-1314108 九、發明說明： 【發明所屬之技術領域】 本發明是有關於一種影像擷取裝置角度偵測方法，尤 其是指一種藉由擷取校正工具之影像資訊進行演算，以求 得影像擷取單元之設置角度之一種影像擷取裝置角度自動 偵測方法及使用該方法之車輛碰撞警示系統。 【先前技術】 隨著科技進展，生活富裕，機動車輛日益普及至每個 家庭，交通的方便性由於車輛科技的進步而不斷提昇。然 而隨著車輛使用的頻繁，使用機動車輛造成的死亡人數始 終居高不下。根據内政部警政署統計，歷年來台灣地區每 年因交通事故而死亡的人數皆維持在三千人左右，受傷人 數則在二十萬人左右，如民國九十四年台灣地區因交通事 故的死、傷人數各為2, 894及200, 009人。平均每天有8 人因交通事故死亡。 分析其肇事原因，百分之九十七以上是駕駛不當所 致，事故類型又以追撞案例佔大宗。這些交通事故不僅造 成個人及家庭的負擔，耗費社會有限的醫療資源，並造成 國家生產力的損失。 有鑒於此，如果能以攝影機，建立一車用之碰撞警示 系統，應用先進的影像處理技術辨識出本車週圍車輛並估 測與其之相對距離，並於距離過近時提出警示訊號，警告 6 -1314108 駕駛者作出適當處置，如減低車速等等，以避免事故的發 生，亦可降低交通事故發生機率。 然而，在估測本車與它車之間距時，攝影機相對於地 面的角度資訊是必要的，而在習用之技術中，例如美國專 利公告號第4942533號所揭露之技術中，其角度亦是基於 消失點之偵測運算而得，然而其消失點之獲得是利用道路 上無限長之平行車道線特徵，此法對於一般使用者過於不 便。 【發明内容】 本發明的主要目的是提供一種影像擷取角度自動偵測 方法，透過擷取校正工具之影像，並對該影像進行運算處 理，達到自動估測影像擷取裝置角度之目的。 本發明的次要目的是提供一種車輛碰撞警示系統，透 過擷取校正工具之影像，並對該影像進行運算處理以估測 出影像擷取裝置之角度，達到順利估算本車與它車之相對 距離之目的。 為了達到上述之目的，本發明提供一種影像擷取裝置 角度自動偵測方法，其係包括有下列步驟：提供一影像擷 取裝置，其係可擷取車輛周圍之影像資訊；提供一具平行 線段特徵之校正工具設置於該影像擷取裝置之擷取範圍 内；擷取該校正工具之影像，並計算其影像所形成之消失 點；再依據此消失點於二維影像中距畫面中線之晝素數 量，計算該影像擷取裝置相對於平行路面之角度。 7 -1314108 較佳的是，在利用影像處理之技術辨識出此校正工且 後’在演算法内即可將有限長度之平行線段校正工伸 至產生交點’而得以計算出消失點位於影像座標系之座 值’由於已知攝影機平行路面時，消失點將位於畫: 之特，、，我們即可在攝影機擺設非平行於路面的情葬 由計异消失點偏離晝面中線之畫素（pixel)數量估測出^-1314108 IX. Description of the Invention: [Technical Field] The present invention relates to an image capturing device angle detecting method, and more particularly to an image calculation by capturing image information of a correction tool to obtain an image An image capturing device angle automatic detecting method and a vehicle collision warning system using the same according to a set angle of the unit. [Prior Art] With the advancement of science and technology, living in abundance, and the increasing popularity of motor vehicles to every household, the convenience of transportation has been continuously improved due to advances in vehicle technology. However, with the frequent use of vehicles, the number of deaths caused by the use of motor vehicles has always remained high. According to the statistics of the Police Department of the Ministry of the Interior, the number of people killed in traffic accidents in Taiwan in the past years has remained at around 3,000, and the number of injured is around 200,000. For example, in the Republic of China in 1994, due to traffic accidents. The number of deaths and injuries was 2,894 and 200,009 respectively. On average, 8 people die every day from traffic accidents. Analysis of the cause of the accident, more than 97% of the accidents caused by improper driving, and the type of accidents accounted for a large number of cases of chasing. These traffic accidents not only create personal and family burdens, but also consume socially limited medical resources and cause loss of national productivity. In view of this, if a camera can be used to establish a collision warning system for vehicles, advanced image processing technology is used to identify the vehicle around the vehicle and estimate the relative distance between them, and to provide a warning signal when the distance is too close, warning 6 -1314108 Drivers make appropriate measures, such as reducing vehicle speed, etc., to avoid accidents and reduce the chance of traffic accidents. However, in estimating the distance between the vehicle and the vehicle, the angle information of the camera relative to the ground is necessary, and in the conventional technique, for example, the technique disclosed in U.S. Patent No. 4,492,533, the angle is also Based on the vanishing point detection operation, the vanishing point is obtained by utilizing the infinitely long parallel lane line feature on the road, which is too inconvenient for the average user. SUMMARY OF THE INVENTION The main object of the present invention is to provide an automatic image capturing angle detecting method, which can automatically estimate the angle of the image capturing device by capturing the image of the correcting tool and performing arithmetic processing on the image. A secondary object of the present invention is to provide a vehicle collision warning system, which can accurately estimate the angle of the vehicle and the vehicle by capturing the image of the correction tool and performing arithmetic processing on the image to estimate the angle of the image capturing device. The purpose of the distance. In order to achieve the above object, the present invention provides an automatic method for detecting an angle of an image capturing device, which comprises the steps of: providing an image capturing device for capturing image information around the vehicle; providing a parallel line segment The feature correction tool is disposed in the capture range of the image capture device; the image of the calibration tool is captured, and the vanishing point formed by the image is calculated; and then the vanishing point is located in the 2D image from the center line of the image. The number of pixels, the angle of the image capturing device relative to the parallel road surface is calculated. 7 - 1314108 Preferably, the correction is performed by the technique of image processing, and then the finite length of the parallel line segment can be corrected to generate the intersection point in the algorithm to calculate the vanishing point at the image coordinate. The value of the seat is 'Because the camera is known to be parallel to the road surface, the vanishing point will be located in the painting: Special, we can place the non-parallel to the road surface in the camera. Pixel) quantity estimated ^
影機擺設之肖度。“述之影像座標系之翻則為該 之顯不幕大小。 ^交佳的是，影像擷取裝置角度之計算包括有下列 計算影像擷取裝置之—比湘子；以及㈣比细子、μ 像擷取裝置之焦距、該消失點位於影像座㈣之y向座^ 以及顯示幕高度畫素數量進行運算以得到該影像擷取裝^ 之角度。其中該比例因子包括有該顯示幕高度畫素數量與 影像擷取裝置内之影像感測器（i mage se細r )之高度之= 值。 又 • 為了達到上述之目的，本發明更提供車輛碰撞氅示系 .統，/包括：至少一影像擷取裝置，其係設置於一車輛上 -影像處理控龍組，其係可接收該影像擷取裝置所擴取 ^影像纽，演算得車輛與周遭物體之相對距離，產生一 警不訊號，該影像處理控制模組更可由該影像資訊淨 該影像擷取裝置相對於地面之角度；一顯示單元，其係與 該影像處理控制模組相連接，該顯示單元可接收該影像處 理控制模組所傳遞之訊號以產生影像’ ·以及一警示單元， 其係與該影像處理控制模組相連接，該警示單元可接收該 警示訊號以產生警報。 I3l41〇8 本專利提出以具有平行線段特徵之校正工具產生消失 測影像擷取裝置之角度，此方法可在碰撞警示系統 =裝兀成後，快相完成角度校正而免去行駛至道路以完 成权正程序’並且當影像榻取裝置之角度得知下，後續還 H用其他校正工具求取影像擷取裝置之高度，而這樣的 =像，取裝置角度自動偵測方法及使用該方法之車輛碰撞 警示系統，對於後續的距離估測具有極大的便利性。 【實施方式】 為$貴審查委員能對本發明之特徵、目的及功能有 3構==瞭解’下文特將本發明之裝置的相關細 L構以及设计的理念原由進行說明，以使得審查委員可 以了解本發明之特點，詳細說明陳述如下： 、 “HI圖一 A所示’該圖係為本發明之影像擷取裝置 角又自動制方法之較佳實施例流程示意圖。 ”角度自動_方法i，其係包括有下列步驟:、首= =驟10，提供—影㈣取裝置，其係設置於-車輛上 ^像操取裝置可以設置於車輛之前、後、左、 則述之組合的位詈卜，tM t + 拯箬， /、係可擷取車輛關之影像資訊。 接者，如τ步驟U，提供—校正工具設置於該 置=擷取範以步驟12，絲該校正卫具之^^ :亥杈正工具請參閱圖二Α。擷取影像完畢之後，先： 7在擷取之影像，是否具有該校正工具之影像，如果：有 的話則回到步驟12繼續擷取影像；反之，如果/又有 行步驟13鎖定該影像，並計算此校正工具影像 13141〇8 3幸;步驟14,由消失點偏離晝面中線 像_取角=影ΓΓ裝置設置之角度。當求出影 理，如果ίί! 判斷所估算出之角度是否合 下來。果口理的活，則可以以步驟15將所估算之角度記錄 偵測參1圖一 係為本發明之影像操取裝置角度自動 位於全面：所流程示意圖。其為步驟14 ’由消失點 =步驟:以步驟141卿像操取裝置之 之隹步驟142，將該比例因子’該影像擷取裝置 =音點位於影像座標系之y向座標以及顯示幕 入一演算公式⑴進行運算，以得到該影像 σ破置之角度。請分別參閱圖三與圖四所示，並中，，亥 1 匕例;子包括有該顯示幕高度η畫素數量與影像擷取裝置 内之衫像感測$(lmage sens〇r)之高度之比值。 該演算^公式如下式（1)所示： 誓)…………⑴The shame of the camera. "The translation of the image coordinate system is the size of the display. ^ It is better to calculate the angle of the image capture device including the following calculation image capture device - than Xiangzi; and (four) than the fine, μ The focal length of the capturing device, the vanishing point is located in the y-seat of the image holder (4), and the height of the display screen is calculated to obtain the angle of the image capturing device. The scale factor includes the height of the display screen. The number of elements and the value of the height of the image sensor (i mage se fine r) in the image capturing device. • In order to achieve the above object, the present invention further provides a vehicle collision display system, including: at least: An image capturing device is disposed on a vehicle-image processing control group, which can receive the image expansion device of the image capturing device, and calculate the relative distance between the vehicle and the surrounding object to generate a warning The image processing control module can further extract the angle of the image capturing device relative to the ground by the image information; a display unit is connected to the image processing control module, and the display unit can receive the image For example, the signal transmitted by the control module is used to generate an image and a warning unit is connected to the image processing control module, and the warning unit can receive the warning signal to generate an alarm. I3l41〇8 The correction tool with parallel line segment features the angle of the vanishing image capturing device. This method can be used to complete the angle correction after the collision warning system=installation, eliminating the need to travel to the road to complete the right program' and when the image From the perspective of the reclining device, the H further uses other correction tools to obtain the height of the image capturing device, and such an image is automatically detected by the device angle and the vehicle collision warning system using the method. The distance estimation is extremely convenient. [Embodiment] It is possible for the review committee to have the structure, purpose and function of the present invention. ==Understand the following detailed structure and design of the device of the present invention. The original idea is explained so that the reviewer can understand the characteristics of the present invention, and the detailed explanation is as follows: "HI Figure 1A" FIG schematic flowchart based angle image capturing device of the present invention and preferred embodiment of the automatic method. "Angle auto_method i" includes the following steps: first = = step 10, providing - shadow (four) taking device, which is set on the - vehicle, and the image taking device can be placed before, after, and to the left of the vehicle. The combination of the descriptions, tM t + 箬, /, can capture the image information of the vehicle. Receiver, such as τ step U, provide - correction tool is set in the set = capture step in step 12 ^^: The correct tool for the correction ^^: Refer to Figure 2 for the tool of the 杈 Α. After capturing the image, first: 7 If the image is captured, does it have the image of the calibration tool, if: Yes, then Go to step 12 and continue to capture the image; otherwise, if/have step 13 to lock the image, and calculate the correction tool image 13141〇8 3; for example, step 14, from the vanishing point, deviate from the midline image _ take angle = shadow ΓΓSetting angle of the device. When finding the imaginary, if ίί! judges whether the estimated angle is combined or not, you can use step 15 to estimate the angle recording detection parameter as The angle of the image manipulation device of the present invention is automatically located in a comprehensive: schematic diagram of the flow. Step 14 'By vanishing point=step: Step 142 of step 141, the image capturing device=the sound point is located at the y-coordinate of the image coordinate system and the display screen is calculated into a calculation Equation (1) performs the operation to obtain the angle at which the image σ is broken. Please refer to Figure 3 and Figure 4 respectively, and in the middle, the example of the image is included; the sub-image includes the height of the display screen and the image capture. The ratio of the height of the shirt image sensing $(lmage sens〇r) in the device. The formula ^ is as shown in the following formula (1): oath)...... (1)
Sy . Y方向比例因子，單位為晝素/公尺； f :焦距，單位為公尺； Θ :影像齡裝置與地面之夾角（請參關三所示）； H:顯不幕南度晝素數量·Sy. Y-direction scale factor, unit is 昼素/meter; f: focal length, the unit is metric; Θ: angle between the image-aged device and the ground (please refer to the third); H: not obvious Quantity
Yv:消失點之y向座標； 再請參閱圖二A，係為本發明之影像擷取裝置角度自動 1314108 偵測方法之校正工具示意圖。該校正元件91係為具有相互 平行約180度之兩側邊線段，該兩側邊線段可於顯示幕顯 示出延伸至遠方交於一點。 再請參閱圖二B，係為本發明之影像擷取裝置角度自動 偵測方法之擷取校正工具影像示意圖。在本實施例中，該 校正工具91係設置車輛90之前方，而影像擷取裝置2則 可擷取車輛90前方之影像。該校正工具91為一有限長度 之平行線段，其尺寸大小或者是外觀顏色，可以根據使用 者之需要而定。 如圖四所示，係為本發明之影像擷取裝置角度自動偵 測方法之影像座標系示意圖。該影像座標系係指顯示該校 正工具91影像之座標系，例如在本實施例中係為顯示幕3 所構成之座標系。 請參閱圖五所示，雖然前述之說明以圖二之配置方式 來進行說明，但影像擷取裝置並不被限制僅能設置於車輛 的前方。在圖五中，車輛90周圍之位置都可以設置影像擷 取裝置2a〜2d，至於其設置角度之演算方法，如前所述之 演算公式（1 )，在此不做贅述。此外，該影像擷取裝置2 a〜2 d 可選擇為一攝影機或者是一紅外線影像擷取裝置。其中該 攝影機可選擇為一光電柄合元件（charge-coup 1 ed Device; CCD)以及一互補式金氧半之光學感測元件（Complementary Metal-Oxide Semiconductor, CMOS)其中之一。 利用前述之偵測方法，本發明更提供一車輛碰撞警示 系統6。請參閱圖六所示，該圖係為本發明之車輛碰撞警 示系統較佳實施例示意圖。該車輛碰撞警示系統6，具有 1314108 至少一影像擷取裝置61、一影像處理控制模組60、一顯示 單元63以及一警示單元64。該影像擷取裝置61，其係可 以擷取車輛周圍之影像資訊。該影像處理控制模組60，其 係可接收該影像擷取裝置61所擷取之影像資訊，進行演算 與解析車輛與周遭物體之相對距離而產生一警示訊號，該 影像處理控制模組60更可以根據該影像擷取裝置61所傳 之影像資訊進行演算程序而得知該影像擷取裝置61之角 度。 該顯示單元63,其係與該影像處理控制模組60相連 接，該顯示單元63可接收該影像處理控制模組60所傳遞 之訊號以顯示影像，例如：顯示車輛追蹤畫面、與它車之 距離估算值等相關之影像與文字數據等資訊。該顯示單元 63可為液晶顯示器或者是發光二極體顯示器等，但不在此 限。該警示單元64，其係與該影像處理控制模組60相連 接，該警示單元64可接收該警示訊號以產生警報，以提醒 駕駛者本車與它車之間距過近。該警示單元64可對駕駛可 發出聲、光或振動等方式警示訊號。 該車輛碰撞警示系統6其係更具有一使用者控制單元 62，該使用者控制單元62可提供使用者一操控界面，以供 使用者進行啟動該車輛碰撞警示系統6、用於設定是否啟 動碰撞警示系統6、進行影像擷取裝置61位置偵測程序或 車輛追蹤與測距程序。該影像擷取裝置61角度偵測程序為 前述之影像擷取裝置角度自動偵測方法所述之步驟。而該 車輛追蹤與測距程序則為利用影像資訊來偵測車輛與車輛 周圍之物體之距離，以維持車輛之行進安全。 1314108 5亥影像處理控制模組g〇更勺人· _、-數位訊號處理控制單元匕3:-影像擷取解螞單元 元603。該影像擷取解碼單元=及一影像鵝螞輪出 61相連接，以㈣影賴取’「料該影料取褒置 數位化影像資訊。該數位訊號：,取二資訊轉成— 接收該數位化影像資訊，如 ^早70 _，其係可 出單元603，其係與該數位訊^ 解析。該影像編碼輪 顯示單元63相連接，該影像編制單元6〇〇以及該 位訊號處理控制單元6〇〇所輸，早兀603可接收該數 並輸出影像視tfi給該顯*單元6 3 ^ —控制訊麟影像編碼 此外，該影像處理控制模魬 取記憶體602 m揮發性 n—影像隨機存 隨機存取記憶體6G2，其係可體6G\該影像 經由該數位訊號處理控制單元δ心=影像資訊以及 訊號處理控制單元60。以像資訊給該數位 編碼輸出單以〇3。該_發性;畢之影像給該影像 該數位訊號處理控鮮元_ _，可記錄 置61之估算角度。 逑异解析之該影像擷取裝 當透過使用者控制單元62切換 時，該影料理控組6G亦㈣m㈣與測距程序 接收到的影像資訊，賴與追請取裝置61所 離新 暇b〇2内的影像資訊將傳 1314108 至該影像編碼輸出單元603，轉成可支援顯示單元63的影 像視訊訊號，輸出影像，以顯示車輛追蹤與測距晝面。 惟以上所述者，僅為本發明之較佳實施例，當不能以 之限制本發明範圍。即大凡依本發明申請專利範圍所做之 均等變化及修飾，仍將不失本發明之要義所在，亦不脫離 本發明之精神和範圍，故都應視為本發明的進一步實施狀 沉。 綜合上述，本發明提供之影像擷取裝置角度自動偵測 方法及使用該方法之車輛碰撞警示系統，具有自動估測攝 影機角度，以利後續的距離估測之優點，因此可以滿足業 界之需求，進而提高該產業之競爭力以及帶動週遭產業之 發展，誠已符合發明專利法所規定申請發明所需具備之要 件，故爰依法呈提發明專利之申請，謹請貴審查委員允 撥時間惠予審視，並賜准專利為禱。 【圖式簡單說明】 圖一 A係為本發明之影像擷取裝置角度自動偵測方法之較 佳實施例流程示意圖。 圖一 B係為本發明之影像擷取裝置角度自動偵測方法之角 度估算流程示意圖。 圖二A係為本發明之影像擷取裝置角度自動偵測方法之校 正工具示意圖。 圖二B係為本發明之影像擷取裝置角度自動偵測方法之影 像擷取裝置擷取校正工具影像示意圖。 14 13141〇8 圖二係為本發明之影像凝取衰置角度自势 點與影像感測器關係示意圖。 、“丨方法之消失 ξΐ係為本發明之M侧取裝i肖度 幕影像座標系示意圖。 彳貞成/方法之顯示 圖五係為本發明之影像擷取裝置配 圖六係為本發日狀車輛碰料 不思圖。 。丁糸為車父佳實施例示意圖。 【主要元件符號說明】 1 一影像擷取裝置角度自動偵測方法 10〜15-步驟 U1〜142-步驟 2- 影像擷取裝置 2a〜2d-影像擷取裝置 3- 顯示幕 6-車輛碰撞警示系統 60- 影像處理控制模組 600- 數位訊號處理控制單元 601- 影像擷取解碼單元 602- 影像隨機存取記憶體 603- 影像編碼輪出單元 _-非揮發性可程式記憶體 61- 影像掏取裝置 62- 使用者控制單元 1314108 63- 顯示單元 64- 警示單元 90- 車輛 91- 校正工具 92- 影像擷取範圍Yv: the y-direction coordinate of the vanishing point; refer to FIG. 2A again, which is a schematic diagram of the calibration tool for the automatic image capturing device angle 1314108 detection method of the present invention. The correcting element 91 is formed with two side edge segments that are approximately 180 degrees parallel to each other, and the two side edge segments can be extended to a point on the display screen. Referring to FIG. 2B, it is a schematic diagram of the image of the calibration tool for automatically detecting the angle of the image capturing device of the present invention. In the present embodiment, the correction tool 91 sets the front of the vehicle 90, and the image capturing device 2 captures the image in front of the vehicle 90. The correction tool 91 is a finite length parallel line segment whose size or appearance color can be determined according to the needs of the user. As shown in FIG. 4, it is a schematic diagram of the image coordinate system of the automatic angle detection method of the image capturing device of the present invention. The image coordinate system is a coordinate system that displays the image of the correction tool 91. For example, in the present embodiment, it is a coordinate system formed by the display screen 3. Referring to FIG. 5, although the foregoing description is described in the arrangement of FIG. 2, the image capturing device is not limited to being disposed only in front of the vehicle. In Fig. 5, the image capturing devices 2a to 2d may be disposed at positions around the vehicle 90, and the calculation method of the setting angle thereof, the calculation formula (1) as described above, will not be described herein. In addition, the image capturing devices 2 a 2 d can be selected as a camera or an infrared image capturing device. The camera may be selected from a charge-coup 1 ed device (CCD) and a complementary metal-optic semiconductor (CMOS). The present invention further provides a vehicle collision warning system 6 using the aforementioned detection method. Please refer to FIG. 6, which is a schematic diagram of a preferred embodiment of the vehicle collision warning system of the present invention. The vehicle collision warning system 6 has 1314108 at least one image capturing device 61, an image processing control module 60, a display unit 63, and a warning unit 64. The image capturing device 61 is capable of capturing image information around the vehicle. The image processing control module 60 can receive the image information captured by the image capturing device 61, calculate and analyze the relative distance between the vehicle and the surrounding object to generate an alert signal, and the image processing control module 60 further The angle of the image capturing device 61 can be known by performing an arithmetic program based on the image information transmitted by the image capturing device 61. The display unit 63 is connected to the image processing control module 60. The display unit 63 can receive the signal transmitted by the image processing control module 60 to display an image, for example, displaying a vehicle tracking screen and driving it with the vehicle. Information such as image and text data related to estimated values. The display unit 63 may be a liquid crystal display or a light emitting diode display or the like, but is not limited thereto. The warning unit 64 is connected to the image processing control module 60. The warning unit 64 can receive the warning signal to generate an alarm to remind the driver that the vehicle is too close to the vehicle. The alert unit 64 can alert the driver by sound, light or vibration. The vehicle collision warning system 6 further has a user control unit 62. The user control unit 62 can provide a user control interface for the user to activate the vehicle collision warning system 6 for setting whether to initiate a collision. The warning system 6 performs a position detection program of the image capturing device 61 or a vehicle tracking and ranging program. The image capturing device 61 angle detecting program is the step described in the foregoing image capturing device angle automatic detecting method. The vehicle tracking and ranging procedure uses image information to detect the distance between the vehicle and objects around the vehicle to maintain the safety of the vehicle. 1314108 5 hai image processing control module 〇, _, - digital signal processing control unit 匕 3: - image capture unit 603. The image capturing and decoding unit=and an image goose and grass wheel out of the 61 phase connection, and (4) relying on the image material to capture the digitized image information. The digit signal:, the second information is converted into-received The digital image information, such as ^70 _, is a unit 603, which is connected to the digital signal. The image encoder wheel display unit 63 is connected, the image preparation unit 6〇〇 and the bit signal processing control The unit 6〇〇 is input, and the number 接收 can receive the number and output the image to the display unit. 3 3 — control the video encoding. In addition, the image processing control module captures the memory 602 m volatile n— The image is randomly stored in the random access memory (6G2), and the image is processed by the digital signal processing control unit δ heart=image information and signal processing control unit 60. The image is output to the digital coded output unit by 像3. The image is given to the image signal processing control unit _ _, and the estimated angle of 61 can be recorded. The image capture device of the different resolution is switched by the user control unit 62. The food control group 6G is also (four) m (four) and From the image information received by the program, the image information in the new device b〇2 from the tracking device 61 is transmitted 1314108 to the image encoding output unit 603, and converted into an image video signal capable of supporting the display unit 63, and outputted. The image is displayed to show the vehicle tracking and ranging. However, the above is only a preferred embodiment of the present invention, and the scope of the present invention cannot be limited thereto. And the modifications will remain without departing from the spirit and scope of the present invention, and should be regarded as further embodiments of the present invention. In summary, the present invention provides an automatic detection of the angle of the image capturing device. The measuring method and the vehicle collision warning system using the method have the advantages of automatically estimating the camera angle to facilitate the subsequent distance estimation, thereby meeting the needs of the industry, thereby improving the competitiveness of the industry and promoting the development of the surrounding industry. Cheng has already met the requirements for applying for an invention as stipulated in the invention patent law, so it is required to submit an invention patent according to law. The committee allows the time to review and grant the patent as a prayer. [Simplified illustration] Figure 1A is a schematic flow chart of a preferred embodiment of the method for automatically detecting the angle of the image capturing device of the present invention. FIG. 2A is a schematic diagram of a calibration tool for automatically detecting an angle of an image capturing device according to the present invention. FIG. 2B is a schematic diagram of a calibration tool for an automatic method for detecting an angle of an image capturing device of the present invention. The image capturing device of the automatic device for capturing the angle of the device captures the image of the calibration tool. 14 13141〇8 Figure 2 is a schematic diagram showing the relationship between the self-potential point of the image condensation and the image sensor of the present invention. The disappearance of the 丨 method is a schematic diagram of the M-side extraction image coordinate coordinate system of the present invention.彳贞成/方法的图 Figure 5 is the image capture device of the present invention. Figure 6 is the day-to-day vehicle collision. . Ding Wei is a schematic diagram of the car family. [Main component symbol description] 1 Image capture device angle automatic detection method 10~15-Step U1~142-Step 2 - Image capture device 2a~2d-Image capture device 3 - Display screen 6 - Vehicle collision warning System 60 - Image Processing Control Module 600 - Digital Signal Processing Control Unit 601 - Image Capture Decoding Unit 602 - Image Random Access Memory 603 - Image Encoding Rounding Unit _ - Non-volatile Programmable Memory 61 - Image 掏Pickup device 62 - user control unit 1314108 63 - display unit 64 - alert unit 90 - vehicle 91 - calibration tool 92 - image capture range