TWI501889B - Alarm device for pointing out dangers during driving and method for the same - Google Patents

Description

Danger warning device and method thereof during driving

The present invention relates to a warning method for indicating danger, and more particularly to an alarm device for indicating danger in driving and a method thereof.

The cause of traffic accidents is often the negligence of the driver. Therefore, you need to maintain a high degree of concentration when driving, in order to respond immediately in the event of an emergency. Here, the emergency situation may be, for example, a situation in which the preceding vehicle is suddenly braking or suddenly turning, the adjacent vehicle is changing lanes to the front, or the pedestrian suddenly crossing the road. It can be seen that when driving on the road, it is necessary not only to pay attention to the road conditions and signs, but also to guard against sudden risk factors.

Moreover, during the running of the vehicle, the road conditions change from time to time, and the driver is inevitably overlooked. Therefore, in the related research on traffic accident prevention, there is a visual identification method to detect the relative distance between the auto-vehicle and other vehicles, so that when the distance is too close, the driver should be kept at an appropriate distance.

However, this kind of visual identification method requires a complicated calibration procedure for the camera in advance, and the relative distance alone is used as a basis for judging, and the factors such as the actual position, the traveling direction and the traveling speed of the other vehicle are not considered together.

In view of the above problems, the present invention provides an alarm device for indicating danger in driving and a method thereof, thereby solving the problem of the prior art to visually recognize the relative distance between the opponent vehicle and the self-propelled vehicle.

At least one embodiment of the present invention provides a method for alerting a danger in driving, comprising: analyzing an instant image captured on a front outer space of an auto vehicle; and identifying a moving object based on the live image when the moving object is recognized in the live image The direction of movement; comparing the direction of movement of the moving object with the direction of travel of the self-propelled vehicle; and indicating the moving object in the live image when it is predicted that the moving object will enter or deviate from the path of travel of the self-propelled vehicle.

At least one embodiment of the present invention provides an alarm device for indicating danger in driving, which is installed in a self-propelled vehicle, and includes a camera module, a display module, and a processing module. The photography module captures an instant image of the front exterior space of the self-propelled vehicle. The display module displays an instant image. The processing module electrically connects the photographic module and the display module, and performs the alarm method of the foregoing embodiment.

The warning method for indicating danger in driving according to the present invention is applied to an alarm device, and can be promptly given to the driver when a dangerous situation occurs.

Please refer to FIG. 1 and FIG. 2 for an alarm device 100 for indicating danger during driving according to a first embodiment of the present invention. The alarm device 100 includes a camera module 110, a display module 120, and a processing module 130. The alarm device 100 is configured to be disposed at an appropriate position in the self-propelled vehicle 200, for example, a front windshield 210, a rear view mirror 220, a front seat driving platform, and the like to facilitate photographing a position in front of the self-propelled vehicle 200.

As shown in FIG. 2, the processing module 130 is electrically connected to the camera module 110 and Module 120 is shown. The photography module 110 is used to capture an instant image of the front outer space of the self-propelled vehicle 200. The display module 120 is configured to display an instant image. The processing module 130 is configured to perform the warning method for indicating danger in driving according to the first embodiment of the present invention, thereby detecting an emergency situation in which danger may occur in front to prompt the driver.

Referring to "Fig. 3", the warning method for the danger of driving during the driving performed by the alarm device 100 includes the following steps.

After the alarm device 100 is turned on, the processing module 130 continuously drives the camera module 110 to capture the live image 400. The instant image 400 can be immediately transmitted from the processing module 130 to the display module 120, so that the instant image 400 can be displayed by the display module 120 in real time; the processing module 130 can also execute other applications, such as a navigation program. The driving display module 120 displays the execution screen of the navigation program, and processes the instant image 400 in the background, and switches the screen displayed by the display module 120 to the instant image 400 and attaches an alarm message when a dangerous emergency occurs. .

The processing module 130 continuously analyzes the live image 400 captured on the front outer space of the self-propelled vehicle 200, as shown in step S310. In this step, the live image 400 captured by the camera module 110 can be a video file (moving image) or a plurality of consecutively taken photos (still images).

The processing module 130 continuously analyzes the real-time image 400. When the processing module 130 recognizes the moving object 410 in the real-time image 400, the processing module 130 further analyzes the displacement and the size ratio change of the moving object 410 in the real-time image 400, thereby The live image 400 identifies the moving direction of the moving object 410 as shown in step S330.

That is to say, the moving image obtained by the photography module 110 or a plurality of consecutive images In the static image, the processing module 130 first distinguishes the static background image and the moving object 410. Then, according to the position of the moving object 410 in the instant image at different points in time, the motion trajectory of the moving object 410 in the instant image 400 can be calculated, and the size ratio change of the moving object 410 is further considered alternately, and the moving object 410 is determined relative to the moving object 410. The moving direction of the self-propelled vehicle 200. Moreover, the moving path of the moving object 410 after a plurality of future time points may be further predicted according to the motion trajectory and the size ratio change of the moving object 410 in the plurality of historical recording time points (such as the expected moving path 440 shown in FIG. 4). .

Next, the processing module 130 compares the moving direction of the moving object 410 with the traveling direction of the self-propelled vehicle 200, as shown in step S350.

According to the comparison result obtained in step S350, when the moving object 410 is a running vehicle, the processing module 130 may determine that the vehicle may switch lanes or turn according to the moving direction thereof; when the moving object 410 is a pedestrian, the processing module 130 The pedestrian can be judged to cross the road according to the direction of its movement.

When the processing module 130 predicts that the moving object 410 will enter or deviate from the traveling path of the self-propelled vehicle 200, the moving object 410 in the live image 400 is marked, as shown in step S370. In this step, based on the result of the comparison in step S330, the processing module 130 can predict whether the moving object 410 will enter or deviate from the traveling path of the self-propelled vehicle 200. The processing module 130 displays the marked instant image 400 by driving the display module 120 to alert the driver to the risk of the front or adjacent vehicle or the pedestrians who want to cross the road. If the original display module 120 displays an execution screen of an application such as a navigation module, the processing module 130 first switches the application. For the background mode, the content displayed by the display module 120 is switched to the live image 400. In another specific application, the processing module 130 generates a sub-picture covering a corner of the execution screen of the application, and displays the live image 400, that is, the marked moving object 410, on the sub-picture. However, the present invention is not limited to displaying the alarmed live image 400, and may be combined with other alarm modes such as voice or sound effects or vibration.

In at least one specific application example, step S310 may further include: the processing module 130 defines image analysis by using a partial region of the live image. In this step, since the computing capability of the alarm device 100 may be limited, the range of image analysis to be performed may be limited to a part of the live image 400 (ie, the limited area 420 shown in FIG. 4), and the load of the calculation may be reduced. The defined area 420 can be located in the center of the live image 400 to cover spatial images that are more closely related to the automated vehicle 200. The defined area 420 is not limited to a rectangle or a square. In the actual state, the limited area 420 may be a ladder type with a top edge smaller than the bottom edge to match the actual display state of the actual lane in the instant image 400 by further shrinking.

In at least one specific application example, step S350 may include: the processing module 130 discriminates whether an angle between a moving direction of the moving object 410 and a traveling direction of the self-propelled vehicle 200 is greater than a predetermined angle. In this step, in order to recognize whether the moving vehicle will turn or change lanes or whether the pedestrian will cross the lane, the processing module 130 according to whether the moving direction of the moving vehicle or the traveling direction of the pedestrian and the traveling direction of the self-propelled vehicle 200 is greater than a predetermined angle. Determine if the auto vehicle is likely to collide with a moving vehicle or pedestrian.

Since the instant image 400 obtained by photography is a perspective view of the perspective (the same object) It is larger when the distance is near, and smaller when the distance is farther). Even if the adjacent vehicle actually advances in parallel with the self-propelled vehicle 200, the moving path presented by the adjacent lane vehicle in the live image 400 will still be at an angle to the direction of travel of the self-propelled vehicle 200. Therefore, in order to avoid the determination of the moving direction due to the perspective effect exhibited by the image, a predetermined angle is used as the threshold for the purpose of judging. In other words, if the defined area 420 is set to have a top side smaller than the bottom side, it is determined whether the expected moving path 440 of the moving object 410 will pass through the defined area 420 of the ladder after a certain time point in the future.

Please refer to FIG. 5, which is a warning method for indicating danger in driving according to a second embodiment of the present invention.

In this second embodiment, the following steps are also included before step S370.

The processing module 130 identifies the own lane 430 that the self-propelled vehicle 200 travels and the at least one adjacent lane 431 that is adjacent to the own lane 430 according to the instant image 400, as shown in step S361. In step S361, the processing module 130 can recognize the marking of the road in the instant image 400, thereby identifying the own lane 430 and the adjacent lane 431.

When the moving object 410 spans between the own lane 430 and the adjacent lane 431, the processing module 130 indicates the moving object 410 in the live image 400 as shown in step S362. In step S362, the processing module 130 confirms that the moving object 410 will move laterally by discriminating the position of the moving object 410. Thereby, with respect to the direction of travel in step S350 as a basis for determining whether the moving object 410 will threaten the self-propelled vehicle 200, this step is considered in terms of position.

Referring to FIG. 6 , the driving of the third embodiment of the present invention is disclosed. A dangerous alert method. In the third embodiment, the following steps are further included before step S370.

The processing module 130 recognizes the moving object 410, as shown in step S363. The processing module first obtains the aspect ratio of the moving object 410 according to the image contour of the moving object 410, and then identifies the moving object 410 according to the aspect ratio. By moving the aspect ratio of the back image of the object 410, the moving object 410 can be quickly separated into a vehicle such as a car or a locomotive or a pedestrian.

If the moving object 410 is a vehicle, the processing module 130 further identifies the indicator number of the vehicle, such as a directional light, a brake light, etc.; when the processing module 130 detects the indicator number of the vehicle, it indicates the movement in the instant image 400. The object 410 is shown in step S364. The processing module 130 can also determine that the moving object 410 is about to turn or emergency braking, and prompt the driver by identifying the direction of the moving object and the position of the moving object 410 as described above in steps S350 and S362.

Referring to Fig. 7, there is shown a warning method for indicating danger in driving according to the fourth embodiment of the present invention. In the fourth embodiment, step S370 may further include step S380: the processing module 130 in the instant image 400 indicates the expected moving path 440 of the moving object 410 in a line segment.

In this step, according to the moving direction of the moving object 410 identified in the foregoing step S330, the processing module 130 marks the expected moving path 440 in the instant image 400, so that the driver can clearly understand the next action of the preceding vehicle.

In some specific applications, in addition to the foregoing indicating the expected moving path 440 of the moving object in a line segment, the processing module 130 may also indicate the moving object 410 by an arrow to The wire frame encircles the moving object 410 or fades the image other than the moving object 410 to highlight the moving object 410 so that the driver can easily notice the moving object 410 in the live image 400. As shown in FIG. 8A and FIG. 8B, FIG. 8A is a schematic diagram showing a moving object 410 in the live image 400 with an arrow 450 according to a fourth embodiment of the present invention, and FIG. 8B is a schematic view. In the fourth embodiment of the invention, a wire frame 460 is used to circle a moving object 410 in the live image 400.

Here, the marked line segment, arrow 450 or wire frame 460 can also be presented in flash image in the instant image 400. The blinking time can be adjusted corresponding to the moving direction of the moving object 410 and the speed. For example, the blinking speed when the moving object 410 approaches the auto-vehicle 200 may be faster than the flickering speed when the moving object 410 is away from the auto-vehicle 200. Similarly, the blinking speed may also increase as the moving speed of the moving object 410 increases. On the other hand, in addition to being marked on the live image 400, the processing module 130 can also assess the danger level, such as according to the moving direction and speed of the moving object 410, to evaluate whether the driver is alerted with other warning messages (such as a warning sound). For example, when the moving object 410 approaches or its moving speed exceeds a preset value, the processing module 130 outputs a warning sound in addition to being marked on the live image 400.

Referring to Fig. 9, there is shown a warning method for indicating danger in driving according to the fifth embodiment of the present invention.

In the fifth embodiment, step S370 may further include step S390: the processing module 130 calculates the direction and speed of the traveling of the self-propelled vehicle 200 according to the scene moving direction and the scene moving speed of the edge of the instant image 400.

In this step, as the auto-vehicle 200 travels, the edge of the instant image 400 The scenery (such as the top left or top right corner) will disappear. Therefore, the processing module 130 can inversely derive the moving direction and the moving speed of the self-propelled vehicle 200 through the moving direction and the moving speed of the scene in the instant image 400.

In at least one specific application example, the processing module 130 estimates the moving speed of the moving object 410 according to the moving distance of the moving object 410 relative to the static object or the scene in the instant image 400. Thereby, the processing module 130 can combine the moving speed of the reference auto-vehicle 200 with the moving speed of the moving object 410 to evaluate whether the moving object 410 is marked. For example, when the current moving object 410 is decelerating, if the automatic vehicle 200 has not decelerated, the moving object 410 is marked to prompt the driver. Conversely, if the self-propelled vehicle 200 is decelerated, the moving object 410 may not be marked.

Referring to FIG. 2, in at least one specific application example, the processing module 130 includes an image input unit 131, a processing unit 132, and an image output unit 133. The image input unit 131 is electrically connected to the camera module 110 to receive the live image 400. The processing unit 132 is electrically connected to the image input unit 131 to analyze the live image 400, and the marker object of the moving object 410 is attached to the instant image 400 (such as the expected moving path 440 shown in FIG. 4, or the outer frame is attached to the moving object 410). Or depict its outline) and output an instant image 400. The image output unit 133 is electrically connected to the display module 120 and the processing unit 132 to output the live image 400 received from the processing unit 132.

Fig. 10 is a circuit block diagram of an alarm device 100 for indicating danger in driving according to a sixth embodiment of the present invention.

Refer to "Figure 2" and "Figure 10" for the merger. Alarm device 100 can drive It is realized by a vehicle electronic device such as an event data recorder (EDR) or a satellite navigator. Taking the satellite navigator as an example, the photography module 110 can be implemented by the camera 310. The display module 120 can be implemented by the display panel 320. The image input unit 131 can be implemented by the video decoder 331. The image output unit 133 can be implemented by the display controller 334. The processing unit 132 can be implemented by a central processing unit (CPU) 332 and a digital signal processing (DSP) 333.

Refer to "Figure 10". The digital signal processor 333 is connected to the camera 310 via the video decoder 331 to acquire and analyze the live image 400. The central processing unit 332 and the digital signal processor 333 are connected to each other. The central processor 332 performs a logical determination to indicate the moving object 410 as appropriate. The central processor 332 is coupled to the display panel 320 via the display controller 334 to present an instant image 400 of the mobile object 410, alerting the driver.

In at least one specific application example, the display module 120 can also be implemented by the video output port 321 . The image output unit 133 can also be implemented by the video encoder 335 to transmit the instant image 400 to the external device output.

As shown in FIG. 10, the alarm device 100 may further include components such as a memory 340, an input port 350, a global positioning system chip 360, and an antenna 370. Memory 340 is coupled to central processor 332 and digital signal processor 333 to aid in its operation. The input port 350 is provided for connecting an input device such as a button, a keyboard or a touch panel for the driver to operate the alarm device 100. Global Positioning System wafer 360 and antenna 370 are available for positioning the warp and weft coordinates of autogenous vehicle 200 to guide the driver in conjunction with the navigation system.

In at least one specific application, central processor 332 and digital signal processor 333 can be combined into a single chip implementation.

As described above, the alarm method for indicating danger in driving according to the present invention is applied to the alarm device 100, and can be promptly given to the driver when a dangerous situation occurs. Moreover, by performing image recognition on a specific area that defines the instant image 400, the image recognition execution efficiency can be improved. In addition, according to the estimation of the moving path of the moving object 410, it is easier for the driver to understand the dangerous situation and react quickly.

While the present invention has been described above in the foregoing embodiments, it is not intended to limit the invention, and the invention may be modified and modified without departing from the spirit and scope of the invention. The scope of patent protection shall be subject to the definition of the scope of the patent application attached to this specification.

100‧‧‧ alarm device

110‧‧‧Photography module

120‧‧‧ display module

130‧‧‧Processing module

131‧‧‧Image input unit

132‧‧‧Processing unit

133‧‧‧Image output unit

200‧‧‧Automobiles

210‧‧‧Front windshield

220‧‧‧ Rearview mirror

310‧‧‧ camera

320‧‧‧ display panel

321‧‧‧Video output埠

331‧‧•Video Decoder

332‧‧‧Central processor

333‧‧‧Digital Signal Processor

334‧‧‧Display controller

335‧‧‧Video Encoder

340‧‧‧ memory

350‧‧‧ Input埠

360‧‧‧Global Positioning System Chip

370‧‧‧Antenna

400‧‧‧ Instant video

410‧‧‧moving objects

411‧‧‧ indicator number

420‧‧‧Defined area

430‧‧‧Car lane

431‧‧‧ adjacent lane

440‧‧‧Expected moving path

450‧‧‧ arrow

460‧‧‧ wireframe

1 is a schematic view showing a state of use of an alarm device for indicating danger in driving according to a first embodiment of the present invention; and FIG. 2 is a block diagram showing an alarm device for indicating danger during driving according to the first embodiment of the present invention; FIG. 4 is a schematic diagram of a road instant image according to a first embodiment of the present invention; FIG. 5 is a driving diagram of a second embodiment of the present invention; FIG. 6 is a flowchart (3) of a method for alerting a danger in driving according to a third embodiment of the present invention; FIG. 7 is a driving diagram of a fourth embodiment of the present invention; Flowchart (4) for indicating a dangerous alarm method; FIG. 8A is a schematic diagram showing a moving object in an instant image by an arrow according to a fourth embodiment of the present invention; FIG. 8B is a wire frame according to a fourth embodiment of the present invention; 9 is a flow chart of a method for alerting a dangerous danger in driving according to a fifth embodiment of the present invention; and FIG. 10 is a schematic diagram of driving in a sixth embodiment of the present invention Dangerous alert Opposing a circuit block diagram.

Claims (9)

A method for alerting a danger in driving includes: analyzing an instant image captured on a front outer space of an auto-vehicle; and identifying a moving object in the live image, identifying the moving object based on the live image Moving direction; comparing a moving direction of the moving object with a traveling direction of the automatic vehicle; predicting that the moving object will enter or deviate from a traveling path of the automatic vehicle, indicating the moving object in the instant image; The segment indicates the expected moving path of the moving object. The method of claim 1, wherein analyzing the live image comprises: defining a partial region of the live image for image analysis. The alarm method of claim 1, wherein comparing the moving direction of the moving object with the traveling direction of the automatic vehicle includes: discriminating whether an angle between a moving direction of the moving object and a traveling direction of the automatic vehicle is greater than a predetermined angle . The method of claim 1, further comprising: identifying, according to the live image, a lane of the vehicle traveling with the at least one adjacent lane adjacent to the lane of the vehicle; and when the moving object spans The moving object in the instant image is marked between the lane of the vehicle and the at least one adjacent lane. The alert method as claimed in claim 1 further includes: Identifying the moving object; and if the moving object is a vehicle, marking the moving object in the live image when detecting the indicator number of the vehicle. The alarm method of claim 5, wherein the identifying the moving object comprises: obtaining an aspect ratio of the moving object according to an image contour of the moving object; and identifying the moving object according to the aspect ratio. The alarm method of claim 1, further comprising: calculating a direction and a speed of the self-propelled vehicle according to a moving direction of the scene and a moving speed of the scene. The alarm method of claim 1, wherein when the moving object is predicted to enter or deviate from the traveling path of the self-propelled vehicle, indicating that the moving object in the live image comprises: combining the moving speed of the self-propelled vehicle with The moving speed of the moving object to evaluate whether the moving object is marked. An alarm device for indicating danger in driving is installed in an automatic vehicle, comprising: a camera module for capturing an instant image of a front outer space of the auto vehicle; and a display module for displaying the instant image; And a processing module, electrically connecting the photographic module and the display module, and performing an alarm method according to any one of claim 1 to claim 8, wherein the processing module package The method includes: an image input unit electrically connected to the camera module to receive the instant image; a processing unit electrically connected to the image input unit, analyzing the instant image, and attaching a marker object of the moving object to the instant image And outputting the instant image; and an image output unit electrically connecting the display module and the processing unit to output the live image received from the processing unit.