TWI746245B - Driving situation monitoring and warning system - Google Patents

Abstract

A driving situation monitoring and waring system include a first camera, a processer, and a display apparatus. The first camera is arranged at one side of the front of a vehicle. The first camera is configured to capture a first side image of the side of the vehicle and a first front image directly in front of the front of the vehicle. The processer performs the image processing on the first side image and the first front image, thereby detecting whether at least one risk object exists within the first side image or the first front image. The display apparatus displays the first side image and the first front image. The display apparatus further marks the risk object within the first side image or the first front image when the processer detects that the risk object exists within the first side image or the first front image.

Description

Driving monitoring and warning system

The invention relates to a driving monitoring and warning system, and in particular to a driving monitoring and warning system capable of monitoring whether there are risk objects on the sides and directly in front of the vehicle body.

A blind spot detection (Blind Spot Detection, BSD) device is usually installed on the bracket of the exterior mirror of a large vehicle, and uses the image captured by the camera to assist the driver in knowing whether there is a moving object behind the vehicle. However, this blind spot detection device can only detect moving objects behind, and cannot detect moving objects located in front of the exterior mirror of the vehicle.

In order to enable the driver of a large vehicle to know whether there is a moving object in front of the exterior mirror, it is usually necessary to install a front-view mirror (type VI front-view mirror) on the front of the large vehicle or a front-side mirror of the large vehicle. Install another camera, but this conventional approach may increase the burden on the driver or increase the cost of producing the vehicle.

Therefore, it is necessary to provide an improved driving monitoring and warning system to solve the above-mentioned problems in the prior art.

The purpose of the present invention is to provide a driving monitoring and warning system including a first camera, a processor and a display. The first camera is installed on one side of the front of the vehicle body, and the first camera is used to capture a first side image of the side of the vehicle body and a first front image of the front of the vehicle. The processor is used for performing image processing on the first side image and the first vehicle front image, so as to detect whether there is at least one risk object in the first side image or the first vehicle front image. The display is installed in the cockpit of the vehicle body. The display is used to display the first side image and the first front image, and the display is further used for the processor to detect the presence of the first side image or the first front image In the case of a risk object, mark the risk object in the first side image or the first vehicle front image.

In some embodiments, the range covered by the first vehicle front image along the lateral direction includes at least from the side of the front of the vehicle to the center point of the front of the vehicle in the lateral direction. The lateral direction is perpendicular to the direction of travel of the vehicle body.

In some embodiments, the above-mentioned first camera is installed in front of and above the side of the front of the vehicle body.

In some embodiments, the above-mentioned vehicle body is a truck, a bus, a coach, a bus, a tourist bus, or a connected car.

In some embodiments, the way for the processor to detect whether there is a risk object in the first side image is to detect whether a target object is located on the side of the vehicle body and approaches the vehicle body along the traveling direction and/or the lateral direction. , And detect whether the subject is at risk of colliding with the car body.

In some embodiments, the way for the processor to detect whether there is a risk object in the first front image or the first side image is to detect whether a target is located in front of the side of the front of the vehicle and runs along the lateral direction and / Or the direction of travel is close to the front of the car, and whether the subject is at risk of colliding with the front of the car.

In some embodiments, the above-mentioned display uses dual images to display the car side image and the rear-view mirror view, wherein the car side image includes the first side image and the first front image, and the rear-mirror view includes The first side image based on the angle of view of the exterior mirror on the side of the front of the vehicle body.

In some embodiments, the above-mentioned driving monitoring and warning system further includes a second camera. The second camera is installed on the other side of the front of the vehicle body, and the second camera is used to shoot a second side image of the other side of the vehicle body and a second front image of the front of the vehicle.

In some embodiments, the range covered by the second vehicle front image along the lateral direction includes at least from the other side of the front of the vehicle to the center point of the front of the vehicle in the lateral direction.

In some embodiments, the above-mentioned second camera is installed in front of and above the other side of the front of the vehicle body.

In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.

The embodiments of the present invention are discussed in detail below. However, it can be understood that the embodiments provide many applicable concepts, which can be implemented in various specific contents. The discussed and disclosed embodiments are for illustrative purposes only, and are not intended to limit the scope of the present invention. Regarding the "first", "second", etc. used in this article, they do not specifically refer to the order or sequence, but only to distinguish elements or operations described in the same technical terms.

FIG. 1 is a system block diagram of the driving monitoring and warning system 10 according to the first embodiment of the disclosure. The driving monitoring and warning system 10 includes a first camera 120, a processor 140, and a display 160. The first camera 120 is electrically connected to the processor 140, and the processor 140 is electrically connected to the display 160.

2 is a schematic diagram of the location of the first camera 120 of the driving monitoring and warning system 10 according to the first embodiment of the disclosure. The first camera 120 is installed on one side of the front 220 of the vehicle body 200. It is worth mentioning that, in the first embodiment of the present disclosure, the first camera 120 is installed on the driver side of the front 220 of the vehicle body 200. In other words, if the vehicle body 200 is a right-hand drive type, the first camera 120 is installed on the right side of the front 220 of the vehicle body 200; on the contrary, if the vehicle body 200 is a left-hand drive type, the first camera 120 is installed on the vehicle The body 200 is on the left side of the front 220 of the vehicle. In the first embodiment of the present disclosure, the first camera 120 is installed in front of and above the driver's side of the front 220 of the vehicle body 200. Specifically, in the example of the top view shown in the top diagram of FIG. 2, the first camera 120 is installed at the front corner of the driver's side of the front 220 of the vehicle body 200. Specifically, in the example of the front view shown in the lower figure of FIG. 2, the first camera 120 is installed on the exterior rear mirror on the driver side of the front 220 of the vehicle body 200, but the present disclosure is not limited to this. The first camera 120 may also be installed in front of and above the driver's side of the front 220 of the vehicle body 200 by installing on a bracket.

In the example shown in FIG. 2, the car body 200 is a connected car, but the present disclosure is not limited to this. In the first embodiment of the present disclosure, the car body 200 is a large vehicle, such as a truck, a bus, a bus, a bus, Touring car or connecting car.

FIG. 3 is a schematic diagram of the shooting range of the first camera 120 of the driving monitoring and warning system 10 according to the first embodiment of the disclosure. The first camera 120 is used to capture a first side image 320 on one side of the vehicle body 200 and a first vehicle front image 340 directly in front of the vehicle head 220.

In the first embodiment of the present disclosure, the first camera 120 is a wide-angle camera, so that the first camera 120 has a wide horizontal and vertical angle of view, so that the first camera 120 can shoot as much as possible of the side and the side of the vehicle body 200. The image in the area directly in front of the front of the car 220. In the first embodiment of the present disclosure, the shooting angle of view of the first camera 120 may be downward shooting, but the present disclosure is not limited to this, and the shooting angle of view of the first camera 120 may also be obliquely downward shooting.

As shown in FIG. 3, in the first embodiment of the disclosure, the first side image 320 also includes a part of the vehicle body 200. As shown in FIG. 3, in the first embodiment of the present disclosure, the first side image 320 captured by the first camera 120 includes at least an image on one side of the front edge of the vehicle body 200. Further, the first camera The first side image 320 captured by 120 includes an image that exceeds one side of the frontmost edge of the vehicle body 200. It is worth mentioning that the conventional blind spot detection device shoots backward through a camera. Therefore, the conventional blind spot detection device cannot capture an image of one side of the front edge of the vehicle body 200.

As shown in FIG. 3, in the first embodiment of the present disclosure, the range covered by the first vehicle front image 340 along the lateral direction D1 includes at least from one side of the vehicle head 220 to the center point of the vehicle head 220 in the lateral direction D1 222, wherein the lateral direction D1 is perpendicular to the traveling direction D2 of the vehicle body 200. It is worth mentioning that in the conventional technology, it is necessary to install a front-view mirror (type VI front-view mirror) on the front of a large vehicle or install another camera on the front of a large vehicle to make the driving of the large vehicle The person can know whether there is a moving object directly in front of the front of the car. In contrast, since the driving monitoring and warning system 10 of the present disclosure can obtain the first front image 340 directly in front of the vehicle head 220 through the first camera 120 installed on the side of the vehicle head 220 of the vehicle body 200, the present disclosure There is no need to install a front-view mirror (type VI front-view mirror) on the front 220 of the vehicle or install another camera. The driving monitoring and warning system 10 of the present disclosure can reduce the burden of drivers and reduce the cost of producing vehicles.

Please return to FIG. 1, the processor 140 electrically connected to the first camera 120 is used to receive the first side image 320 and the first front image 340 from the first camera 120, and the processor 140 is used to compare the first side image 320 performs image processing with the first front image 340 to detect whether there is a risk object in the first side image 320 or the first front image 340. The display 160 is installed in the cockpit of the vehicle body 200. The display 160 is electrically connected to the processor 140. The display 160 is used for displaying the first side image 320 and the first front image 340. The display 160 is further used for the processor 140 When a risk object is detected in the first side image 320 or the first vehicle front image 340, the risk object is marked in the first side image 320 or the first vehicle front image 340. In the first embodiment of the present disclosure, the display 160 displays the car side image and the rear-view mirror view image in a dual-screen manner, wherein the car side image includes a first side image 320 and a first front image 340, wherein The rear view mirror image includes the first side image 320 based on the view of the exterior rear mirror on the side of the front 220 of the car body 200, so that the driver can know the side and the side of the car body 200 through the display 160. Whether there is a risk object in front of the front 220 of the vehicle.

FIG. 4 is a system block diagram of the driving monitoring and warning system 20 according to the second embodiment of the disclosure. The driving monitoring and warning system 20 includes a first camera 120, a second camera 130, a processor 140, and a display 160. The first camera 120 and the second camera 130 are electrically connected to the processor 140, and the processor 140 is electrically connected to the display 160.

FIG. 5 is a schematic diagram of the installation positions of the first camera 120 and the second camera 130 of the driving monitoring and warning system 20 according to the second embodiment of the disclosure. The first camera 120 is installed on one side of the front 220 of the vehicle body 200, The second camera 130 is installed on the other side of the front 220 of the vehicle body 200. In the second embodiment of the present disclosure, the first camera 120 is installed in front of and above one side of the front 220 of the vehicle body 200, and the second camera 130 is installed in front of the other side of the front 220 of the vehicle body 200 And above. Specifically, in the example of the top view shown in the top view of FIG. 5, the first camera 120 and the second camera 130 are respectively installed at the front corners of both sides of the front 220 of the vehicle body 200. Specifically, in the example of the front view shown in the lower diagram of FIG. 5, the first camera 120 and the second camera 130 are installed on the exterior rear mirrors on both sides of the front 220 of the vehicle body 200, but this The disclosure is not limited to this, and the first camera 120 and the second camera 130 can also be installed in front of and above both sides of the front 220 of the vehicle body 200 by mounting on a bracket.

In the example shown in FIG. 5, the car body 200 is a connected car, but the present disclosure is not limited to this. In the second embodiment of the present disclosure, the car body 200 is a large vehicle, such as a truck, a bus, a bus, a bus, Touring car or connecting car.

6 is a schematic diagram of the shooting range of the first camera 120 and the second camera 130 of the driving monitoring and warning system 20 according to the second embodiment of the disclosure. The first camera 120 is used to capture the first side image 320 on one side of the vehicle body 200 and the first front image 340 directly in front of the vehicle head 220, and the second camera 130 is used to capture the first side image 320 on the other side of the vehicle body 200. The two-side image 330 and the second front image 350 directly in front of the front 220 of the vehicle.

In the second embodiment of the present disclosure, the first camera 120 and the second camera 130 are wide-angle cameras, so that the first camera 120 and the second camera 130 have a wide horizontal and vertical angle of view, so that the first camera 120 and the second camera The second camera 130 can capture images within the range between the sides of the vehicle body 200 and the front of the vehicle head 220 as much as possible. In the second embodiment of the present disclosure, the shooting angle of view of the first camera 120 and the second camera 130 may be downward shooting, but the present disclosure is not limited to this, and the shooting angle of view of the first camera 120 and the second camera 130 may also be Shoot down diagonally.

As shown in FIG. 6, in the second embodiment of the present disclosure, the first side image 320 and the second side image 330 also each include a part of the vehicle body 200. As shown in FIG. 6, in the second embodiment of the present disclosure, the first side image 320 captured by the first camera 120 and the second side image 330 captured by the second camera 130 include at least the front of the vehicle body 200. More specifically, the first side image 320 captured by the first camera 120 and the second side image 330 captured by the second camera 130 include the images beyond the front edge of the vehicle body 200. image. It is worth mentioning that the conventional blind spot detection device uses a camera to shoot backwards. Therefore, the conventional blind spot detection device cannot capture images on both sides of the front edge of the vehicle body 200.

As shown in FIG. 6, in the second embodiment of the present disclosure, the range covered by the first vehicle front image 340 along the lateral direction D1 includes at least from one side of the vehicle head 220 to the center point of the vehicle head 220 in the lateral direction D1 222. The range covered by the second vehicle front image 350 along the lateral direction D1 includes at least from the other side of the vehicle head 220 to the center point 222 of the vehicle head 220 in the lateral direction D1, wherein the lateral direction D1 is perpendicular to the travel of the vehicle body 200 Direction D2. It is worth mentioning that in the conventional technology, it is necessary to install a front-view mirror (type VI front-view mirror) on the front of a large vehicle or install another camera on the front of a large vehicle to make the driving of the large vehicle The person can know whether there is a moving object directly in front of the front of the car. In contrast, because the driving monitoring and warning system 20 of the present disclosure can obtain the first car front directly in front of the car body 200 through the first camera 120 and the second camera 130 installed on both sides of the car head 220 of the car body 200. The image 340 and the second front image 350, therefore, the present disclosure does not need to install a front-view mirror (type VI front-view mirror) on the front 220 of the vehicle or install another camera. The driving monitoring and warning system 20 of the present disclosure can reduce the burden of drivers and reduce the cost of producing vehicles.

Please return to FIG. 4, the processor 140 electrically connected to the first camera 120 and the second camera 130 is used to receive the first side image 320 and the first front image 340 from the first camera 120 and receive from the second camera 130 The second side image 330 and the second vehicle front image 350, the processor 140 is used to perform image processing on the first side image 320, the first vehicle front image 340, the second side image 330 and the second vehicle front image 350 , Thereby detecting whether there is a risk object in the first side image 320, the first front image 340, the second side image 330, or the second front image 350. The display 160 is installed in the cockpit of the vehicle body 200. The display 160 is electrically connected to the processor 140. The display 160 is used to display the first side image 320, the first front image 340, the second side image 330, and the second side image 330. The vehicle front image 350 and the display 160 are further used for when the processor 140 detects that there is a risk object in the first side image 320, the first vehicle front image 340, the second side image 330, or the second vehicle front image 350, The risk object is marked in the first side image 320, the first front image 340, the second side image 330, or the second front image 350.

7 and 8 are schematic diagrams of detecting whether there is a risk object by the processor 140 of the driving monitoring and warning system 10 according to the first embodiment of the disclosure. It is worth mentioning that in the second embodiment of the present disclosure, the way that the processor 140 of the driving monitoring and warning system 20 detects whether there is a risk object is essentially the same as the way that the processor 140 of the driving monitoring and warning system 10 detects whether there is a risk. The method of the object is similar, therefore, the following will only describe the method of detecting whether there is a risk object by the processor 140 of the driving monitoring and warning system 10 of the first embodiment. As shown in FIG. 7, the processor 140 of the driving monitoring and warning system 10 detects whether there is a risk object in the first side image 320 by detecting whether there is a target 400 located on one side of the vehicle body 200 and moving along. The direction D2 is close to the vehicle body 200, and it is detected whether the target object 400 has a risk of colliding with the vehicle body 200. When the processor 140 detects that there is a risk object in the first side image 320, the display 160 marks the target 400 in the first side image 320 as a risk object (or even issues a warning) to remind the driver to be more alert. It is worth mentioning that the subject 400 in FIG. 7 may also approach the vehicle body 200 along the lateral direction D1, or approach the vehicle body 200 along the traveling direction D2 and the lateral direction D1.

As shown in FIG. 8, the processor 140 of the driving monitoring and warning system 10 detects whether there is a risk object in the first side image 320 or the first front image 340 by detecting whether there is a target 400 located at the front 220 of the vehicle. The front of one side approaches the front 220 along the lateral direction D1, and detects whether the target 400 has a risk of colliding with the front 220. When the processor 140 detects that there is a risk object in the first side image 320 or the first front image 340, the display 160 marks the target 400 as a risk in the first side image 320 or the first front image 340 Objects (even warnings) to remind the driver to be more alert. It is worth mentioning that the subject 400 in FIG. 8 may also approach the vehicle body 200 along the travel direction D2, or approach the vehicle body 200 along the lateral direction D1 and the travel direction D2. It is worth mentioning that in the conventional technology, the camera is used to shoot backwards to assist the driver in knowing whether there is a risky object behind the vehicle. Therefore, the conventional technology cannot detect whether there is a risky object in the front of the car 220. The front side of the vehicle is approaching the front 220 of the vehicle along the lateral direction D1 and/or the direction of travel D2 and there is a risk of colliding with the front 220 of the vehicle.

In summary, the present invention proposes a vehicle monitoring and warning system that can detect risky objects on the side of the vehicle body and in front of the front of the vehicle. The vehicle monitoring and warning system disclosed in the present disclosure does not require a front-view mirror (VI A similar front-view mirror) or another camera is installed. Therefore, the driving monitoring and warning system disclosed in the present disclosure can reduce the burden on the driver and reduce the cost of producing the vehicle.

The features of several embodiments are summarized above, so those skilled in the art can better understand the aspect of the present invention. Those who are familiar with the art should understand that they can easily use the present invention as a basis to design or modify other processes and structures, thereby achieving the same goals and/or the same advantages as the embodiments described herein. . Those skilled in the art should also understand that these equivalent constructions do not depart from the spirit and scope of the present invention, and they can make various changes, substitutions and alterations without departing from the spirit and scope of the present invention.

10, 20: Driving monitoring and warning system 120: The first camera 130: second camera 140: processor 160: display 200: car body 220: front 222: Center Point 320: The first side image 330: Second side image 340: The first car front image 350: Second car front image 400: Subject matter D1: horizontal direction D2: Direction of travel

A better understanding of the aspect of the present invention can be obtained from the following detailed description in conjunction with the accompanying drawings. It should be noted that, according to industry standard practice, each feature is not drawn to scale. In fact, in order to make the discussion clearer, the size of each feature can be increased or decreased arbitrarily. [Fig. 1] is a system block diagram of the driving monitoring and warning system according to the first embodiment of the present disclosure. [Fig. 2] is a schematic diagram of the installation position of the first camera of the driving monitoring and warning system according to the first embodiment of the present disclosure. [Fig. 3] is a schematic diagram of the shooting range of the first camera of the driving monitoring and warning system according to the first embodiment of the present disclosure. [Fig. 4] is a system block diagram of the driving monitoring and warning system according to the second embodiment of the present disclosure. [Fig. 5] is a schematic diagram of the installation positions of the first camera and the second camera of the driving monitoring and warning system according to the second embodiment of the present disclosure. [Fig. 6] is a schematic diagram of the shooting range of the first camera and the second camera of the driving monitoring and warning system according to the second embodiment of the present disclosure. [FIG. 7] and [FIG. 8] are schematic diagrams of detecting whether there is a risk object by the processor of the driving monitoring and warning system according to the embodiment of the disclosure.

120: The first camera

200: car body

220: front

222: Center Point

320: The first side image

340: The first car front image

D1: horizontal direction

D2: Direction of travel

Claims (9)

A traffic monitoring and warning system includes: a first camera installed on one side of a front of a vehicle body for shooting a first side image of the side of the vehicle body and a front side of the front of the vehicle body A first vehicle front image; a processor for performing image processing on the first side image and the first vehicle front image, so as to detect whether there is at least the first side image or the first vehicle front image A risk object; and a display installed in a cockpit of the vehicle body to display the first side image and the first front image, and the display is further used to detect the When the risk object exists in the first side image or the first vehicle front image, mark the risk object in the first side image or the first vehicle front image; wherein the first vehicle front image is along a The range covered by the lateral direction includes at least from the side of the front of the vehicle to a center point of the front of the vehicle in the lateral direction, wherein the lateral direction is perpendicular to the traveling direction of the vehicle body. The driving monitoring and warning system according to claim 1, wherein the first camera is installed in front of and above the side of the front of the vehicle body. The vehicle monitoring and warning system according to claim 1, wherein the vehicle body is a truck, a bus, a bus, a bus, a tour bus, or a connected vehicle. The driving monitoring and warning system according to claim 1, wherein the processor detects whether there is the risk object in the first side image is: detecting whether a target object is located on the side of the vehicle body along The traveling direction and/or the lateral direction are close to the vehicle body, and it is detected whether the target object has a risk of colliding with the vehicle body. The driving monitoring and warning system according to claim 1, wherein the processor detects whether the risk object exists in the first front image or the first side image is: detecting whether a subject is located in the front of the vehicle The front of the side of the vehicle is approaching the front of the vehicle along the lateral direction and/or the direction of travel, and detecting whether the subject has a risk of colliding with the front of the vehicle. The driving monitoring and warning system according to claim 1, wherein the display uses a dual-screen mode to respectively display a car side screen and a rear-view mirror perspective screen, wherein the car side screen includes the first side image and the first side image. A front image of a vehicle, wherein the rear view mirror image includes the first side image based on the view angle of an exterior rear mirror of the side of the front of the vehicle body. The driving monitoring and warning system according to claim 1, further comprising: a second camera installed on the other side of the front of the vehicle body to photograph a second side of the other side of the vehicle body Side image and a second front image directly in front of the front of the vehicle. The driving monitoring and warning system according to claim 7, wherein the range covered by the second vehicle front image along the lateral direction includes at least from the other side of the front of the vehicle to the center point of the front of the vehicle in the lateral direction . The driving monitoring and warning system according to claim 7, wherein the second camera is installed in front of and above the other side of the front of the vehicle body.

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