TWI533694B - Obstacle detection and display system for vehicle - Google Patents
Obstacle detection and display system for vehicle Download PDFInfo
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Description
下列敘述是有關於一種車用障礙物偵測顯示系統，特別是會根據不同的障礙物狀況而對應顯示不同之組合畫面的車用障礙物偵測顯示系統。 The following description relates to a vehicle obstacle detection display system, and in particular to a vehicle obstacle detection display system that displays different combined screens according to different obstacle conditions.
目前行車安全越來越受重視，除了高速行駛要注意行車安全，低速倒車也經常發生撞人事故。因此，大部分的車輛都會加裝車用障礙物偵測顯示系統以加強行車安全。 At present, driving safety is getting more and more attention. In addition to high-speed driving, it is necessary to pay attention to driving safety, and low-speed reversing often causes accidents. Therefore, most vehicles will be equipped with vehicle obstacle detection and display systems to enhance driving safety.
但是習知的車用障礙物偵測顯示系統有幾個缺點。在中華民國新型專利號M371661所揭露的技術中，車後設置一車用攝影機，其能顯示的障礙物偵測結果只有一種鳥瞰模式。此外，在習知技術中，如果要偵測角度較大的方向上的左右來車，只能再安裝雷達進行偵測，造成成本增加。 However, the conventional vehicle obstacle detection display system has several disadvantages. In the technology disclosed in the Republic of China new patent number M371661, a vehicle camera is provided behind the vehicle, and the obstacle detection result that can be displayed has only one bird's eye view mode. In addition, in the prior art, if the left and right cars in the direction with a large angle are to be detected, the radar can only be installed for detection, resulting in an increase in cost.
而另一種車用障礙物偵測顯示系統則需要設置多個攝影機或雷達，例如設置在車後、左視鏡和右視鏡上，如此可根據駕駛者的排檔或打方向燈的操作而對應地提供多個視角的障礙物偵測結果。但是同時設置三個攝影機的費用較高，而且需要駕駛者的排檔或打方向燈的操作才會進行障礙物偵測結果的切換也不夠便利。 Another vehicle obstacle detection display system requires multiple cameras or radars, such as rear, left and right mirrors, so that it can be operated according to the driver's gear or the direction of the lights. Provides obstacle detection results from multiple perspectives. However, it is not expensive to set up three cameras at the same time, and it is not convenient to switch the obstacle detection result by the driver's gear or the direction of the lights.
有鑑於上述習知問題，本發明實施例之態樣係針對一種車用障礙物偵測顯示系統，以動態顯示最適當的障礙物偵測畫面。 In view of the above conventional problems, the embodiment of the present invention is directed to a vehicle obstacle detection display system for dynamically displaying the most appropriate obstacle detection screen.
有鑑於上述習知問題，本發明實施例之態樣係針對一種車用障礙物偵測顯示系統，其利用單一攝影機便可提供多視角的障礙物偵測畫面，能有效地降低車用障礙物偵測顯示系統的成本。 In view of the above-mentioned conventional problems, the embodiment of the present invention is directed to a vehicle obstacle detection display system, which can provide a multi-view obstacle detection screen by using a single camera, and can effectively reduce vehicle obstacles. Detect the cost of the display system.
有鑑於上述習知問題，本發明實施例之態樣係針對一種車用障礙物偵測顯示系統，其能組合較佳的障礙物偵測顯示畫面，讓駕駛者在有限尺寸的螢幕中有效地觀看到障礙物的位置。 In view of the above-mentioned conventional problems, the embodiment of the present invention is directed to a vehicle obstacle detection display system capable of combining a better obstacle detection display screen, so that the driver can effectively use the screen of a limited size. Watch the location of the obstacle.
有鑑於上述習知問題，本發明實施例之態樣係針對一種車用障礙物偵測顯示系統，其能動態地將駕駛者最應注意的障礙物顯示在車內螢幕上，有效地提高駕駛安全。 In view of the above-mentioned conventional problems, the embodiment of the present invention is directed to a vehicle obstacle detection display system capable of dynamically displaying an obstacle that a driver should pay attention to on an in-vehicle screen, thereby effectively improving driving safety. .
基於上述目的，本發明係提供一種車用障礙物偵測顯示系統，其包含攝影單元、障礙物偵測單元、畫面處理單元以及顯示單元。攝影單元可擷取外部影像。障礙物偵測單元可根據外部影像進行一障礙物之障礙物偵測處理，以取得障礙物之資訊。畫面處理單元可根據於障礙物之不同的數量、屬性、位置、速度或離車距離對外部影像進行畫面分割組合處理以及視角轉換處理，以產生不同的組合影像。顯示單元可顯示組合影像。 Based on the above object, the present invention provides a vehicle obstacle detection display system including a photographing unit, an obstacle detecting unit, a picture processing unit, and a display unit. The camera unit captures external images. The obstacle detection unit can perform obstacle detection processing of an obstacle according to the external image to obtain information of the obstacle. The picture processing unit may perform picture segmentation combining processing and view angle conversion processing on the external image according to different numbers, attributes, positions, speeds, or distances from the obstacles to generate different combined images. The display unit can display a combined image.
較佳地，外部影像中可包含近區域影像、遠區域影像、左側區域影像以及右側區域影像，畫面處理單元係對近區域影像進行鳥瞰視角處理以產生鳥瞰影像，對遠區域影像進行一遠視角處理以產生一遠瞰影像，對左側區域影像進行左視角處理以產生左瞰影像，以及對右側區域影像進行右視角處理以產生右瞰影像。 Preferably, the external image may include a near area image, a far area image, a left area image, and a right area image. The picture processing unit performs a bird's eye view processing on the near area image to generate a bird's eye view image, and performs a far view on the far area image. Processing to generate a distant view image, left view processing for the left area image to generate a left view image, and right side view image for the right area image to generate a right view image.
較佳地，畫面處理單元判斷障礙物位在近區域影像時，畫面處理單元可將遠瞰影像或遠區域影像與鳥瞰影像結合成組合影像。 Preferably, when the picture processing unit determines that the obstacle object is in the near area image, the picture processing unit may combine the far view image or the far area image and the bird's eye view image into a combined image.
較佳地，畫面處理單元判斷障礙物之數量為複數個且近區域影像中具有障礙物時，畫面處理單元可將遠區域影像與鳥瞰影像結合成組合影像。 Preferably, when the picture processing unit determines that the number of obstacles is plural and the obstacles in the near-area image are, the picture processing unit can combine the far-area image and the bird's-eye view image into a combined image.
較佳地，畫面處理單元判斷障礙物位在左側區域影像或右側區域影像時，畫面處理單元可將遠區域影像或遠瞰影像、左瞰影像以及右瞰影像結合成組合影像。 Preferably, when the screen processing unit determines that the obstacle object is in the left area image or the right area image, the screen processing unit may combine the far area image or the far view image, the left view image, and the right view image into a combined image.
較佳地，畫面處理單元判斷障礙物之數量為複數個時，畫面處理單元優先產生顯示出離車距離最近之障礙物的組合影像。 Preferably, when the screen processing unit determines that the number of obstacles is plural, the screen processing unit preferentially generates a combined image showing an obstacle that is closest to the vehicle distance.
較佳地，障礙物之屬性可包含動態或靜態，當畫面處理單元判斷障礙物之數量為複數個時，畫面處理單元係優先產生顯示出動態之障礙物的組合影像。 Preferably, the attribute of the obstacle may include dynamic or static. When the picture processing unit determines that the number of obstacles is plural, the picture processing unit preferentially generates a combined image showing the dynamic obstacle.
較佳地，畫面處理單元判斷障礙物之數量為複數個時，畫面處理單元優先產生顯示出接近車時間最短之障礙物的組合影像。 Preferably, when the screen processing unit determines that the number of obstacles is plural, the screen processing unit preferentially generates a combined image showing an obstacle that is closest to the vehicle time.
較佳地，組合影像係由複數個部分影像組合而成，而畫面處理單元可明顯顯示(HighLight)有出現障礙物的部分影像。 Preferably, the combined image is composed of a plurality of partial images, and the image processing unit can clearly display (HighLight) a partial image with an obstacle.
較佳地，畫面處理單元可在組合影像中明顯標示障礙物。 Preferably, the picture processing unit can clearly mark the obstacle in the combined image.
10‧‧‧攝影單元 10‧‧‧Photographic unit
20‧‧‧障礙物偵測單元 20‧‧‧ obstacle detection unit
30‧‧‧畫面處理單元 30‧‧‧ Picture Processing Unit
40‧‧‧顯示單元 40‧‧‧Display unit
101‧‧‧外部影像 101‧‧‧External imagery
102‧‧‧近區域影像 102‧‧‧ Near-area imagery
103‧‧‧遠區域影像 103‧‧‧ far-area imagery
104‧‧‧左側區域影像 104‧‧‧left area image
105‧‧‧右側區域影像 105‧‧‧Right area image
201‧‧‧障礙物偵測處理 201‧‧‧ obstacle detection processing
202‧‧‧障礙物 202‧‧‧ obstacles
301‧‧‧畫面分割組合處理 301‧‧‧Screen division processing
302‧‧‧視角轉換處理 302‧‧‧ Perspective conversion processing
303‧‧‧鳥瞰影像 303‧‧ ‧ bird's eye view
305‧‧‧左瞰影像 305‧‧‧ Left Vision Image
307‧‧‧右瞰影像 307‧‧‧right image
308‧‧‧遠瞰影像 308‧‧‧ Far-view image
401、402、403‧‧‧組合影像 401, 402, 403‧‧‧ combined images
501‧‧‧行人 501‧‧‧Pedestrians
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圖係為根據本發明之車用障礙物偵測顯示系統之實施例之方塊圖； 第2圖係為根據本發明之車用障礙物偵測顯示系統之對外部影像的區域定義示意圖；第3圖係為根據本發明動態切換組合影像之示意圖；第4圖係為本發明之車用障礙物偵測顯示系統中有部份顯示障礙物之示意圖；以及第5圖係為本發明之車用障礙物偵測顯示系統中有明顯顯示障礙物之示意圖。 The above and other features and advantages of the present invention will become more apparent from the detailed description of the exemplary embodiments of the present invention, wherein: FIG. 1 is a vehicle obstacle detection display system according to the present invention. a block diagram of an embodiment; 2 is a schematic diagram showing an area definition of an external image of a vehicle obstacle detection display system according to the present invention; FIG. 3 is a schematic diagram of dynamically switching a combined image according to the present invention; FIG. 4 is a view of the vehicle of the present invention; A schematic diagram showing that some obstacles are displayed in the obstacle detection display system; and FIG. 5 is a schematic diagram showing the obstacles displayed in the vehicle obstacle detection display system of 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1圖，其顯示根據本發明之車用障礙物偵測顯示系統之方塊圖。圖中，車用障礙物偵測顯示系統包含攝影單元10、障礙物偵測單元20、畫面處理單元30以及顯示單元40。攝影單元10可為一車用攝影機，用以擷取外部影像101。例如，此車用攝影機可安裝在車輛的後面，以拍攝擷取車後的外部影像101。而且較佳地，車用攝影機可搭配一廣角鏡頭，例如入光角度大於150度的鏡頭，如此可拍攝較大視角的影像，讓本發明之車用障礙物偵測顯示系統可發揮較佳的效果。 Referring to Figure 1, there is shown a block diagram of a vehicle obstacle detection display system in accordance with the present invention. In the figure, the vehicle obstacle detection display system includes a photographing unit 10, an obstacle detecting unit 20, a screen processing unit 30, and a display unit 40. The photographing unit 10 can be a car camera for capturing the external image 101. For example, the camera for the vehicle can be mounted behind the vehicle to capture the external image 101 after the vehicle is picked up. Moreover, the car camera can be matched with a wide-angle lens, for example, a lens with a light incident angle of more than 150 degrees, so that a larger angle of view image can be taken, so that the vehicle obstacle detection display system of the present invention can exert better effects. .
攝影單元10將外部影像101傳送至障礙物偵測單元20，由障礙物偵測單元20根據外部影像101進行障礙物偵測處理201，以取得障礙物202之資訊。其中，障礙物偵測單元20係以影像處理的方式搭配障礙物偵測演算法，以 偵測外部影像101中出現的障礙物202。而本發明之車用障礙物偵測顯示系統可使用此領域之技術者所熟知的各種障礙物偵測演算法，故在此不再贅述。 The photographing unit 10 transmits the external image 101 to the obstacle detecting unit 20, and the obstacle detecting unit 20 performs the obstacle detecting process 201 based on the external image 101 to obtain the information of the obstacle 202. The obstacle detecting unit 20 is matched with the obstacle detecting algorithm by image processing, The obstacle 202 appearing in the external image 101 is detected. The vehicle obstacle detection display system of the present invention can use various obstacle detection algorithms well known to those skilled in the art, and therefore will not be described herein.
畫面處理單元30可根據於障礙物202之不同的數量、屬性、位置、速度或離車距離對外部影像101進行畫面分割組合處理301以及視角轉換處理302，以產生不同的組合影像401。應注意的是，畫面處理單元30係在外部影像101中定義複數個區域，例如，外部影像101中可定義為包含一近區域影像102、一遠區域影像103、一左側區域影像104以及一右側區域影像105，而第2圖係顯示幾種區域定義方式。 The screen processing unit 30 may perform a screen division combining process 301 and a view angle conversion process 302 on the external image 101 according to different numbers, attributes, positions, speeds, or distances from the obstacles 202 to generate different combined images 401. It should be noted that the image processing unit 30 defines a plurality of regions in the external image 101. For example, the external image 101 can be defined to include a near region image 102, a far region image 103, a left region image 104, and a right side. The area image 105, while the second picture shows several ways of defining the area.
接收到外部影像101之後，畫面處理單元30分別對不同的區域進行不同視角轉換處理302。由於廣角畫面的邊緣往往有嚴重的變形，而且並非是駕駛的視角拍攝，因此若沒有經過視角轉換處理302，駕駛者看到外部影像101時往往不容易做出直觀判斷或是正確的距離感。因此特別在外部影像101之邊緣部分，需要做不同的視角轉換處理302，都讓每一個影像畫面更適合駕駛者觀看。視角轉換處理302可包含鳥瞰視角處理、左視角處理、右視角處理、遠視角處理。 After receiving the external image 101, the picture processing unit 30 performs different view conversion processes 302 for different areas. Since the edge of the wide-angle picture tends to be severely deformed and is not a driving angle of view, if the angle of view conversion process 302 is not passed, it is often difficult for the driver to make an intuitive judgment or a correct sense of distance when seeing the external image 101. Therefore, in particular, at the edge portion of the external image 101, different perspective conversion processing 302 is required, which makes each image screen more suitable for the driver to watch. The view conversion process 302 may include bird's-eye view processing, left view processing, right view processing, and far view processing.
例如，畫面處理單元30係對近區域影像102進行一鳥瞰視角處理以產生一鳥瞰影像303，對左側區域影像104進行一左視角處理以產生一左瞰影像305，以及對右側區域影像105進行一右視角處理以產生一右瞰影像307。至於遠區域影像103，由於與駕駛的視角較為接近，所以視需要可進行一遠視角處理以產生遠瞰影像308，或者也可不做視角轉換處理302。 For example, the image processing unit 30 performs a bird's-eye view processing on the near-region image 102 to generate a bird's-eye image 303, performs a left-view image processing on the left-area image 104 to generate a left-view image 305, and performs a left-view image 105 on the right-region image 105. The right view is processed to produce a right view image 307. As for the far-area image 103, since it is closer to the driving angle of view, a far-view processing may be performed as needed to generate the far-view image 308, or the angle-of-view converting process 302 may not be performed.
由於障礙物202出現有多種情況，例如有複數個障礙物202同時出現、障礙物202移動到不同位置、同時有遠近不同的障礙物202出現、同時有靜 態與動態的障礙物202出現、同時有行人501與車輛出現等等的情形，加上車內螢幕的尺寸有限，所以為了讓駕駛者能最清楚看到障礙物202，畫面處理單元30會根據於障礙物202之不同的數量、屬性、位置、速度或離車距離組合不同區域的經處理之部分影像，以產生不同的組合影像401。顯示單元40可顯示組合影像401。 Since the obstacle 202 appears in various situations, for example, a plurality of obstacles 202 are simultaneously present, the obstacle 202 is moved to a different position, and at the same time, different obstacles 202 appear at the same time, and at the same time, there is a static The state and dynamic obstacles 202 appear, the presence of pedestrians 501 and vehicles, and the like, and the size of the in-vehicle screen is limited, so in order for the driver to see the obstacle 202 most clearly, the picture processing unit 30 will The processed portions of the different regions are combined with different numbers, attributes, locations, velocities, or distances from the obstacles 202 to produce different combined images 401. The display unit 40 can display the combined image 401.
組合影像401的態樣有多種，而且會動態變化。例如，當畫面處理單元30依據障礙物202位在左側區域影像104或右側區域影像105時，畫面處理單元30可將遠瞰影像308、左瞰影像305以及右瞰影像307結合成組合影像402。當畫面處理單元30依據障礙物202位在近區域影像102時，畫面處理單元30可將遠瞰影像308與鳥瞰影像303結合成組合影像403。或者，畫面處理單元30亦可用遠區域影像103取代遠瞰影像308以產生組合影像403。 There are many different combinations of images 401 and they will change dynamically. For example, when the screen processing unit 30 is positioned in the left area image 104 or the right area image 105 according to the obstacle 202, the screen processing unit 30 may combine the distant view image 308, the left view image 305, and the right view image 307 into the combined image 402. When the picture processing unit 30 is positioned in the near area image 102 according to the obstacle 202, the picture processing unit 30 can combine the far view image 308 and the bird's eye view image 303 into the combined image 403. Alternatively, the picture processing unit 30 may replace the far-view image 308 with the far-area image 103 to generate the combined image 403.
請參見第3圖，其顯示根據本發明之車用障礙物偵測顯示系統之組合影像之第一實施例。當畫面處理單元30判斷行人501位在左側區域影像104時，畫面處理單元30可將遠瞰影像308、左瞰影像305以及右瞰影像307結合成組合影像402，其中左瞰影像305與右瞰影像307配置在遠瞰影像308下方，如(A)部分。而當行人501更接近車輛而位在近區域影像102時，畫面處理單元30可將遠瞰影像308與鳥瞰影像303結合成組合影像403，鳥瞰影像303配置在遠瞰影像308下方，如(B)部分。如此，可使得顯示單元40從顯示組合影像402改變成顯示組合影像403，如此可讓駕駛者更有效地注意到行人501所在位置，而避免意外發生。 Referring to Figure 3, there is shown a first embodiment of a combined image of a vehicle obstacle detection display system in accordance with the present invention. When the picture processing unit 30 determines that the pedestrian 501 is in the left area image 104, the picture processing unit 30 can combine the far view image 308, the left view image 305, and the right view image 307 into the combined image 402, wherein the left view image 305 and the right view The image 307 is disposed below the far-view image 308, as in part (A). When the pedestrian 501 is closer to the vehicle and is located in the near-region image 102, the image processing unit 30 can combine the far-view image 308 and the bird's-eye image 303 into a combined image 403, and the bird's-eye image 303 is disposed under the far-view image 308, such as (B). )section. In this way, the display unit 40 can be changed from the display combined image 402 to the display combined image 403, which allows the driver to more effectively notice the location of the pedestrian 501 while avoiding accidents.
上述影像的配置以及大小比例僅為舉例，不因此而受限制。此外，在第3圖中係以遠瞰影像308作為舉例，但並不以此為限制，畫面處理單元30亦可使用遠區域影像103取代遠瞰影像308以產生組合影像402。 The configuration and size ratio of the above images are merely examples and are not limited thereby. In addition, in FIG. 3, the far-view image 308 is taken as an example, but the limitation is not limited thereto. The image processing unit 30 can also use the far-area image 103 instead of the far-view image 308 to generate the combined image 402.
此外，畫面處理單元30係明顯顯示(HighLight)有出現障礙物202的部分影像，如第4圖的(A)部分以及(B)部分。或者，畫面處理單元30可在組合影像401中明顯標示障礙物202，如第5圖的(A)部分以及(B)部分。此明顯顯示可有助於提示駕駛者有行人501或障礙物202的存在。 Further, the screen processing unit 30 clearly displays (HighLight) a partial image in which the obstacle 202 appears, as in the parts (A) and (B) of FIG. Alternatively, the picture processing unit 30 may clearly indicate the obstacle 202 in the combined image 401, such as part (A) and part (B) of FIG. This apparent display may help to alert the driver to the presence of a pedestrian 501 or obstacle 202.
在第3圖中係以行人501位在左側區域影像104作為舉例，但不以此為限，當畫面處理單元30判斷障礙物202位在遠區域影像103、左側區域影像104或右側區域影像105時，畫面處理單元30便將遠瞰影像308、左瞰影像305以及右瞰影像307結合成組合影像402。 In the third figure, the 501-bit pedestrian image 104 is taken as an example, but not limited thereto, when the screen processing unit 30 determines that the obstacle 202 is in the far-area image 103, the left-area image 104, or the right-region image 105. At this time, the screen processing unit 30 combines the far-view image 308, the left-view image 305, and the right-view image 307 into the combined image 402.
以上係描述畫面處理單元30可根據於障礙物202之不同位置而自動產生不同的組合影像401。再者，當畫面處理單元30判斷障礙物202之數量為複數個且近區域影像102中具有障礙物202時，因為，障礙物202出現在近區域影像102中表示障礙物202靠車輛較近，是駕駛者必須優先注意的對象，所以即使其他障礙物202出現在左側區域影像104中，但畫面處理單元30仍會優先將遠區域影像103與鳥瞰影像303結合成組合影像401。 The above description screen processing unit 30 can automatically generate different combined images 401 according to different positions of the obstacles 202. Moreover, when the picture processing unit 30 determines that the number of obstacles 202 is plural and the obstacles 202 are in the near-area image 102, because the obstacles 202 appear in the near-region image 102, the obstacles 202 are closer to the vehicle. It is an object that the driver must pay attention to, so even if other obstacles 202 appear in the left area image 104, the picture processing unit 30 will preferentially combine the far area image 103 and the bird's eye image 303 into the combined image 401.
另外，當畫面處理單元30判斷障礙物202之數量為複數個時，畫面處理單元30優先產生能顯示出離車距離最近之障礙物202或能顯示出接近車時間最短之障礙物202的組合影像402或組合影像403。例如，畫面處理單元30判斷有行人501以及移動車輛同時出現在外部影像101時，即使行人501距離駕駛者的車較近，但若移動車輛的速度快且估算其接近駕駛者的車的時間(Time to Impact)小於行人501，則畫面處理單元30優先產生能顯示出移動車輛的組合影像401。攝影單元10安裝在車輛後部，必須經過一校正程序，而經過校正的攝影單元10所擷取的影像中的每一像素都可以對應到一空間座標，所以本發明之車用 障礙物偵測顯示系統可計算出影像中的障礙物202在空間中的位置。如果障礙物202移動，則其在連續畫框(frame)中的位置也會不同，所以可根據不同畫框之間的時間區間(period)以及障礙物202在不同畫框之間的位置距離差異，便可計算出此障礙物202的移動速度，並可進一步計算出此障礙物202接近到駕駛者車輛的時間，即接近車時間(Time to impact)。 In addition, when the screen processing unit 30 determines that the number of obstacles 202 is plural, the screen processing unit 30 preferentially generates a combined image that can display the obstacle 202 closest to the vehicle distance or the obstacle 202 that can display the shortest vehicle time. 402 or combined image 403. For example, when the screen processing unit 30 determines that the pedestrian 501 and the moving vehicle are simultaneously present in the external image 101, even if the pedestrian 501 is closer to the driver's car, if the speed of moving the vehicle is fast and the time of approaching the driver's car is estimated ( When the time to impact is smaller than the pedestrian 501, the screen processing unit 30 preferentially generates the combined image 401 capable of displaying the moving vehicle. The photographing unit 10 is installed at the rear of the vehicle and must undergo a calibration procedure, and each pixel in the image captured by the corrected photographing unit 10 can correspond to a space coordinate, so the vehicle of the present invention The obstacle detection display system can calculate the position of the obstacle 202 in the image in space. If the obstacle 202 moves, its position in the continuous frame will also be different, so it can be based on the time interval between different frames and the positional distance difference between the different frames of the obstacle 202. The movement speed of the obstacle 202 can be calculated, and the time when the obstacle 202 approaches the driver's vehicle, that is, the time to impact, can be further calculated.
此外，障礙物202之屬性可包含動態或靜態，當畫面處理單元30判斷障礙物202之數量為複數個時，畫面處理單元30可優先產生顯示出動態之障礙物202的組合影像401。 In addition, the attributes of the obstacle 202 may include dynamic or static. When the picture processing unit 30 determines that the number of obstacles 202 is plural, the picture processing unit 30 may preferentially generate the combined image 401 displaying the dynamic obstacle 202.
本發明的畫面處理單元30以及障礙物偵測單元20可用一處理器執行相關軟體方式來實現，或是使用硬體來實現，或是軟體與硬體的組合來實現。此外，車用障礙物偵測顯示系統可包含聲音輸出單元，當偵測到障礙物202時，可透過聲音輸出單元發出警示音訊，提醒駕駛者有障礙物202存在，並觀看螢幕可進一步知道障礙物202的類型以及位置。 The picture processing unit 30 and the obstacle detecting unit 20 of the present invention can be implemented by executing a related software manner by a processor, or by using a hardware, or a combination of a software and a hardware. In addition, the vehicle obstacle detection display system may include a sound output unit, and when the obstacle 202 is detected, a warning sound may be sent through the sound output unit to remind the driver that an obstacle 202 exists, and the screen can be further understood. The type and location of the object 202.
上述實施例已經詳細說明本發明之車用障礙物偵測顯示系統係使用單一攝影機所擷取的影像，由畫面處理單元根據於障礙物之不同的數量、屬性、位置、速度、離車距離或接近車時間(Time to impact)，而對應地動態產生不同的組合影像。相對地，習知技術係使用多個攝影機來組合影像，而且其影像切換需要使用者排檔、打方向燈或操作控制面板，相比較之下，本發明僅使用單一攝影機具有成本優勢，而且動態切換組合影像更可提供駕駛者更佳的便利性。 The above embodiment has explained in detail that the vehicle obstacle detection display system of the present invention uses images captured by a single camera, and the screen processing unit is based on the number, property, position, speed, distance of the vehicle, or Close to the time to impact, and correspondingly dynamically produce different combined images. In contrast, the prior art uses multiple cameras to combine images, and its image switching requires user gears, directional lights, or operation control panels. In contrast, the present invention uses a single camera with cost advantages and dynamic switching. The combined image also provides better convenience for the driver.
雖然本發明已參照其例示性實施例而特別地顯示及描述，將為所屬技術領域具通常知識者所理解的是，於不脫離以下申請專利範圍及其等效物所定義之本發明之精神與範疇下可對其進行形式與細節上之各種變更。 The present invention has been particularly shown and described with reference to the exemplary embodiments thereof, and it is understood by those of ordinary skill in the art Various changes in form and detail can be made in the context of the category.
10‧‧‧攝影單元 10‧‧‧Photographic unit
20‧‧‧障礙物偵測單元 20‧‧‧ obstacle detection unit
30‧‧‧畫面處理單元 30‧‧‧ Picture Processing Unit
40‧‧‧顯示單元 40‧‧‧Display unit
101‧‧‧外部影像 101‧‧‧External imagery
102‧‧‧近區域影像 102‧‧‧ Near-area imagery
103‧‧‧遠區域影像 103‧‧‧ far-area imagery
104‧‧‧左側區域影像 104‧‧‧left area image
105‧‧‧右側區域影像 105‧‧‧Right area image
201‧‧‧障礙物偵測處理 201‧‧‧ obstacle detection processing
202‧‧‧障礙物之資訊 202‧‧‧Information on obstacles
301‧‧‧畫面分割組合處理 301‧‧‧Screen division processing
302‧‧‧視角轉換處理 302‧‧‧ Perspective conversion processing
303‧‧‧鳥瞰影像 303‧‧ ‧ bird's eye view
305‧‧‧左瞰影像 305‧‧‧ Left Vision Image
307‧‧‧右瞰影像 307‧‧‧right image
308‧‧‧遠瞰影像 308‧‧‧ Far-view image
401‧‧‧組合影像 401‧‧‧ combination image
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| CN109443368A (en) * | 2019-01-14 | 2019-03-08 | 轻客小觅智能科技（北京）有限公司 | Air navigation aid, device, robot and the storage medium of unmanned machine people |
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