TWM562412U - Panorama detection system of vehicle - Google Patents

Abstract

The present invention is directed to a panoramic view detecting system for a vehicle, which is provided with a plurality of image sensing devices for image capturing detection around a vehicle, the image sensing device comprising an image capturing component, an arithmetic module, and A warning module, the image capturing component captures an image of the periphery of the vehicle, and the at least one moving object of the image detected by the computing module generates a detection signal and at least one tracking mark. The warning module receives the detection signal and determines that when the moving object approaches the vehicle, generates and transmits a warning signal to at least one warning component to issue a warning effect (such as sound and light). In addition, the image sensing devices transmit the acquired images to an image output device for image stitching, and then display a scene image and a tracking mark for the driver to obtain the road condition outside the vehicle.

Description

Vehicle landscape detection system

The present invention relates to a scene detection system for a vehicle, which particularly relates to detecting a peripheral environment of a vehicle, and splicing the plurality of images obtained by the periphery into a scene image, and providing the driver with the warning effect, A system that assists in safe driving.

After investigation, the conventional vehicle itself is equipped with a left rear view mirror, a right rear view mirror and an interior rear view mirror. The driver who operates the vehicle is allowed to view the road information at the left rear, right rear and rear of the vehicle. . Based on the structural design of the traditional vehicle, the rear view mirror itself has a concealed blind spot in the installation position, so that the driver can not obtain the external environment of the vehicle through the images provided by the rearview mirrors. Actual road conditions, and in terms of safety design considerations, there is still a lack of improvement.

In addition, when the driver wants to change lanes/turns during driving, the driver must change the line of sight to view the left rear view mirror/right rear view mirror in order to actually understand the road environment of the single-sided lane; however, only rely on the left/ The viewable area provided by the right rear view mirror does not help the driver to understand the blind spot information that the left/right rearview mirror cannot display. Sometimes the driver needs to turn the head directly to check the outside of the vehicle, or to watch it. The interior rearview mirror can completely capture the static and dynamic scene outside the vehicle. Moreover, when the driver wants to perform on-street parking during the driving process, it is necessary to continuously change the line of sight to pay attention to the left/right rear view mirror and the interior rear view mirror according to the road condition, in order to complete the reverse operation. Therefore, when the above-mentioned specific actions are performed on the vehicle, the driver needs to constantly change the line of sight to obtain the road condition information, and cannot pay attention to the road ahead in time, which is easy to cause one of the major causes of the car accident.

The job is the reason, the creator of the idea and the idea of creation and improvement, hope to develop a viewable area of the left rear view mirror, the right rear view mirror and the interior rear view mirror, as well as the left rear view mirror and the right rear view mirror The blind spot information that is not displayed in the interior rearview mirror is integrated into an image output device to display a panoramic image of the car, so that the driver can completely obtain the road information of the surrounding environment of the vehicle through a single line of sight conversion, and The use of at least one warning component to provide a warning effect to the driver's vehicle's landscape detection system to serve the community and promote the development of the industry.

One of the aims of the present invention is to provide a vehicle landscape detection system that sets a plurality of image sensing devices around a vehicle for detecting road conditions outside the vehicle. The risk of a possible hazard is manifested by at least one warning component, and an image output device provides a surround image matching tracking mark to assist the driver in paying attention to the road environment when operating the vehicle, thereby improving the effectiveness of safe driving.

In order to achieve the above object, the present invention is a vehicle vision detection system, comprising: a plurality of image sensing devices disposed on a left end portion, a right end portion, and a rear end portion of the vehicle, The image sensing device includes: an image capturing component that captures an image of the surrounding environment of the vehicle to generate an image; and an computing module electrically connected to the image capturing component to detect at least one moving object of the image to generate a a detection signal and at least one tracking mark; and a warning module electrically connected to the operation module, and receiving the detection signal to determine that the moving object is close to the vehicle generates a warning signal; at least one warning component is disposed at the The vehicle is electrically connected to the warning module to receive the warning signal; and an image output device is disposed inside the vehicle and electrically connected to the image sensing device, wherein the image output device comprises an image mosaic module And the display module, the image splicing module receives the image of the image sensing devices to generate a panoramic image, and the display module is electrically connected to the image Splicing module to display the panorama image and the tracking tags.

In order to give your reviewers a better understanding and understanding of the characteristics of the creation and the effects achieved, please refer to the examples and detailed explanations as follows:

Referring to the first diagram, the second diagram A and the second diagram B, which is a block diagram of the first embodiment of the scene detection system for the vehicle, the vehicle, the image diagram 1 and the vehicle and the image diagram 2. As shown in the figure, the scene detection system 1 of the present invention (hereinafter referred to as the scene detection system 1) includes a plurality of image sensing devices 10 disposed on a left end portion 80 of a vehicle 8 and a The right end portion 82 and the rear end portion 84 perform image capturing detection. The image sensing device 10 includes an image capturing component 12 that captures an environment of the vehicle 8 to generate an image 120. An operation module 14 is electrically connected to the image capturing component 12 to detect at least one moving object 9 in the image 120 to generate a detection signal 140 and at least one tracking mark 142. A warning module 16 is electrically connected to the computing module 14 and receives a detection signal 140 to determine that the moving object 9 is approaching the vehicle 8 to generate an alert signal 160. At least one warning component 18 is disposed on the vehicle 8 and electrically connected to the warning module 16 to receive the warning signal 160. An image output device 20 is disposed in the interior of the vehicle 8 and electrically connected to the image sensing devices 10. The image output device 20 includes an image mosaic module 22 and a display module 24, and the image mosaic module 22 receives The image 120 of the image sensing device 10 generates a panoramic image 220, and the display module 24 displays the panoramic image 220 and the tracking mark 142.

As shown in FIG. 2A and FIG. 2B, the left end surface portion 80 and the right end surface portion 82 of the vehicle 8 are located on one of the left rear view mirror and the right rear view mirror of the vehicle 8, and may of course be the left side of the vehicle 8 On either side of the right, it is not limited to this. The rear end face portion 84 is located on the side of the vehicle behind the vehicle 8 or on the side of the rear bumper. The left rearview mirror, the right rearview mirror and the interior rearview mirror of the general vehicle 8 can be viewed as one visible area 120A, and can only be supplied according to the size and the adjustment angle relationship of the rearview mirrors themselves. The driver's view of one of the vehicles 8 is within a certain degree of viewing range, and other areas that cannot be presented in the rear view mirrors are commonly known as blind spots.

The image sensing device 10 of the present invention is disposed around the outside of the vehicle 8 , and the image capturing component 12 captures the image 120 generated by the surrounding environment of the vehicle 8 , and includes the blind spot image 120B that the rear view mirror fails to display ( The blind spot area, and the visible area 120A included in the rearview mirrors, can display the panoramic image 220 spliced by the plurality of images 120 in the image output device 20, so as to provide the driver with more complete road information. The image capturing component 12 is a wide dynamic fisheye camera.

The display module 24 includes an electronic rearview mirror 240 and a control module 242. The electronic rearview mirror 240 is an electronic (or digital) type of illumination mirror for displaying the panoramic image 220 and the tracking mark 142. The interior is used as an interior rearview mirror. The control module 242 is electrically connected to the electronic rearview mirror 240 to switch the electronic rearview mirror 240 to display its own reflected light imaging effect (ie, used as a general illumination lens), or to display the surround image 220 and the tracking mark 142. In addition, the display module 24 of the present invention may also be a screen (not shown) disposed inside the vehicle 8 for displaying the panoramic image 220 and the tracking mark 142 for the driver to view.

Referring to FIG. 2A and FIG. 2B, please refer to the third figure, which is a schematic diagram of the surrounding image of the first embodiment of the present invention. As shown in the figure, the image sensing devices 10 mounted around the vehicle 8 (the left end portion 80, the right end portion 82, and the rear end portion 84) respectively acquire images of the position by the image capturing member 12 120 information. The image 120 captured by the image capturing component 12 is transmitted to the image splicing module 22 for image splicing operation, and finally a panoramic image 220 is obtained by splicing the images 120 and the surrounding image is obtained. The image 220 is transmitted to the display module 24 (or the electronic rear view mirror 240) for display. Therefore, the driver only needs to change the single line of sight to view the electronic rear view mirror 240, that is, the left rear view mirror, the right rear view mirror and the electronic rear view mirror 240 of the vehicle 8 can be completely obtained as the visible area 120A used by the general illumination mirror, and one It also covers the blind spot image 120B that cannot be displayed by the rearview mirrors, thereby effectively improving the driving safety of the vehicle.

The difference between this creation and the traditional panoramic system is that the conventional panoramic system uses four cameras to set the image in front of, behind, left and right of the vehicle, and the view of the completed panoramic image is presented in a top view. Therefore, the number of cameras required for a general surround system is large, and it is not economical in terms of cost considerations. Moreover, the picture providing the top view is presented to the driver for viewing. The image capturing component 12 is not able to effectively capture the visible area 120A and the blind spot image 120B, and combines the panoramic view 220 of a normal viewing angle. Because the top view shows the image of the vehicle 8 weeks perpendicular to the ground, only a certain distance (for example, 5 meters) can be viewed; however, the creation draws the image 120 in the same horizontal field as the vehicle 8 Therefore, the image 120 has a wide display range, and the display module 24 can obtain more road environment information for a normal viewing angle. In addition, the conventional panoramic system does not have the computing module 14 and the warning module 16 can obtain the vehicle condition and distance between the mobile object 9 and the vehicle 8 according to the algorithm, and can issue a related reminding message to alert the driver.

The scene detection system 1 of the present invention further includes a plurality of light-emitting elements (not shown), which are left-hand lights and right-direction lights of the vehicle 8, and the directional lights can be disposed on the front headlights or the rear brake lights of the vehicle 8. Nearby, it can be any side of the vehicle 8. The light-emitting elements are electrically connected to the image sensing devices 10, and the warning module 16 of the image sensing device 10 that drives the left end portion 80 or the right end portion 82 starts to operate.

In detail, if the driver wants to operate the vehicle 8 to perform the right lane change, when the driver activates the light-emitting element (right-side light), the image sensing device 10 of the right end portion 82 is actuated. At this time, the right road environment of the vehicle 8 can be detected by the computing module 14 to generate the detection signal 140 according to the current state of the moving object 9 detected by the motion detection algorithm. As shown in the third figure, the computing module 14 detects the presence of the moving objects 9, 9' in the received image 120, and then detects the movement of the moving objects 9, 9' in the image 120 through the moving object detection algorithm. The detection signal 140 and the tracking marks 142, 142' are generated. The tracking marks 142, 142' track the movement of the moving objects 9, 9' in the image 120, mark the moving objects 9, 9' in a frame selection manner, and are displaced corresponding to the moving state of the moving objects 9, 9', which is advantageous for driving. The identification of the difference between static or dynamic objects in the image 120.

Then, the warning module 16 receives the detection signal 140, and according to the warning logic algorithm, it is determined whether the distance between the mobile object 9, 9' and the vehicle 8 has reached the warning standard preset value, and if so, the warning signal 160 is output to the warning. Component 18 issues a warning effect to respond (ie, alerting the driver to the road condition information). Similarly, if the driver wants to operate the vehicle 8 to perform the left lane change, the implementation manner is the same as the right operation mode, and will not be described again. Therefore, when the driver wants to operate the vehicle 8 to change the lane/reverse displacement, the light-emitting element is activated as a precondition, and then the image sensing device 10 of the left end portion 80/right end portion 82 is interlocked, and according to the moving object detection algorithm. And the warning logic algorithm performs the detection of the moving object 9.

Furthermore, the warning module 16 performs the determination according to the warning logic algorithm, so that when the moving objects 9, 9' move to the visible area 120A included in the image 120, it is determined that the warning signal 160 needs to be generated on the warning component 18, When the mobile objects 9, 9' are only located in the blind spot image 120B, the necessity of generating the warning signal 160 is not required. Or when the moving object 9, 9' enters the range of the image 120 and covers the half-area of the blind spot image 120B, a warning signal 160 is generated. Or, when a moving object 9, 9' enters the image 120, a warning signal 160 is generated; wherein the warning module 16 sets the parameter of the warning logic operation, which is when the scene detection system 1 of the original creation is When the setting is completed, it is determined that the warning signal 160 is generated, that is, when the moving object 9, 9' is close to the vehicle 8 is less than or equal to a distance, the warning signal 160 is generated.

Moreover, the warning component 18 is a buzzer or/and a Light Emitting Diode (LED), which can be respectively disposed on the left and right sides of the vehicle 8, such as an A-pillar, a left/right rearview mirror, The inner and outer regions of the vehicle 8 adjacent to the driver's seat, such as the instrument panel and the front view glass, are activated in response to detection conditions located at the left rear, right rear or/and rear of the vehicle 8.

Please refer to the fourth figure, which is a schematic diagram of a second embodiment of the present invention. As shown in the figure, the difference between the second embodiment of the present invention and the first embodiment is that when the lens of the image capturing component 12 is contaminated with a foreign object 7, the electronic rearview mirror 26 presents a fixed image on the right side of the panoramic image 220. In the case where the foreign object 7 is covered, the computing module 14 determines that the foreign object 7 is a static object, or causes the lens of the image capturing component 12 to adhere to the foreign matter 7 due to the external environment, and does not view the foreign matter 7 The tracking signals 142, 142' are generated for detecting the moving objects 9, 9' having the motion vector, thereby preventing the image sensing device 10 from disturbing the driver's manipulation of the vehicle 8 while maintaining the malfunction, or providing the wrong information to the driving. By. Unless the foreign object 7 is removed from the lens of the image capturing component 12, or the moving object 9' is located in the panoramic image 220 and is not covered by the foreign object 7, the computing module 14 detects the moving state of the moving object 9'. A tracking signal 142' (as shown in the third figure) is generated in the panoramic image 220.

Referring to FIG. 5, it is a block diagram of a third embodiment of a scene detection system for a vehicle of the present invention. As shown in the figure, the difference between the third embodiment of the present invention and the first embodiment is that the image sensing device 10 further includes an image correcting module 17 electrically connected to the image capturing component 12 and receiving the image 120 automatically. The luminance value, the pixel value, and the contrast value of the image 120 are compensated. In the third embodiment of the present invention, after the image capturing component 12 captures the surrounding environment of the vehicle 8 to generate the image 120, the image correcting module 17 receives the image 120, and the image correcting module 17 utilizes high dynamic range imaging. (High Dynamic Range Imaging, HDR) or / and Wide Dynamic Range Imaging (WDR) soft/hardware technology performs image 120 correction, and generates a new image 170 to be transmitted to the computing module 14 and the image output. Device 20. When the driving environment of the vehicle 8 is in a bad situation such as rain, fog, nighttime, strong light, low light, etc., after the image correction module 17 receives the image of the image 120, the image 120 is overexposed and underexposed. The distortion, or the problem of the brightness of each area in the image 120 is different, so that the new image 170 is transmitted to the image output device 20 to display the environmental information, or to reflect the environmental information more clearly. The visual effect is for the driver to watch.

In summary, the present invention provides a panoramic detection system for a plurality of image sensing devices disposed around the exterior of the vehicle (left end portion, right end portion, and rear end portion), and is captured by the image capturing component. Images around the vehicle (including visible areas and blind spot images). The detection module detects the movement of the moving object in the image to generate the detection signal and the tracking mark, and determines whether the warning signal is output by the warning module according to the moving object detection algorithm and the warning logic algorithm; if yes, The warning component receives the warning signal to give a warning effect. For example, the sound, light and other effects remind the driver to pay attention to the current road environment behind the vehicle, and at any time, according to the driver's needs, the electronic rearview mirror is controlled by the control module to provide the vehicle exterior. A panoramic image.

1‧‧‧Motion Detection System
10‧‧‧Image sensing device
12‧‧‧Image capture component
120‧‧‧Image
120A‧‧ visible area
120B‧‧‧Blind area imagery
14‧‧‧ Computing Module
140‧‧‧Detection signal
142‧‧‧ Tracking Mark
142'‧‧‧ Tracking Mark
16‧‧‧Warning module
160‧‧‧ warning signal
17‧‧‧Image Correction Module
170‧‧‧ images
18‧‧‧Warning components
20‧‧‧Image output device
22‧‧‧Image splicing module
220‧‧‧View image
24‧‧‧ display module
240‧‧‧Electronic rearview mirror
242‧‧‧Control Module
7‧‧‧ Foreign objects
8‧‧‧ Vehicles
80‧‧‧left end
82‧‧‧Right end face
84‧‧‧ rear end parts
9‧‧‧moving objects
9'‧‧‧moving objects

1 is a block diagram of a first embodiment of a landscape detection system for a vehicle of the present invention; FIG. 2A is a vehicle of the first embodiment of the present invention Image 1; Figure 2B: This is the vehicle and image schematic diagram 2 of the first embodiment of the present invention. The third picture: it is the scene detection system of the created vehicle. A schematic diagram of a panoramic image of a first embodiment; a fourth diagram: a schematic diagram of a second embodiment of a scene detection system for a vehicle of the present invention; and a fifth diagram: a scene detection of the vehicle of the present invention A block diagram of a third embodiment of the system.

Claims (11)

A vehicle vision detection system includes: a plurality of image sensing devices disposed on a left end portion, a right end portion, and a rear end portion of the vehicle, the image sensing devices comprising: an image Taking a component, capturing an image of the surrounding environment of the vehicle to generate an image; a computing module electrically connecting the image capturing component to detect at least one moving object of the image to generate a detecting signal and at least one tracking mark; And a warning module electrically connected to the computing module, and receiving the detection signal to determine that the moving object is in proximity to the vehicle generates a warning signal; at least one warning component is disposed on the vehicle and electrically connected to the warning mode The image output device is disposed inside the vehicle and electrically connected to the image sensing device, the image output device comprising an image mosaic module and a display module, the image The splicing module receives the image of the image sensing device to generate a ring image, and the display module is electrically connected to the image splicing module to display the ring image Mark the track. The vehicle interior view detection system of claim 1, wherein the display module comprises an electronic rearview mirror and a control module, the electronic rearview mirror being disposed inside the vehicle as a vehicle interior The control module is electrically connected to the electronic rearview mirror to switch the electronic rearview mirror to display the effect of the reflected light image itself, or to display the panoramic image and the tracking mark. The vehicle vision detection system of claim 2, wherein the image includes a visible area of the electronic mirror itself reflecting light, and the electronic rearview mirror itself is not reflected by the light image. A blind spot image. The aspect detection system for a vehicle according to claim 1, wherein the left end portion is located in a left rear view mirror of the vehicle, and the right end portion is located in a right rear view mirror of the vehicle, the rear end surface The location is located on the side of the rear bumper of the vehicle or on the side of the rear compartment of the vehicle. The aspect detection system for a vehicle according to claim 4, wherein the image includes a visible area provided by the left rear view mirror and the right rear view mirror, and the left rear view mirror and the right rear view The mirror failed to display one of the blind spots. The vehicle vision detection system of claim 1, further comprising a plurality of light-emitting elements, wherein the left-right light and the right-side light of the vehicle are electrically connected to the image sensing devices, The light-emitting element is actuated to activate the warning module of the left end portion or the right end portion. The invention relates to a scene detection system for a vehicle according to claim 1, wherein the warning module determines that the moving object is close to the vehicle when the vehicle is less than or equal to a distance. The image sensing device of the vehicle of claim 1, further comprising an image correction module electrically connected to the image capturing component, receiving the image and automatically compensating the image Brightness value, pixel quality, and contrast value. The method for detecting a scene of a vehicle according to claim 1, wherein the image module has a fixed image, and the computing module does not detect the fixed image. The invention relates to a landscape detection system for a vehicle according to claim 9, wherein the fixed image is a foreign matter contaminated by the image capturing component. The invention relates to a landscape detection system for a vehicle according to claim 1, wherein the image capturing component is a wide dynamic fisheye camera.