TWM485173U - Auxiliary photographing device with the sensing of turning direction of car body - Google Patents

Description

Vehicle body steering induction auxiliary photography device

The present invention relates to a photographic device for visual dead angle of a vehicle turning, and in particular to a vehicle body steering induction auxiliary photographic device capable of assisting a vehicle driver in monitoring a visual blind spot when a large vehicle turns.

A number of auxiliary devices are known to assist the driver in observing the road conditions or environmental conditions around the vehicle, but for the driver of the vehicle, there is still a specific visual dead zone for each vehicle, especially the inner wheel difference of the vehicle during cornering. It is easier to create a visual dead zone, which is most serious for large vehicles with large vehicle lengths, such as semi-jointed vehicles (generally referred to as container vehicles). The length of a semi-jointed car with a 20-foot container is about 14 meters (M), and the half-jointed car with a 40-inch container is more than 20 meters (M). The junction car consists of a traction vehicle and a heavy-duty semi-trailer. The difference between the front wheel trajectory of the traction vehicle and the rear wheel trajectory of the heavy semi-trailer (the part loading the container) connected at the time of the turn The semi-joined car has a wide range of visual dead angles due to the inner wheel difference, and during the turning of the semi-joined car, the rear view mirror of the traction vehicle of the driver makes the driver unable to see the whole process during the turning process. To most of the range of internal wheel differences, it is easy for a semi-jointed car to cause a regrettable traffic accident because the driver does not see the visual dead zone.

In order to assist the vehicle driver to view the visual dead zone of the vehicle, there are many phases. The technology of Guan is proposed, in the approved ROC invention patent I333904 "automobile auxiliary video alarm device", using multiple sets of image capture components to capture the image of the left front, right front, left rear, right rear and rear of the car Identifying the image through a video recognition unit, when the moving object in the image, the abnormal state, whether there is a moving object behind the vehicle, or when the object is rapidly becoming larger, the image is displayed on a display by switching, and the sound is used. A light alarm alerts the driver. The Republic of China invention patent I405682, which has been approved for publication, uses the vehicle-side image assisting system activated by the signal signal, which is based on the start signal when the left direction light, the right direction light, the reverse light number and the warning light number of the vehicle are started. After a predetermined threshold time, two camera devices disposed on the left and right sides of the vehicle are activated to take images of the corresponding vehicle side, and then the images are displayed on the display device. The above known techniques require a plurality of image capturing elements or photographing devices, and the photographing angle of the photographing device is fixed, and the camera cannot automatically adjust the camera to observe and photograph the visual dead angle when the vehicle turns, and is not suitable for a large vehicle having a large vehicle length. vehicle.

The Republic of China invention patent No. 588003 has been approved for use in the monitoring range adjustment device and method for the exterior condition monitor, using a detector to respond to the steering range of the tire, the steering range of the steering wheel of the vehicle, and the vehicle. The output signal of the electronic compass or the global positioning system generates an adjustment signal, and then the controller adjusts the external condition monitor from a monitoring range starting position to a working position of at least two different monitoring ranges according to the change of the adjusting signal. This known technique can change the monitoring range of the off-vehicle condition monitor to at least two different monitoring ranges, the adjustment of the monitoring range still has a predetermined position, and the non-linear continuous adjustment of the monitoring range; on the other hand, the vehicle is to be acquired. The steering range of the tire or the steering range of the steering wheel is cumbersome to implement due to the detection of the mechanical movement of the tire and the steering wheel of the vehicle. On the other hand, the steering wheel of the vehicle or the steering movement of the tire and the turning of the vehicle body Action, in the vehicle The turning process does not always maintain a positive correlation. Specifically, when the vehicle body does not completely pass the corner, the tire and the steering wheel have started to reverse the correct operation, especially the half-jointed vehicle has a longer body length. For large vehicles, when the traction vehicle starts to travel straight after turning, the body of the heavy-duty semi-trailer on the rear side may still be in the steering motion, even if it has not completely left the visual dead zone caused by the inner wheel difference, if the tire is based on the tire. And the steering range of the steering wheel immediately adjusts the monitoring range of the off-road condition monitor, which may leave the adjustment range early; in the case of the civilian global positioning system (GPS), the positioning accuracy is about 10 meters (M). Therefore, the monitoring range of the vehicle exterior monitor based on the GPS signal is still practically large, and it is difficult to obtain an accurate monitoring range in real time.

One of the aims of the present invention is to provide a vehicle body steering induction auxiliary photographing device that can assist a vehicle driver in monitoring a visual blind spot when a large vehicle turns.

An embodiment of the present invention relates to a vehicle motion sensing device, comprising: a vehicle dynamic sensor for obtaining azimuth information, speed information, displacement information and position information of vehicle movement; a controller according to the foregoing orientation Angle information, speed information, displacement information and position information generate an adjustment signal; a camera, which is mounted on the outside of the vehicle body to capture an image of a visual dead zone of the vehicle at a preset initial shooting angle; a servo mechanism, and the controller The connection is based on the adjustment signal to drive the camera to rotate to adjust the shooting angle of the camera; and a display to be electrically connected to the camera for displaying the image taken by the camera.

In an embodiment of the present vehicle body steering induction auxiliary imaging device, the vehicle dynamic sensor includes a gyroscope, a linear acceleration sensor, and a global positioning system for obtaining azimuth information and speed information of the vehicle movement. , displacement information and location information.

In an embodiment of the present vehicle body steering induction auxiliary photographing apparatus, the camera is an infrared camera.

In an embodiment of the present vehicle body steering induction auxiliary photographing apparatus, the camera is an infrared camera having an infrared light emitting element.

In an embodiment of the present vehicle body steering induction auxiliary imaging device, the camera and the servo mechanism are mounted on a rear view mirror outside the vehicle body of the vehicle.

Other functions and embodiments of the present invention will be described below in conjunction with the drawings.

10‧‧‧Vehicle Dynamic Sensor

11‧‧‧Gyro

12‧‧‧ Linear Acceleration Sensor

13‧‧‧Global Positioning System

20‧‧‧ Controller

30‧‧‧ camera

31‧‧‧Digital Image Recorder

40‧‧‧Serval

50‧‧‧ display

60‧‧‧Mirrors

61‧‧‧Support frame

A1‧‧‧ Shooting range of initial shooting angle

A2~A4‧‧‧ shooting range

D1‧‧‧ distance

D2‧‧‧Preset a distance

H‧‧‧ traction vehicle

L1‧‧‧ camera axis

L2‧‧‧ body axis

P1‧‧‧ reference position

P2‧‧‧ traction car location

P3‧‧‧Starting right turn position

Fig. 1 is a functional block diagram showing an embodiment of a vehicle body steering induction auxiliary photographing apparatus.

Fig. 2 is a structural view showing an embodiment of a vehicle body steering induction auxiliary photographing apparatus, showing a rear view mirror outside the vehicle body of the vehicle body in which the camera and the servo mechanism are mounted.

Fig. 3 is a structural view showing an embodiment of a vehicle body steering induction auxiliary photographing apparatus, showing the positional relationship between the rear view mirror, the display and the driver.

Fig. 4A is a schematic view showing an action of the steering body steering induction auxiliary photographing device.

Fig. 4B is a schematic view showing an action of the steering body steering induction auxiliary photographing device.

Fig. 4C is a schematic view showing an action of the steering body steering induction auxiliary photographing device.

Fig. 4D is a schematic view showing an action of the steering body steering induction auxiliary photographing device.

Fig. 4E is a schematic view showing an action of the steering body steering induction auxiliary photographing device.

Fig. 5 is a schematic view showing an action of the vehicle body steering induction auxiliary photographing device.

Figure 6 is a functional block diagram of another embodiment of the inventive vehicle body steering induction auxiliary photographing apparatus.

First, please refer to FIG. 1 , which is a functional block diagram of an embodiment of a vehicle body steering induction auxiliary photography device, including: a vehicle dynamic sensor 10 including at least one gyroscope 11 and a linear acceleration sensor 12 . And a global positioning system 13 for obtaining azimuth information, speed information, displacement information and position information of the vehicle movement; a controller 20 generating an adjustment signal according to the azimuth information, the speed information, the displacement information and the position information a camera 30, the device takes an image of a visual dead zone of the vehicle at a preset initial shooting angle on the outside of the vehicle body; a servo mechanism 40 is electrically connected to the controller 20 to drive the camera 30 to rotate according to the adjustment signal to adjust One embodiment of the servo mechanism 40 may be a miniature servo motor mechanism; and a display 50 electrically coupled to the camera 30 for displaying images captured by the camera 30.

An embodiment of the camera 30 may be an infrared camera camera 30 or an infrared camera 30 with an infrared light emitting element (such as an infrared light emitting diode). Another embodiment of the camera 30 is a digital image capturing device, for example A camera 30 using any one of a Photo Coupled Device (CCD) and a Complementary Metal-Oxide Semiconductor (CMOS). in Another embodiment of the present invention, as shown in FIG. 6, may also be provided with a digital image recorder 31 (DVR). The digital image recorder 31 is connected to the camera 30 for recording images taken by the camera, thereby enabling driving records. The functions of the camera 30 and the servo mechanism 40 can be wired or connected to the controller 20 by means of wireless transmission, the servo mechanism 40 can be controlled by wireless transmission, and the image captured by the camera 30 can be transmitted to Controller 20 and digital image recorder 31.

In the case of a left-hand drive (the driver is on the left side), when the vehicle turns, especially when turning right, the visual dead zone is located on the right side of the vehicle, so the camera 30 can be installed outside the vehicle body on the right side of the vehicle for taking the right side of the vehicle. The same image, for the right-hand drive vehicle, the visual dead zone appears on the left side of the vehicle when the vehicle turns left, so the camera 30 will be installed outside the vehicle body on the left side of the vehicle; an implementation of this creation The method is further described by taking a left-hand drive vehicle as an example. The present invention mounts the camera 30 at a position near the rear view mirror 60 outside the vehicle on the right side of the vehicle body (see FIG. 2). Specifically, The mounting frame 61, which does not affect the driver's viewing of the rear view mirror, such as the support frame 61 of the large vehicle rear view mirror, allows the camera 30 to obtain a better shooting range through the support frame 61 that extends outwardly from the vehicle body.

Taking a semi-joined vehicle as an example, in an embodiment of the present creation, the range A1 that can be photographed by the initial shooting angle preset by the camera 30 can be the same as or close to the rear view mirror, in other words, as shown in FIG. 4A, the camera 30 The shooting range A1 of the initial shooting angle of view and the visual range of the driver extending rearward through the rear view mirror along the right side of the vehicle body are the same or close; in an embodiment of the present creation, the display 50 can be installed on the driver to view the rear view. The field of view can be visually observed at the same time as the mirror. As shown in Fig. 3, in the case of a left-hand drive (the driver is on the left side), the display 50 can be installed in the cab between the driver and the right rear view mirror. Position between 60, after the driver views the right side The mirror 60 can also conveniently view the image captured by the camera 30, which greatly improves the safety of driving.

According to a preferred embodiment of the present invention, the vehicle dynamic sensor 10 preferably obtains the azimuth information, the speed information, the displacement information, and the position information of the front of the vehicle. Specifically, the semi-joined vehicle is taken as an example. Azimuth information, speed information, displacement information and position information of the traction vehicle (the driver's head), wherein the azimuth information is the amount of change in the direction of the traction vehicle, so an implementation of the creation In the example, as shown in FIG. 3, the vehicle dynamic sensor 10 can be installed at the front position of the vehicle or at the inner center position of the front windshield of the cab.

The linear acceleration sensor 12 mainly provides information on speed and displacement, and the gyroscope 11 provides azimuth information. The information provided by these sensors is processed and calculated by the controller 20 to output positioning information of the vehicle such as NMEA. (National Marine Electronics Association) format; an implementation method for obtaining positioning information is obtained by means of Dead Reckoning (DR), which utilizes the distance traveled by the linear acceleration sensor 12 and the gyroscope 11 respectively ( The Traveling Distance and the Turn Rate are calculated. One implementation of the positioning information is Relative Positioning, which means that the current calculated position is related to the previous position. In one embodiment of the present invention, the driving distance and the rotation rate detected by the linear acceleration sensor 12 and the gyroscope 11 and the position information of the global positioning system 13 are included, and the controller 20 processes and calculates the vehicle. Location information for the location.

According to an embodiment of the present invention, when detecting that the vehicle starts to turn, the shooting angle of the camera 30 is adjusted to start, and the position of the vehicle at the time of starting the turning is used as the reference position, and the current position and the reference of the vehicle are continuously calculated during the turning of the vehicle. Relative position between locations Then, the shooting angle of the camera 30 is adjusted according to the relative position information.

The following is a description of the operation of the vehicle body steering induction auxiliary photography device applied to the semi-joint car according to the 4A to 4E drawings; first, please refer to the 4A figure, the semi-joining car is in straight line (assuming the driving direction is north), the camera The shooting range A1 of the initial shooting angle of 30 and the visual range of the driver extending backwards along the right side of the vehicle body through the rear view mirror are the same or close, and the vehicle dynamic sensor 10 detects the traction vehicle H of the semi-joined vehicle. With the direction of movement kept straight north, the camera 30 will remain at the initial viewing angle.

When the semi-joined car approaches the turning position of the road, as shown in FIG. 4B, first, the traction vehicle H starts to turn right (assuming a 90-degree turn to the right), and the vehicle dynamic sensor 10 detects the semi-joined vehicle. The azimuth angle of the traction vehicle H begins to change. According to the present creation, when the vehicle starts to turn, the shooting angle of the camera 30 is adjusted. The adjustment is performed by asymptotically and gradually increasing the shooting axis L1 and the traction of the camera 30. The angle θ 1 between the vehicle body axis L2 of the vehicle H is one of the embodiments in which the position of the traction vehicle H is taken as the reference position P1 with the positioning information at the start of the turning, in the process of the continuous turning of the traction vehicle H (It can be judged by the change of the azimuth angle that the traction vehicle H still maintains the rightward turn, and the relative position information between the current position Pn of the vehicle and the reference position P1 is calculated, and then the camera is adjusted according to the relative position information. The angle of view, in other words, the controller 20 controls the servo mechanism 40 to drive the camera 30 to continuously rotate according to the amount of fluctuation of the azimuth information, thereby continuously adjusting the shooting angle of the camera 30; as shown in FIG. 4C When the traction vehicle H turns to the right until the angle between the traction vehicle H and the rear heavy-duty half-trail T reaches the maximum, the shooting range A1 of the camera 30 may include the range of the visual dead zone (shaded in the figure) region).

As shown in Fig. 4D, when the rear heavy-duty half-trailer T of the semi-joined car has not completely passed the corner, the tire and steering wheel of the traction vehicle H have started to reverse the correct operation, at this time, the traction The direction of travel of the car H has gradually turned to the straight path in the east direction. In other words, the azimuth change of the traction vehicle H is gradually slowed down relative to the reference position P1, and then the traveling direction of the traction vehicle H will proceed toward In the straight direction in the east direction, when the vehicle dynamic sensor 10 detects that the azimuth angle of the traction vehicle H of the semi-joined vehicle no longer changes, the controller 20 will take the position P2 of the traction vehicle H as the new position at this time. The reference position starts from the position P2 as a starting point to calculate the distance D1 of the traction vehicle H from the position P2 (as shown in FIG. 4E), and is controlled by the controller 20 after the distance D1 reaches the preset one-segment distance D2. The servo mechanism 40 restores the photographing angle of view of the camera 30 to the initial photographing angle of view. Then, the next time the vehicle detects that the vehicle is turning again, the shooting angle of the camera 30 is adjusted again in the same manner. In practice, the length of the vehicle body varies depending on the type of vehicle. For example, a half-jointed vehicle with a 20-inch container is about 14 meters (M) in length and 40 inches in length. The half-jointed vehicle of the container can be up to 20 meters (M). Therefore, the camera's shooting angle can be restored to the initial shooting angle after the vehicle has passed the corner and returned to the straight line. Therefore, It is better to set the distance D2 according to the total length of the vehicle.

Referring to FIG. 5, the controller 20 controls the servo mechanism 40 to drive the camera 30 to adjust the shooting angle of view during the S-shaped route travel of the vehicle equipped with the present vehicle body steering induction auxiliary photographing device. Assuming that the vehicle first turns right after turning straight to the position P3 (toward the east turn in the figure), the vehicle dynamic sensor 10 detects that the azimuth angle of the traction vehicle H of the semi-joined vehicle begins to change, and the azimuth The change shows that the traction vehicle H still maintains a rightward turn. According to the present creation, when the vehicle starts to turn, the shooting angle of the camera 30 is adjusted, and the shooting angle of the camera 30 will follow the direction of the traction vehicle H. The angle gradually changes. When the vehicle travels to the position P4, the steering wheel starts to return in the opposite direction to control the traction vehicle H to turn to the left (turning toward the north in the figure), at this time, the vehicle dynamic sensor 10 detects Trend indication of azimuth change The traction vehicle H has changed to a leftward turn instead of a previous tendency to turn to the right, the controller 20 controls the servo mechanism 40 to stop driving the rotation of the camera 30, the position of the camera 30 is maintained, and the traction vehicle H is moved by the position P4. During the process of position P5, the traction vehicle H continues to keep turning to the left. Since the camera 30 is mounted on the support frame 61 and is not driven to rotate by the servo mechanism 40, the shooting range of the camera 30 will follow the traction vehicle H. The steering action changes, such as several consecutive shooting ranges A2~A4 indicated by oblique lines in Fig. 5; after passing the position P5, the steering wheel is again returned in the opposite direction to control the traction vehicle H to turn to the right ( Turning toward the north in the figure), the trend of the azimuth change detected by the vehicle dynamic sensor 10 at this time indicates that the traction vehicle H has changed to the right turn instead of the previous leftward turn, and finally when the traction vehicle H The distance D1 is straightly traveled toward the north by the position P6, and after the distance D1 reaches the preset one-segment distance D2, the controller 20 controls the servo mechanism 40 to return the photographing angle of the camera 30 to the initial photographing angle of view.

Although the present invention has been disclosed above through the above embodiments, it is not intended to limit the present creation, and anyone skilled in the art can understand the foregoing technical features and embodiments of the present invention without departing from the present invention. In the spirit and scope of the invention, the scope of patent protection of this creation shall be subject to the definition of the requirements attached to this specification.

10‧‧‧Vehicle Dynamic Sensor

11‧‧‧Gyro

12‧‧‧ Linear Acceleration Sensor

13‧‧‧Global Positioning System

20‧‧‧ Controller

30‧‧‧ camera

40‧‧‧Serval

Claims (9)

A vehicle body steering induction auxiliary photography device can assist a vehicle driver in monitoring a visual dead zone when a large vehicle turns, comprising: a vehicle dynamic sensor installed in the vehicle, the vehicle dynamic sensor comprising at least one gyroscope, a linear acceleration sensor and a global positioning system for obtaining azimuth information, speed information, displacement information and position information of the vehicle movement; a controller connected to the vehicle dynamic sensor, according to the azimuth information, The speed information, the displacement information and the position information generate an adjustment signal; a camera, the device picks up an image of the visual dead zone of the vehicle at a preset initial shooting angle on the outside of the vehicle body; a servo mechanism, and the control The device is electrically connected, the camera is rotated according to the adjustment signal to adjust the shooting angle of the camera, and a display is electrically connected to the camera for displaying the image captured by the camera. The vehicle body steering induction auxiliary imaging device according to claim 1, wherein the camera and the servo mechanism are mounted on a rear view mirror outside the vehicle body of the vehicle. The vehicle body steering induction auxiliary photographing device according to claim 1, wherein the camera is an infrared camera. The vehicle body steering induction auxiliary photographing device according to claim 3, which comprises an infrared light emitting element. The vehicle body steering induction auxiliary photographing device according to claim 1, comprising a digital image recorder, the digital image recorder being connected to the camera for recording an image taken by the camera. The vehicle body steering induction auxiliary photography device according to claim 1 or 2, wherein the servo mechanism is a miniature servo motor. The vehicle body steering induction auxiliary photographing device according to claim 1 or 2, wherein the camera and the servo mechanism are connected to the controller by a wired connection. The vehicle body steering induction auxiliary photographing apparatus according to claim 1 or 2, wherein the camera and the servo mechanism are connected to the controller by a wireless connection transmission method. The vehicle body steering induction auxiliary photography device according to claim 1, wherein the vehicle dynamic measuring device is disposed at any position of the front position or the inner side of the front windshield of the cab.