TWM607656U - System for warning inner wheel difference of mobile vehicle - Google Patents

Abstract

The invention related to a system for warning an inner wheel difference of a mobile vehicle, which firstly obtaining a warning range of an inner wheel difference and a dead corner area in accordance with a turning angle of a mobile vehicle by a processing unit. Then, using a structured light depth image capturing module set on an outer rear view mirror of the mobile vehicle to capture a plurality of image messages from at least one object around the mobile vehicle for operating a corresponding vector information, thereby, obtaining a warning information corresponding to the object from a database according to the vector information, the warning range and the dead corner area and the warning information. Thus, preventing from the dead corner area being ignored.

Description

Warning system for wheel difference in mobile vehicles

This creation is related to a warning system, especially a warning system for the inner wheel difference of a mobile vehicle, which provides warning information more in line with visual blind spots.

As the most common mobile vehicle in daily life, a car is equipped with at least a left rear mirror, a right rear mirror, and a rear rear mirror to pass the left rear, right rear, and rear images of the vehicle. The reflection of the rear mirror is presented to the driver of the car, but the field of view that can be presented to the driver by these rear mirrors is limited, and because the rear mirror must use a convex lens in order to give the driver a wider field of view, but the convex lens The imaging is a reduced and upright virtual image, which will produce the illusion that the object is farther away when the object at a close distance is imaged through the convex lens, which will make it difficult for the driver to grasp the actual distance to the object. In addition, the car is also equipped with a car dashboard to display the operating conditions of the vehicle, such as: turning lights, handbrake lights, vehicle speed, mileage, and gasoline stock. Therefore, the driver needs to be reflected by the rearview mirror during driving. And the information displayed on the dashboard of the car to control the car.

Due to the limited field of view provided by the rearview mirror, when a car is driving on the road, the driver will not only feel the limited field of view and the error in the sense of distance, but it is also more likely to be mentally fatigued or other factors such as passers-by’s failure to abide by the law. The lives of drivers, passengers and pedestrians are all threatened. In order to improve safety, when airbags have been slightly insufficient, many safety detection equipment have been installed in the car when the car leaves the factory to actively detect objects approaching the car.

In the existing technology of actively detecting the surroundings of the car, there are already some safety warning function devices that allow real-time warning to the user, such as setting a signal transmitter and a signal receiver as a reversing radar. When reversing, when other objects are near the rear of the car, it will use The sound effect reminds the driver’s equipment, even a simulated screen or pinhole image. However, for drivers, there are still specific visual blind spots in the car, especially within the range of the inner wheel difference generated by the car when turning is an area that is likely to cause visual blind spots. The so-called inner wheel difference is the difference between the turning radius of the front inner wheel and the turning radius of the rear inner wheel when the car is turning. When observing the turning process of the car, it can be found that when the car is turning, the inner wheel is used as a fulcrum to move, and the passing areas of the front and rear wheels are actually different. Generally, a small car will have an inner wheel difference of about 0.6 meters, and the inner wheel difference of a large tourist bus and a large truck will exceed 1.5 meters, so accidents always appear in the visual blind area when cornering.

Although, in the prior art, there are also photographing equipment installed outside the car, and the image capture device is used to obtain the image and display it on the display device in the car for the driver's reference, but the image capture device can obtain a limited range of images, and And it needs to be fixed at the same position, so that the shooting range of the image capture cannot be changed with the angle of the car when turning, so there will still be some visual blind spots, and the image captured by the image capture device is flat Image, it is difficult for the driver to judge the distance to the object based on this image. At present, some manufacturers will add a reference line in the image as the basis for the driver to judge the distance. However, the driver can only know the approximate distance and cannot accurately determine whether the object is within the range of the inner wheel difference.

Based on the above-mentioned problems, this creation provides a warning system for the internal wheel difference of a mobile vehicle, which uses a structured light depth image capture module on an outer rear mirror and based on a visual blind area of the mobile vehicle and a The inner wheel difference warning distance is used for image capture to detect at least one object encountered during the turning of the mobile vehicle, so as to prevent the driver from ignoring the object passing through the blind spot area.

The main purpose of this creation is to provide a warning system for the internal wheel difference of a mobile vehicle by setting a structured light depth image capture module on an outer rear mirror and according to a visual blind area of the mobile vehicle Image capture is performed with an inner wheel difference warning distance to obtain corresponding vector information, and then a corresponding one of the warning information is further obtained, and then the warning information of the visual blind spot is displayed, thereby preventing the driver from ignoring objects passing through the visual blind spot area.

This creation discloses a warning system for the internal wheel difference of a mobile vehicle, which is applied to a mobile vehicle. The warning system includes a traveling state detection unit, a processing unit, a structured light depth image capture module, and a display The module, wherein the traveling state detection unit detects a movement state of the mobile vehicle, the processing unit is electrically connected to the traveling state detection unit, and the processing unit turns according to the movement state to obtain the mobile vehicle A turning angle and obtaining an inner wheel difference warning distance and a visual blind spot area according to the turning angle; the structured light depth image capturing module is electrically connected to the processing unit and arranged on the mobile vehicle corresponding to the visual blind spot area An external rearview mirror. The processing unit controls the structured light depth image capturing module to capture a plurality of image information of at least one object around the mobile vehicle according to the inner wheel difference warning distance and the visual blind spot area And send it to the processing unit. The processing unit calculates vector information of the object based on the image information. The processing unit generates a corresponding object based on the vector information compared to the warning distance of the inner wheel and the visual blind area. One of the warning information. This creation provides a warning system for the blind spot area to provide corresponding warning information to further avoid the blind spot area from being ignored during cornering, thus avoiding the driver from ignoring objects passing through the blind spot area.

This creation provides an embodiment that further includes a display module electrically connected to the processing unit. The display module includes a display unit and a sound effect unit. The processing unit controls the display module to output the object according to the warning information. A corresponding display image is sent to the display unit and the object is marked with a mark image, and the display module further drives the sound effect unit to output a corresponding warning signal according to the warning information.

This creation provides an embodiment in which the vector information is a movement information and a distance information corresponding to the object.

This creation provides an embodiment, wherein the traveling state detecting unit is an acceleration sensor or a gyroscope, the traveling state sensing unit generates a sensing result to the processing unit according to the moving state, and the processing unit according to the The sensing result obtains the turning angle.

This creation provides an embodiment, wherein the vehicle parameters include a turning radius of the mobile vehicle, a front and rear wheel base, a front wheel base, a rear wheel base, and the turning angle to calculate the inner wheel difference warning distance And the visual blind area, or further include a wheelbase of a tractor axle, a wheelbase of a tractor pin to an intermediate axle of a tractor, a distance between the centerline of the left and right outer rear wheels of the tractor, and a distance between a tractor pin and the rear wheel axle of the tractor distance.

This creation provides an embodiment, wherein the structured light depth image capturing module includes a structured light projection unit and a depth image capturing unit, wherein the structured light projection unit is provided with a laser light generator, a diffuser lens and a light spot Lens, the laser light generator generates a laser light through the diffuser lens through the spot lens to generate a structured light spot plane image to the object; and the depth image capturing unit is electrically connected to the processing unit and receives the The image information is sent to the processing unit, and the image information includes a deformed spot image reflected by the object according to the structured light spot plane image and at least one depth image corresponding to the object.

In order to have a further understanding and understanding of the characteristics of this creation and the effects achieved by your review committee, I would like to provide examples and supporting instructions. The explanation is as follows:

In view of the fact that the warning system of the inner wheel difference of the traditional mobile vehicle can not avoid the problem of side leakage, the author proposes a warning system of the inner wheel difference of the mobile vehicle to solve the visual blind area caused by the prior art. In the course of cornering, they are neglected, so that the driver ignores the problem of objects passing through the blind spot area.

In the following, we will further explain the characteristics and structure of the warning system for the internal wheel difference of a mobile vehicle disclosed in this creation:

First, please refer to Figure 1, which is a flowchart of an embodiment of the creation. As shown in the figure, the warning system of the inner wheel difference of the mobile vehicle of this creation is applied to the mobile vehicle. The step process of the warning system of this creation includes:

S1: Determine whether the traveling state of the mobile vehicle is straight;

S3: Receive the turning angle of the mobile vehicle to the processing unit;

S5: Obtain the inner wheel difference warning distance and the visual blind spot area;

S7: According to the inner wheel difference warning distance and the visual blind area, capture the image information of the objects around the moving vehicle;

S9: Calculate the vector information of the object based on the image information;

S11: The processing unit obtains warning information; and

S13: Display object and warning information.

Please also refer to Figure 2, which is a schematic diagram of the device according to an embodiment of the creation. As shown in the figure, the warning system 10 for the internal wheel difference of the mobile vehicle of the present creation includes a traveling state sensing unit 12, a processing unit 14, a structured light depth image capturing module 16, a database 18 and A display module 20, in which the processing unit 14 is positioned to control and process image data, so the traveling state sensing unit 12 is electrically connected to the processing unit 14, and the processing unit 14 is electrically connected to the structured light depth image capturing module 16 The database 18 and a display module 20. The structured light depth image capturing module 16 of this embodiment is arranged on a rear mirror MR. The structured light depth image capturing module 16 of this embodiment is embedded in The rear-view mirror MR is taken as an example, but the creation is not limited to this, and it can be additionally arranged outside the rear-view mirror MR or suspended on one side of the rear-view mirror MR. In addition, the processing unit 14 further communicates with the database 18, that is, the database 18 can be set remotely and connected via network communication. This embodiment uses the processing unit 14 to communicate with the database 18 as an example. In addition, the warning system 10 of the present invention further includes a power supply unit 30 which is electrically connected to and supplies power to the traveling state sensing unit 12, the processing unit 14, the structured light depth image capturing module 16 and the display module 20.

As shown in FIG. 3, the structured light depth image capturing module 16 is provided with a structured light projection unit 162 and a depth image capturing unit 164, wherein the structured light projection unit 162 is provided with a laser light generator 1622, a diffuser lens 1624 With a spot lens 1626, the laser light generator 1622 generates a laser light L1 through the diffuser lens 1624 to form a diffused light L2, and the diffused light L2 passes through the spot lens 1626 to generate a structured light spot plane image SF to the object O; In Figures 2 and 3, the depth image capturing unit 164 is electrically connected to the processing unit 14 to capture a plurality of image messages M to the processing unit 14. The image messages M include the object according to the structured light spot plane image SF Reflect a deformed spot image and at least a depth image corresponding to the object. As shown in FIGS. 3 and 4, the structured light depth image capturing module 16 is arranged on the rear mirror MR, especially embedded in the rear mirror MR, wherein the structured light depth image capturing module 16 The detection range is the right-view mirror range RA on the right side of the mobile vehicle V and the right-view mirror range LA on the left side of the mobile vehicle V. The right-view mirror range RA and the right-view mirror range LA are equivalent to 160 degrees, but this creation It is not limited to this, as long as the angle range covers the blind spot area.

In step S1, as shown in FIG. 5A, the traveling state sensing unit 12 detects and determines the traveling state of the mobile vehicle V during the traveling process. The mobile vehicle V of this embodiment passes the intersection corner CO and turns, so the traveling state sensing unit 12 determines that the current traveling state of the mobile vehicle V is turning. The traveling state sensing unit 12 may be a gyroscope, so the traveling state is sensed. The measuring unit 12 judges whether the moving vehicle V is traveling straight or turning through the three-axis foot speed, and when the moving state sensing unit 12 detects the turning on of the direction light of the moving vehicle V, it senses the moving state of the moving vehicle V , It can be judged that the mobile vehicle V is turning by turning on the left or right turn signal. On the contrary, when the direction lights are not turned on, it is judged that the mobile vehicle V is going straight. When the traveling state sensing unit 12 is installed on the tire of the mobile vehicle V, the traveling state sensing unit 12 can determine the traveling state of the mobile vehicle V according to the rotation angle of the tire of the mobile vehicle V. When the mobile vehicle V is traveling straight, step S1 is repeated.

In step S3, the traveling state sensing unit 12 further detects the turning angle of the mobile vehicle V. When the traveling state sensing unit 12 is a gyroscope, the turning angle A( As shown in Figure 5A). The turning angle can also be obtained by sensors installed on tires or axles. The processing unit 14 obtains the turning angle A.

In step S5, as shown in FIG. 5B, the processing unit 14 obtains the inner wheel difference warning distance according to the turning angle of the mobile vehicle V, wherein the processing unit 14 is based on the outer wheel difference WD1, the inner wheel difference WD2, and The front and rear wheelbase SD and the left and right wheelbase WD are used to calculate the inner wheel difference warning distance. In an embodiment of this creation, when the mobile vehicle V is a non-towed vehicle, the processing unit 14 can calculate the inner wheel difference warning distance W of the mobile vehicle V through a formula, which is as follows:

Among them, W is the inner wheel difference warning distance, R is the turning radius of the mobile vehicle V, L is the wheelbase of the front and rear wheels of the mobile vehicle (ie the distance from the front wheel axis C1 to the rear wheel axis C2), and d ₁ is The front wheel track, d ₂ is the rear wheel track, and θ is the turning angle. All other parameters except θ can be known by the manufacturer or supplier of the mobile vehicle V. The processing unit 14 can also add a constant to increase the inner wheel The difference warning distance W is used to give the driver more reaction time.

In an embodiment of this creation, when the mobile vehicle V is a towed vehicle, the processing unit 14 can also calculate the inner wheel difference warning distance W of the mobile vehicle V through a formula, which is as follows:

Among them, L is the wheelbase of the tractor axle, L'is the wheelbase of the tractor pin to the intermediate axle of the _{tractor, d 2} is the distance between the centerline of the left and right outer rear wheels of the tractor, and K is the distance between the tractor pin and the rear axle of the tractor .

In particular, the processing unit 14 can also select other formulas that can calculate the inner wheel difference from the turning angle of the mobile vehicle V to obtain the inner wheel difference warning distance W.

At the same time, the processing unit 14 obtains the visual blind spot area DC of the mobile vehicle V (as shown in FIG. 5A) by using the inner wheel difference warning distance.

In step S7, referring to FIG. 2 and FIG. 3 again, the structured light depth image capturing module 16 obtains a plurality of image information M. Referring again to FIG. 3, the laser light generator 1622 of the structured light projection unit 162 continuously projects a plurality of structured light spot plane images SF to the surface of at least one object OB around the moving vehicle V, and the depth image capturing unit 164 obtains the object The surface of the OB reflects at least one deformed spot image M1 and at least one depth image M2 corresponding to the object OB after the projection of the structured light spot plane images SF, so that the depth image capturing unit 164 generates corresponding image information M to processing unit 14. The laser light L1 emitted by the laser light generator 1622 passes through the diffuser lens 1624 and then diverges into diffused light L2, and then passes through the spot lens 1626, thus forming a structured light spot plane image SF, so the projection distance is limited and will not be projected to move away For objects farther from the vehicle V, the projection distance of the laser light emitted by the laser light generator 1622 is within 15 meters in one embodiment. In another embodiment, the power of the laser light generator 1622 can be adjusted to further increase or decrease the projection distance of the laser light. For example, when the mobile vehicle V is a general passenger car, the inner wheel difference range is small, so it can be reduced. The power of the laser light generator 1622 enables only objects closer to the mobile vehicle V to reflect the laser light, which can reduce the power consumption and the data to be processed by the processing unit 14; and when the mobile vehicle V is large When a passenger car or a tractor has a large inner wheel difference range, the power of the laser light generator 1622 can be increased, so that objects far away from the mobile vehicle V will also reflect the laser light, thereby increasing the safety of driving.

In step S9, as shown in FIG. 5C, the processing unit 14 calculates the vector information of the object OB according to the image information M, which is the distance information DD and movement information MD corresponding to the object OB, and the outline of the object OB COT. The processing unit 14 can calculate and analyze the image information M obtained by the depth image capturing unit 164, and obtain the distance information DD between the object OB and the mobile vehicle V, the movement information MD, and the object by the degree of change. OB's appearance contour COT. In the actual application of this creation, the structured light projection unit 162 continuously projects a plurality of structured light spot plane images SF on the outside of the moving vehicle V, so when the object OB falls within its projection range, the depth image is captured The unit 164 naturally obtains a plurality of image information M reflected by the object OB continuously, so that the processing unit 14 can reconstruct the three-dimensional appearance contour COT corresponding to the object OB. Therefore, the processing unit 14 obtains the three-dimensional appearance contour COT of the object OB. Calculate the distance information DD and movement information MD of the object OB.

In step S11, referring to FIG. 2 again, the processing unit 14 reads the corresponding reference information INFO from the database 18 according to the three-dimensional appearance contour COT, and further marks the object OB according to the reference information INFO. The processing unit 14 compares the inner wheel difference warning distance W with the visual blind spot area DC according to the movement information MD and the distance information DD, and generates warning information WINFO. When the distance information is less than the inner wheel difference warning distance W, it means there is a danger of collision. The time processing unit 14 obtains warning information from the database. The processing unit 14 inputs the warning information WINFO to the display module 20. In this step, the processing unit 14 inputs the warning information WINFO obtained in step S11 to the display module 20, and the display module 20 outputs the corresponding display image IMG (as shown in Fig. 5D) according to the warning information WINFO to the display The unit 22 also controls the sound effect unit 24 to issue a warning signal.

In step S13, in this step, the display unit 22 displays the object OB image information M or the three-dimensional appearance contour COT, and the processing unit 14 marks the image information M displayed by the display unit 22 according to the appearance contour COT of the object OB The image MK marks the object OB, and the present embodiment displays the outline COT at the same time, so that the driver can know the existence of the object OB through the display unit 22. The processing unit 14 can mark the distance between the object OB and the moving vehicle V on the display unit 30. For example, when the object OB is within 3 meters of the moving vehicle V, the light image of the object OB on the display unit 22 3 meters will be marked next to the message; the processing unit 14 can also change the color of the image message M on the display unit 22 according to the distance information DD of the object OB, for example: when the object OB is 3 meters near the moving vehicle V Within the range, the image information M of the object OB will be displayed on the display unit 22 in red. When the object OB is within 10 meters of the moving vehicle V, the image information M of the object OB will be displayed in green on the display unit 22. On the display unit 22.

In an embodiment of the present creation, in step S11, the processing unit 14 obtains warning information from the database according to the movement information, the distance information, and the inner wheel difference warning distance. When the processing unit 14 determines that the object OB is within the inner-wheel-difference warning distance and is moving to the mobile vehicle V based on the movement information MD, the distance information DD, and the inner-wheel-difference warning distance W, the processing unit 14 obtains the first warning information from the database 18 ;Refer to Figure 5A again, the processing unit 14 compares the inner wheel difference warning distance W with the visual blind spot area DC according to the movement information MD and the distance information DD to determine that the object OB is within the inner wheel difference warning distance W and moves with the mobile vehicle V When the directions are parallel, the processing unit 14 generates the second warning information; the processing unit 14 compares the inner wheel difference warning distance W with the visual blind spot area DC according to the movement information MD and the distance information DD to determine that the object OB is outside the inner wheel difference warning distance W and When moving to the mobile vehicle V, the processing unit 14 generates third warning information. In other situations, for example, when the object OB is outside the inner wheel difference warning distance and is parallel to the moving direction of the mobile vehicle V, or when the object OB is within the inner wheel difference warning distance W and is moving away from the mobile vehicle V, it is due to traffic The safety is relatively unaffected, and only the object OB needs to be marked on the display unit 22 (step S11).

In an embodiment of the present creation, in step S13, as shown in Figure 5D, when the warning information WINFO is the first warning message, because there is an immediate danger, the display module 20 drives the display unit 22 to display the The object OB is marked with a mark image MK, and the display module 20 drives the sound effect unit 24 to remind the driver with continuous sound or voice to inform the driver that there is an object OB approaching within the range of the inner wheel difference. In addition, the processing unit 14 further depends on the reference information INFO makes the object OB in the warning information WINFO contain the appearance contour COT, so that the driver immediately notices the object OB in the blind spot area DC; when the warning information WINFO is the second warning information, because there is no immediate danger, The display module 20 will drive the sound effect unit 24 to alert the driver with intermittent sound or voice to inform the driver that there is an object OB within the range of the inner wheel difference; when the warning information WINFO is the third warning information, because the object OB is away from the mobile vehicle V A sufficient safety distance is also maintained, and the display module 20 will drive the sound effect unit 24 to issue an audible reminder or notify the driver by voice that an object is approaching outside the inner wheel difference range. When the sound effect unit 24 reminds the driver by sound, the frequency of the sound emitted by the sound effect unit 24 according to the first warning information is higher than the frequency of the sound emitted by the sound effect unit 24 according to the second warning information, and the sound effect unit 24 is based on the first warning information. The frequency of the sound emitted by the second warning information is higher than the frequency of the sound emitted by the sound effect unit 24 according to the third warning information. In addition, referring to FIG. 5D again, the display unit 22 is a liquid crystal screen (LCD) or a head-up display (HUD) to display the warning information WINFO and the object OB.

To sum up, the warning system for the inner wheel difference of the mobile vehicle in this creation uses the structured light depth image capture module installed on the mobile vehicle to capture the image information corresponding to the object, and the mobile vehicle When turning, it is judged whether there is an object within the range of the inner wheel difference warning distance, and if an object is within the range of the inner wheel difference warning distance, a warning signal is issued to remind the driver of the moving vehicle to avoid the visual blind area. It suffers from neglect during cornering, thus avoiding the driver from neglecting objects passing through the blind spot area.

Therefore, this creation is really novel, progressive, and available for industrial use. It should meet the patent application requirements of my country's patent law. Undoubtedly, I file a new patent application in accordance with the law. I pray that the Bureau will grant the patent as soon as possible.

However, the above are only the preferred embodiments of this creation, and are not used to limit the scope of implementation of this creation. For example, the equivalent changes and modifications of the shape, structure, characteristics and spirit described in the scope of the patent application for this creation are made. , Should be included in the scope of patent application for this creation.

10: Warning system 12: Traveling state sensing unit 14: processing unit 16: Structured light depth image capture module 162: structured light projection unit 1622: Laser light generator 1624: diffuse lens 1626: spot lens 164: Depth image capture unit 18: Database 20: display module 22: display unit 24: Sound effect unit 30: power supply unit A: Turning angle C1: Front wheel axis C2: Rear wheel axis CO: intersection corner COT: appearance contour DC: visual blind area DD: Distance information INFO: Reference information WINFO: Warning information M: Image message M1: Deformed spot image M2: Depth image MD: Mobile Information MK: Mark the image OB: Object R: turning radius SD: front and rear wheelbase SF: Plane image of structured light spot V: mobile vehicle WD: Wheelbase WD1: Outer wheel difference WD2: inner wheel difference S1-S13: steps

Figure 1: It is a flowchart of an embodiment of this creation; Figure 2: It is a schematic diagram of the device of an embodiment of the creation; Figure 3: It is a schematic diagram of a structured light depth image capturing module according to an embodiment of the creation; Figure 4: It is a schematic diagram of the detection range of an embodiment of this creation; Figure 5A: It is a schematic diagram of turning at the entrance of the road according to an embodiment of this creation; Figure 5B: It is a schematic diagram of the turning wheel difference of an embodiment of this creation; Figure 5C: It is a schematic diagram of image information processing in another embodiment of the creation; and Figure 5D: It is a schematic diagram of the displayed image of another embodiment of the creation.

10: Warning system

12: Traveling state sensing unit

14: processing unit

16: Structured light depth image capture module

162: structured light projection unit

1622: Laser light generator

1624: diffuse lens

1626: spot lens

164: Depth image capture unit

18: Database

20: Display module

22: display unit

24: Sound effect unit

30: power supply unit

INFO: Reference information

WINFO: Warning information

M: Image message

M1: Deformed spot image

OB: Object

SF: Plane image of structured light spot

Claims (6)

A warning system for internal wheel difference of a mobile vehicle, which is applied to a mobile vehicle, and the warning system includes: A traveling state detection unit detects the movement state of one of the mobile vehicles; A processing unit electrically connected to the traveling state detection unit, the processing unit is turning according to the moving state to obtain a turning angle of the mobile vehicle and obtaining an inner wheel difference based on the turning angle and a plurality of vehicle parameters Warning distance and a blind spot area; and A structured light depth image capturing module electrically connected to the processing unit and arranged on the mobile carrier corresponding to an external rearview mirror of the blind spot area. The processing unit controls the structured light depth image capturing module according to The inner wheel difference warning distance and the visual blind spot area, capture a plurality of image information of at least one object around the mobile vehicle and send it to the processing unit, and the processing unit calculates the object's image information based on the image information A vector information, the processing unit compares the inner wheel difference warning distance with the visual blind spot area according to the vector information to generate a warning information. The warning system for the internal wheel difference of a mobile vehicle as described in claim 1, further including: A display module is electrically connected to the processing unit. The display module includes a display unit and a sound effect unit. The processing unit controls the display module to output a display image corresponding to the object to the display unit according to the warning information. The object is marked with a mark image, and the display module drives the sound effect unit to output a corresponding warning signal according to the warning information. The warning system for the inner wheel difference of a mobile vehicle according to claim 1, wherein the vector information is a movement information and a distance information corresponding to the object. The warning system for the internal wheel difference of a mobile vehicle according to claim 1, wherein the traveling state sensing unit is an acceleration sensor or a gyroscope, and the traveling state sensing unit generates a sensing result according to the moving state To the processing unit, the processing unit obtains the turning angle according to the sensing result. The warning system for the inner wheel difference of a mobile vehicle according to claim 1, wherein the vehicle parameters include a turning radius of the mobile vehicle, a wheelbase of the front and rear wheels, a front wheel track, a rear wheel track, and the The turning angle calculates the inner wheel difference warning distance and the visual blind area, or further includes the wheelbase of a tractor axle, the wheelbase of a tractor pin to the intermediate axle, and the distance between the centerline of the left and right outer rear wheels of the tractor The distance from a traction pin to the rear axle of the tractor. The warning system for the internal wheel difference of a mobile vehicle according to claim 1, wherein the structured light depth image capturing module includes: A structured light projection unit is provided with a laser light generator, a diffuser lens and a spot lens. The laser light generator generates a laser light that passes through the spot lens through the diffuser lens to generate a structured light spot plane image to the object ;as well as A depth image capturing unit electrically connected to the processing unit, capturing the image information to the processing unit, the image information including a deformed spot image reflected by the object according to the structured light spot plane image and At least one depth image corresponding to the object.

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