuous image 111 includes a preceding vehicle rear image (step S130). The operation processing unit 120 determines whether the content of the continuous image 111 includes a front-vehicle image, and may include a taillight, a license plate, a vehicle outline, and the like.

When the operation processing unit 120 determines that the content of the continuous image 111 includes a preceding vehicle rear image, the change of the front vehicle rear image is analyzed to determine whether the preceding vehicle moves when the vehicle is stationary (step S140). The basis for determining whether the vehicle is moving when the vehicle is stationary may include a change in the position of the rear image, a change in the position of the license plate, a change in the size of the vehicle, and the like.

Conversely, when the operation processing unit 120 determines that the content of the continuous image 111 does not include the preceding vehicle rear image, the process returns to step S110 to re-execute the vehicle movement detection method.

2A, FIG. 2B and FIG. 2C are schematic diagrams showing the determination of the movement of the preceding vehicle when the vehicle is stationary according to an example of the present invention. Please cooperate with the description of the previous embodiment to facilitate understanding. In FIG. 2A, when there is no vehicle in front when the vehicle is stationary, the continuous image 111 acquired by the image capturing unit 110 is transmitted to the arithmetic processing unit 120, and it is determined that there is no vehicle in front of the vehicle when it is stationary, and no warning is issued; When there is a vehicle in front of the stationary vehicle, the image capturing unit 110 captures the image of the preceding vehicle and transmits the preceding vehicle image to the arithmetic processing unit 120, and the arithmetic processing unit 120 determines that the vehicle exists in front of the vehicle when it is stationary; FIG. 2C When the front vehicle position changes when the vehicle is stationary, the image capturing unit 110 captures the front vehicle image change, transmits the front vehicle image to the arithmetic processing unit 120, and the arithmetic processing unit 120 determines that the front vehicle image changes, and transmits a warning signal. In order to remind the user of the movement of the vehicle ahead.

Please refer to FIG. 3A, FIG. 3B and FIG. 3C for the vehicle motion detection system of the present invention. The second hardware configuration diagram of the system, please cooperate with Figure 1A to facilitate understanding. The system further includes an acoustic wave transmitting unit 130 and an acoustic wave sensing unit 140 connected to the arithmetic processing unit 120. The sound wave transmitting unit 130 and the sound wave sensing unit 140 are disposed on the vehicle, wherein the sound wave transmitting unit 130 transmits an sound wave signal toward the front of the vehicle. The sound sensing unit 140 is configured to sense a reflected wave signal 141 corresponding to the sound wave signal, and the operation processing unit 120 generates a distance value 142 according to the reflected wave signal 141. In step S130, the arithmetic processing unit 120 uses the distance value 142 to assist in determining whether the front vehicle rear image exists. In step S140, that is, when the arithmetic processing unit 120 determines that the preceding vehicle rear image exists, the arithmetic processing unit 120 determines whether the preceding vehicle moves or assumes the stop state in combination with the change of the front vehicle rear image and the distance value 142.

Please refer to FIG. 4A, FIG. 4B and FIG. 4C for a third hardware configuration diagram of the vehicle motion detection system of the present invention. Please refer to FIG. 1A for understanding. The system further includes a light transmitting unit 150 and a light sensing unit 160 connected to the arithmetic processing unit 120. The light transmitting unit 150 and the light sensing unit 160 are disposed on a vehicle, wherein the light transmitting unit 150 sends a light signal toward the front of the vehicle. The light sensing unit 160 is configured to sense a reflected light signal 161 corresponding to the light signal, and the operation processing unit 120 generates a distance value 162 according to the reflected light signal 161. In step S130, the arithmetic processing unit 120 determines the presence or absence of the vehicle front image based on the distance value 162. In step S140, that is, when the arithmetic processing unit 120 determines that the preceding vehicle rear image exists, the arithmetic processing unit 120 determines whether the preceding vehicle moves or assumes the stop state in combination with the change of the front vehicle rear image and the distance value 162.

It is to be noted that, in an embodiment, the vehicle motion detection system and method of the present invention can be applied to both the "vehicle in which the system is installed" and the "vehicle in the vicinity of the host vehicle" are in a stationary state. Whether the vehicle in front of the vehicle has a moving behavior.

While the present invention has been described above in the foregoing embodiments, the present invention is not intended to limit the invention, and the equivalents of the modifications and retouchings are still in the present invention without departing from the spirit and scope of the invention. Within the scope of patent protection.

110‧‧‧Image capture unit

111‧‧‧Continuous imagery

120‧‧‧Operation Processing Unit

130‧‧‧Sonic transmitter unit

140‧‧‧Sonic sensing unit

141‧‧‧Reflected wave signal

142‧‧‧ Distance value

150‧‧‧Light transmission unit

160‧‧‧Light sensing unit

161‧‧‧Reflected optical signal

162‧‧‧ Distance value

Claims (8)

A vehicle motion detection system includes: an image capturing unit that captures a front of the vehicle while stationary to generate at least one continuous image; an arithmetic processing unit that is coupled to the image capturing unit to obtain the at least the image capturing unit a continuous image, and determining that the content of the at least one continuous image includes a front-vehicle image, analyzing the change of the image of the front-vehicle image; a sound wave transmitting unit and a sound wave sensing unit for transmitting toward the front of the vehicle An acoustic signal generates a distance value; and a light transmitting unit and a light sensing unit for transmitting a light signal toward the front of the vehicle and generating another distance value, wherein the arithmetic processing unit combines the distance value with the other A distance value and the image of the front vehicle rear to determine whether the vehicle is moving before the vehicle is stationary. The vehicle motion detection system of claim 1, wherein the operation processing unit analyzes the at least one continuous image according to a tail feature information when the at least one continuous image is acquired to determine whether the at least one continuous image is There is an image of the front car tail. The vehicle motion detection system of claim 1, wherein the arithmetic processing unit analyzes the change of the image of the front and rear of the vehicle according to the coverage of the at least one continuous image of the front vehicle image. The size changes to determine whether the vehicle is moving when the vehicle is stationary. The vehicle motion detection system of claim 1, wherein the operation processing unit analyzes the change of the image of the front and rear of the vehicle, and defines the coverage of the at least one continuous image according to the image of the vehicle at the front of the vehicle. The front vehicle profile when the vehicle is stationary, to determine whether the preceding vehicle moves when the vehicle is stationary, according to the size change of the front vehicle profile. A method for detecting a motion of a vehicle, the method comprising: capturing, by an image capturing unit, a front of the vehicle when the camera is stationary to generate at least one continuous image; acquiring the at least one continuous image from the image capturing unit via an operation processing unit; The operation processing unit determines that the content of the at least one continuous image includes a front vehicle rear image, and analyzes the change of the front vehicle rear image; and sends a sound toward the front of the vehicle by a sound wave transmitting unit and a sound wave sensing unit. The wave signal generates a distance value; a light transmitting unit and a light sensing unit send a light signal toward the front of the vehicle and generate another distance value; and the distance value and the other distance are combined by the operation processing unit The value and the vehicle tail image are used to determine whether the vehicle is moving before the vehicle is stationary. The vehicle motion detection method according to claim 5, wherein the operation processing unit determines that the content of the at least one continuous image includes a front-vehicle image, and the step further comprises: The tail feature information analyzes the at least one continuous image; and when the operation processing unit determines that the partial image in the at least one continuous image matches the front vehicle image feature information, determining that the front vehicle rear image exists. The vehicle motion detection method of claim 5, wherein the step of analyzing the change of the image of the front vehicle rear image further comprises: performing, by the operation processing unit, the at least one continuous image according to the front vehicle rear image The size of the coverage varies to determine if the vehicle is moving when the vehicle is stationary. The vehicle motion detection method of claim 5, wherein the step of analyzing the change of the image of the front vehicle rear image further comprises: performing, by the operation processing unit, the at least one continuous image according to the front vehicle rear image The coverage defines the front vehicle profile when the vehicle is stationary; and determines whether the preceding vehicle moves when the vehicle is stationary based on the dimensional change of the forward vehicle profile via the arithmetic processing unit.