TWI555657B - Traffic collision warning system and devices - Google Patents

Description

Driving collision warning system and device

The invention relates to an integrated collision warning system and device for integrating optical and electrical.

The global traffic accidents caused by collisions have already caused people to pay considerable social costs. The laser ranging products on the market use the round-trip time of the point source to calculate the distance. This is a deficiency in the application of Wei'an surveillance. After all, from the point of view of point, line and surface, the cover of the surface light source can effectively meet the needs of Wei'an surveillance.

The fox is a cooperative group of animals. In order to survive and multiply, and to protect the overall best interests in a timely manner by the different orientations of the individual gaze space, the present invention proposes to follow the concept of regional cooperation and will assist and provide the vehicle driver. And the early warning function of the pedestrians, and then strive to protect the life of the time.

It is an object of the present invention to provide a collision warning system and apparatus that can improve at least one of the disadvantages of the prior art.

Therefore, the driving collision warning system of the present invention is suitable for being installed in a vehicle, comprising a computer, and at least one driving collision warning device connected to the computer. The computer has a graphical user interface for operating the vehicle collision warning device. The driving collision warning device includes an optical projection module that can be driven to project a square grid image a group, an optical camera module that can be driven to capture an image of the square mesh image and imaged on an obstacle, and output an image frame, a warning microphone, a light-emitting diode, and an image data processor a removable flash memory card capable of being recorded by the image data processor to record the image captured by the optical camera module, a USB interface, and an unlicensed wireless communication module connectable to the computer signal. And a power module for providing power. The image data processor has a threshold value for obstacle distance, shortest line spacing and alarm action, which can drive the optical projection module to randomly project the square grid image for a period of time, and then drive the optical photography mode. The group captures and outputs the image frame, and performs color comparison filtering on the image frame to preserve the square mesh information and perform binarization processing, and performs horizontal scanning and vertical scanning on the binarized image frame to Finding the shortest line spacing between the line and the line of the square grid image in the image, and estimating the actual distance from the obstacle according to the threshold value and finding the shortest line spacing, and in the actual When the distance is less than the obstacle distance of the threshold, the warning loudspeaker and/or the LED is driven to generate a corresponding alarm action.

Therefore, the driving collision warning device of the present invention is suitable for being mounted on a vehicle, and comprises an optical projection module that can be driven to project a square grid image, and an image that can be driven to capture the square grid image and imaged in an obstacle. An optical imaging module for outputting an image, an alerting loudspeaker, a light emitting diode, an image data processor, and an optical imaging module capable of being recorded by the image data processor The image display has a removable flash memory card, a USB interface, a license-free wireless communication module connectable to the computer signal, and a power module for providing power. The image data processor has a threshold value for obstacle distance, shortest line spacing and alarm action, which can drive the optical projection module to randomly project the square grid image for a period of time, and then drive the optical camera. The image module captures and outputs the image frame, and performs color comparison filtering on the image frame to preserve the square mesh information and perform binarization processing, and performs horizontal scanning and vertical scanning on the binarized image frame. , to find the shortest line spacing between the line and the line of the square grid image in the image, and estimate the actual distance from the obstacle according to the threshold value and the shortest line distance found, and When the actual distance is less than the obstacle distance of the threshold value, the warning loudspeaker and/or the LED is driven to generate a corresponding alarm action.

Through the close cooperation of optical projection, optical photography and image data processing, the line distance between the line and the line of the image formed on the obstacle image can be projected according to the square grid image to determine the change of the spatial distance, and then according to the preset preset by the user. The threshold value is used to issue relevant sound and/or light source warnings, which can be pre-alarmed before a collision occurs, and the protected vehicle can be made safer through the regional cooperation of multiple collision warning devices installed around the vehicle.

3‧‧‧Truck collision warning device

31‧‧‧Image data processor

311‧‧‧RAM

312‧‧‧Flash memory

32‧‧‧Optical projection module

320‧‧‧ square grid image

33‧‧‧ Optical Photography Module

34‧‧‧Can be exchanged flash memory card

35‧‧‧Power Module

36‧‧‧Warning loudspeakers

37‧‧‧Lighting diode

38‧‧‧USB interface

39‧‧‧Unlicensed wireless communication module

4‧‧‧ computer

40‧‧‧ graphical user interface

401‧‧‧ Instant image window

402‧‧‧Setting the viewing threshold window

900‧‧‧Car

1 is a system architecture diagram of a driving collision early warning device of an embodiment of the driving collision early warning system of the present invention; FIG. 2 is a square network of an optical projection module of the driving collision warning device of the embodiment and containing the identification code E; a schematic diagram of the grid, and illustrating that the square grid projection is imaged from an obstacle to a distance, and changes from a short distance to a long distance; FIG. 3 is an image data processor 1 of the driving collision warning device of the embodiment performs distance measurement. The program diagram proposed by the cum alarm; FIG. 4 is a graphical user interface of a computer of the embodiment; FIG. 5 is a schematic diagram of the embodiment when six driving collision warning devices are arranged around a car. The figure shows the warning range covered by each driving collision warning device; and FIG. 6 is a schematic diagram of the embodiment for the collision warning.

Referring to Figures 1, 2, and 3, an embodiment of the driving collision warning system of the present invention is suitable for installation on a vehicle. In the present embodiment, the automobile 900 is taken as an example. The driving collision warning system includes a plurality of driving collision warning devices 3 disposed at intervals of the automobile 900, and a computer 4 connected to the driving collision warning device 3.

The computer 4 can be connected to the driving collision warning device 3 via a USB interface or a wireless communication module signal, and has a graphical user interface 40 through which the system can be set and viewed. The instant image returned by the collision warning device 3 can be turned off via the graphical user interface 40 to disable the abnormal collision warning device 3. The graphical user interface 40 has an instant image window 401 for displaying the backhaul instant image of each driving collision warning device 3, a set viewing threshold window 402 for setting the threshold value, and a display for each driving collision warning device 3 The calculation result window of the measured distance, and an information window of each driving collision warning device 3 for inputting and setting the vehicle information and installation of the driving collision warning system of the present invention. The setting viewing threshold window 402 can be used to set different distance alarm actions, which can be sound or flash.

Each of the driving collision warning devices 3 includes an image data processor 31, an optical projection module 32 respectively connected to the image data processor 31, an optical photography module 33, and a removable flash memory card 34. A warning microphone 36, a light-emitting diode 37, a USB interface 38 and an unlicensed wireless communication module 39, and a power module 35 for supplying power required for the operation of the aforementioned components.

The optical projection module 32 can randomly project a square grid image 320 containing the identification code E for a period of time to reduce the probability of interference with the optical projection module 32 of the other collision warning device 3, the square grid image 320 The image will be imaged from small to large as the distance from the obstacle being projected is from near to far, and the identification code E is used to identify the source of the square grid image 320. When the obstacle distance is relatively close, the imaging image produced by the close-range imaging is small, and the shortest line spacing between the line and the line of the image is small. When the obstacle distance is farther and farther, the imaging image generated by the long-distance imaging is generated. The larger the line, the shorter the line spacing between the line and the line, that is, the shortest line spacing of the image will be larger as the distance of the obstacle is further.

The optical imaging module 33 can capture the image of the image of the image of the obstacle projected by the square grid image 320 of the optical projection module 32. The USB interface 38 and the license-free wireless communication module 39 can be connected to the computer 4 or the mobile device.

The image data processor 31 includes a RAM 311 and a flash memory 312 that randomly triggers the optical projection module 32 to project the square grid image 320 containing the identification code E for a period of time. After the image is captured by the optical imaging module 33, the triggering of the optical projection module 32 is ended. The image data processor 31 performs color comparison filtering on the image image, and aims to compare image pixel pixels (pixels) before and during projection to filter out square grid information and perform binarization processing to form white black. An image of the lines. Then, the image data processor 31 performs horizontal scanning and vertical scanning on the binarized image frame, that is, the image data processor 31 first checks black from left to right for the image frame (R=0, G). =0, B=0) the vertical line formed by the pixels and find the shortest line spacing between the lines, then check the horizontal lines composed of black pixels from top to bottom for the image picture and find the line and line The shortest line spacing, in other words, the shortest line spacing will be scanned horizontally and vertically And obtaining, then comparing the shortest line spacing with a preset threshold value to estimate the actual distance between the obstacle and triggering the relevant alarm corresponding to the actual distance, and sending an alarm signal to the computer 4 .

When the user wants to set the threshold value of the image data processor 31 of each driving collision warning device 3, the USB interface 38 signal of the driving collision warning device 3 is connected to the computer 4, and is used in each driving collision warning device. The optical projection module 32 and the optical imaging module 33 are arranged with obstacles in front of the lens, and the distance between the obstacles is input to the graphical user interface 40 of the computer 4, and an alarm action is set. Then, the image data processor 31 of each driving collision warning device 3 triggers the optical projection module 32 to emit the square mesh image 320 for the obstacle, and the square image is captured by the optical imaging module 33. 320 projects an image image of the imaged image of the obstacle. Then, the image data processor 31 ends the triggering of the optical projection module 32, and performs color comparison filtering on the image captured by the optical imaging module 33 to preserve the square grid information and perform binarization. Processing, and then performing horizontal scanning and vertical scanning on the processed image frame to find the shortest line spacing between the lines. Then, the computer 4 stores the shortest line distance measured by each driving collision warning device 3, the corresponding input distance information and the set alarm action, and the image data processor stored in the corresponding driving collision warning device 3 In the flash memory 312 of the 31, the threshold value of each of the traffic collision warning devices 3 is established, and these threshold values are used as a model for determining the distance and the alarm for the preceding collision warning device 3.

In addition to receiving 12 volts for the vehicle or 5 volts for the USB interface, the power module 35 also has its own battery to ensure stable power supply, and can be used as a portable product. Once the vehicle power supply is 12 volts or the USB interface 5 volt power supply is received, the entire collision warning device 3 will be activated immediately, and the functions of recording images, measuring distances and presenting alarms are repeatedly performed repeatedly.

Referring to Figures 1 and 5, when the driving collision warning system of the present invention is used, since the visibility of each driving collision warning device 3 is limited, in order to achieve all-round safety protection, six driving collision warning devices are arranged around the automobile 900. 3, and the driving collision warning device 3 is connected to the computer 4 to play the following roles respectively: avant-garde: the collision collision warning device 3 disposed directly in front of the passenger compartment of the automobile 900 is used to record and detect the automobile An obstacle in front of the 900; a right avant-garde: the traffic collision warning device 3 disposed at the right front of the car 900 is used to record and detect an obstacle in front of the right side of the car 900 to compensate for the driver's right front blind spot and Preventing the occurrence of the collision; the left avant-garde: the driving collision warning device 3 disposed at the left front of the automobile 900 is used for recording and detecting the obstacle on the left front side of the automobile 900 to compensate for the driver's left front visual blind spot and preventing rubbing Collision occurs; right guard: the collision collision warning device 3 disposed on the right rear view mirror of the car 900 is used to record and detect obstacles on the right rear side of the car 900 to detect the right side Potential threat; Zuowei: The collision collision warning device 3 installed in the left rearview mirror of the car 900 is used to record and detect obstacles on the left side of the left side of the car 900 to detect potential threats on the left side; guard: setting The traffic collision warning device 3 directly behind the car 900 is used to record and detect obstacles directly behind the car 900 to record and detect the crisis from the rear. When the computer 4 receives the alarm signal of any of the above-described driving collision warning devices 3, the instant image captured by the driving collision warning device 3 will be displayed through the graphical user interface 40. Obviously, these driving collision warning devices 3 can accomplish the mission of "cooperating to make it safer!"

Referring to Figures 1, 5 and 6, an example of the operation of the driving collision warning system of the present invention is as follows. The red car equipped with the driving collision warning system of the present invention is driven on the highway at a speed of 100 kilometers per hour and at a safe distance from the black car in front. x=50 meters, but the white car behind the red car does not maintain a safe distance. The distance between the red car and the white car is y Ruler, and y<x. When the "chasing warning" function of Fig. 4 is enabled, the computer 4 will play the voice to remind the driver of the speed limit of 100 km according to the distance information measured by the driving collision warning device 3 installed in front of the red car and serving as the "avant-garde" character. At the same time, the computer 4 also collects the distance information measured by the driving collision warning device 3 installed in the rear of the red car as a "defender" character. Since y<x, the computer 4 will request the "guard" to drive the vehicle. The warning loudspeaker 36 of the collision warning device 3 and the light-emitting diode 37 operate to alert the white car to decelerate.

If the collision occurs, it is very important to save the video evidence. Therefore, when the image data processor 31 detects that the distance from the obstacle is less than a specific value through the optical projection module 32 and the optical imaging module 33, for example, several centimeters, it will stop. The image recording and power supply of the flash memory card 34 can be exchanged, and the warning microphone 36 and the light-emitting diode 37 are continuously triggered until the distance is longer than the specific value and the collision crisis is released. The image recording and power supply of the flash memory card 34 can be exchanged. In addition, referring to the design concept of the black box, the replaceable flash memory card 34 is housed in a fireproof and waterproof metal case.

In summary, through the close cooperation of optical projection, optical photography and image data processing, each driving collision warning device 3 can determine the spatial distance according to the line spacing of the image of the image projected by the square grid image 320 on the obstacle. The change, and then the sound and/or light source alarm is issued according to the preset threshold value of the user, the alarm can be pre-alarmed before the collision occurs, and the regionality of the plurality of driving collision warning devices 3 installed around the automobile 900 can be adopted. Cooperation makes the protected car 900 more secure. In addition, each of the driving collision warning devices 3 also includes the USB interface 38 and the license-free wireless communication module 39, so that the user can perform system setting and obtain instant access through the graphical user interface 40 of the computer 4 (real- Time) image, and the power module of each driving collision warning device 3 is also provided with a battery, which can increase its own mobility.

3‧‧‧Truck collision warning device

31‧‧‧Image data processor

311‧‧‧RAM

312‧‧‧Flash memory

32‧‧‧Optical projection module

33‧‧‧ Optical Photography Module

34‧‧‧Can be exchanged flash memory card

35‧‧‧Power Module

36‧‧‧Warning loudspeakers

37‧‧‧Lighting diode

38‧‧‧USB interface

39‧‧‧Unlicensed wireless communication module

Claims (14)

A driving collision warning system, which is suitable for being installed in a vehicle, comprising a computer, and at least one driving collision warning device connected to the computer, the computer having a graphical user interface for operating and controlling the collision warning device. The driving collision warning device comprises: an optical projection module, which can be driven to project a square grid image; and an optical photography module, which can be driven to capture the square grid image and image the imaging image of an obstacle. And outputting an image frame; a warning loudspeaker; a light-emitting diode; an image data processor having a built-in threshold value for obstacle distance, shortest line spacing and alarm action, which can drive the optical projection module The square grid image is randomly projected for a period of time, and then the optical photography module is driven to capture and output the image frame, and color comparison filtering is performed on the image frame to preserve the square grid information and perform binarization processing. And performing horizontal scanning and vertical scanning on the binarized image frame to find out The shortest line spacing between the line and the line of the square grid image in the figure, and the actual distance from the obstacle can be estimated according to the threshold value and the shortest line distance found, and the actual distance is less than the actual distance When the threshold value of the obstacle is greater than the threshold distance, the warning loudspeaker and/or the LED is driven to generate a corresponding alarm action; a removable flash memory card can be driven by the image data processor to record the optical photography mode The image captured by the group; a USB interface and a license-free wireless communication module connectable to the computer signal; And a power module for providing power. The driving collision warning system of claim 1, wherein the square grid image contains an identification code for identifying the source. The driving collision warning system of claim 1, wherein the image data processor drives the optical projection module to project the square mesh image for an obstacle at a specific distance, and then drives the optical photography module to capture The square grid image is projected onto the imaging image of the obstacle to output an image frame, and color matching filtering is performed on the image image to preserve the square mesh information and perform binarization processing, and after binarization processing Performing a horizontal scan and a vertical scan to find the shortest line spacing between the lines of the square grid image in the image, the graphical user interface being operable to target the particular obstacle Setting a distance information and an alarm action setting corresponding to the distance information, and storing the shortest line distance, the distance information and the alarm action setting in a flash memory of the image data processor as the Threshold value. The driving collision warning system of claim 3, wherein the graphical user interface of the computer has an instant image window for instantly displaying an image of the image transmitted by the driving collision warning device. The driving collision warning system of claim 4, wherein the graphical user interface of the computer further has a setting viewing threshold window for setting the threshold value, and the threshold value is stored in the image data processing In the flash memory of the device. The driving collision warning system according to claim 1, wherein the power module of the driving collision warning device is provided with a battery, and can be electrically connected to receive a 12 volt or USB interface for 5 volts. The driving collision warning device can activate the function of recording images, measuring distances and providing alarms when the power module receives power supply of 12 volts or 5 volts of USB interface. The driving collision warning system of claim 1, wherein the image data processor of the driving collision warning device stops the removable flash memory card when determining that the distance from the obstacle is less than a specific value. Image recording and power supply, and continuously triggering the warning loudspeaker and the LED to perform an alarm until the distance from the obstacle is greater than the specific value, and then recovering the image recording and power of the removable flash memory card supply. The driving collision warning system according to any one of claims 1 to 7, comprising a plurality of driving collision warning devices distributed around the vehicle and connected to the computer. The driving collision warning system of claim 8, wherein the obstacle is a car, wherein the computer can receive the distance between the vehicle and the preceding car measured by the driving collision warning device installed on the front side of the vehicle, and output the voice. To remind the driver of the vehicle of a safe driving speed, and the distance between the vehicle and the rear vehicle can be measured by the driving collision warning device installed on the rear side of the vehicle, the distance between the vehicle and the rear vehicle is smaller than the vehicle and When the distance of the front car is at least, the warning loudspeaker and/or the LED that drives the driving collision warning device installed on the rear side of the vehicle generates an alarm action for alerting the rear car to decelerate to achieve the collision warning function. A driving collision warning device suitable for being mounted on a vehicle, comprising: an optical projection module capable of being driven to project a square grid image; and an optical photography module capable of being driven to capture the square grid image projection imaging An image of an obstacle, and an image of the image; a warning loudspeaker; a light-emitting diode; an image data processor having a built-in threshold value for obstacle distance, shortest line spacing, and alarm action, which can drive the optical projection module to randomly project the square mesh image for a period of time And driving the optical photography module to capture and output the image frame, and performing color comparison filtering on the image frame to preserve the square mesh information and performing binarization processing, and performing the binarized image frame Horizontal scanning and vertical scanning to find the shortest line spacing between the line and the line of the square grid image in the image, and can estimate the obstacle based on the threshold value and the shortest line spacing The actual distance, and when the actual distance is less than the obstacle distance of the threshold value, driving the warning loudspeaker and/or the LED to generate a corresponding alarm action; a removable flash memory card can be The image data processor drives the image captured by the optical camera module; a USB interface and a license-free wireless communication module are connectable to the computer signal; and a power supply Module to provide power. The driving collision warning device of claim 10, wherein the square grid image contains an identification code for identifying the source. The driving collision warning device according to claim 10, which can receive a distance information set by a computer for a specific distance of an obstacle, and an alarm action setting corresponding to the distance information, wherein the image data processor includes a flash In the memory, the image data processor drives the optical projection module to project the square mesh image on the obstacle at the specific distance, and then drives the optical photography module to capture the square mesh image and project the image on the obstacle. Imaging An image frame is outputted, and color comparison filtering is performed on the image frame to preserve square mesh information and perform binarization processing, and horizontal scanning and vertical scanning are performed on the binarized image image to find out The shortest line spacing between the line and the line of the square grid image in the image, and the minimum line spacing, the distance information output by the computer and the alarm action setting are stored in the flash memory as The threshold value. The driving collision warning device according to claim 10, wherein the power module has a battery and can be electrically connected to receive a 12 volt or USB interface 5 volt power supply, and the driving collision warning device is disposed in the power module. Once the vehicle is powered by 12 volts or 5 volts from the USB interface, the ability to record images, measure distances, and provide alarms is activated. The driving collision warning device of claim 10, wherein the image data processor stops image recording and power supply of the removable flash memory card when determining that the distance from the obstacle is less than a specific value, And continuously triggering the warning loudspeaker and the LED to perform an alarm until the distance from the obstacle is greater than the specific value, and then recovering the image record and the power supply of the removable flash memory card.