1378873 2012/06/28修正替換頁 六、發明說明： 【發明所屬之技術領域】 本發明係有關一種道路前後車輛安全距離 、 裝置，尤指一種以影像輪廊辨識車柄’且以予彡像. ' 形運算其與自車之相對速度、相對距離，並進廟作線 對措施之前後車輛安全距離保持方法與裝置。v、取應 【先前技術】 按，車輛行駛時，其前、後、左、右方隨時可处 它車輛在移動著，而駕歇人的目測範圍有限，同 b二 後照鏡以觀察後方之車輛動態，然而後照鏡所能呈^配合 察範圍有限，亦有死角存在，使行歇車輛時具有潛 觀 因此遂有許多業者針對汽車防撞而研發出多樣設呷危險 如中華民國專利申請案號第961丨5521號發^月°專 侧碰撞警示系統」及第95135045號發明專利「偵 =法與裝置」等習知技術，其主要係利用設置於車體: 影裝置，擷取車輛外部環境之影像，並將影像分析 計算出自車與該障礙物之相對速度及—距離早 右有危險，則進一步對駕駛人提出警示。 准則者該車侧碰撞警示系統僅能區別側向切入 近物，而肖正前方及正後方接義無法判斷，且 = 區別具危險性之接近物，此外，其亦不能主動控制自= 速，仍係由駕駛人主動控制，然而駕駛人並無法斜菸 而來之危險狀況作出及時反應。後者該_車距之方 1378873 2012/06/28修正替換頁 裝置，在無車道線時即無法區別目標區，且 目標區内是否具有危險物。再者，前，f — 精確躬斷 ^ 則述一習知技術均需刹 斷影像及計算，其判斷及計算複雜且速度慢，而無法及時 反應。 有鑑於此，故如何改進上述缺點，實 決之重點所二因此，發明人乃憑藉著 = 之研究及融會貫通之構思，遂有本發明之產生。關座菓 【發明内容】 本發明目的之一，在於解決上述的問題而提供曾 路前後車輛安全輯雜方法與裝置，係料部車輔^ 輪廓計算其與自車車輛之相對速度、相對㈣，: 險與否’並以影像輪廓以向量作線形運算，可達快速^ 之特點。 本=目的之二，在於該自車車輛左、右側設有攝影 裝置’且自車車輛之前、後方均可設置，藉該 :::增加視角’減少死角，以達到遠、近皆能清楚;: 本發明目的之三，在於該控制單元可主動控制自車車 輛^丁車方式’以控制車輛減速、嗎警示燈或啟 動反應之效果，可針對突發而來之危險 立 即反應，確保行車安全。 邛出立 為達前述之目的，本發明係包括： -針:Ϊ:!元’係制自車車輛的車速訊號’且内建有 子知像貝料作線形運算處理之運算系統； 至少—不同視角之接 卜該攝影裝晉铉也衫装置設於 2012/06/28修正替換頁 右側，該攝影裝置係擷取置彀於一自車車輛前方左、 他物件之影像資料，於同〜車j輛外部環境之一車輛或其 該二攝影裝置之視角範圍定:衫展置擷取至少 二影像，於 或其他物件形成一影像輪廓 警示區，且所榻取之車輛 單元；該控制單元係以該=將該影像資料傳送至該控制 的運算，以辨識該車輛與自=輪廓之線形尺寸作向量圖形 離，並判斷是否在警示區内，間之相對速度、相對距 形運算出相對速度、相^警示區内的車輛以線 速度變可接受範圍時，:;發車=^ 發出警示予或:制單元’由該控制單元控制 於·單元，係連接該控制單元，由該控制單元 ==予自車車輛以控制自車車辅改變行車方式。 且其係包括以下步驟： (a )擷取影像：以設於自車車㈣方左、右側之二 私1視角之攝料置擷取自車車給卜部魏之車輛或其他 物件影像資料’並將該影像資料傳送至該控制單元； (b )警示判斷：該控制單元將由攝影裝置擷取之車 輛或其他物件影像輪廓以辨識該車輛，並判斷該車輛是否 在警示區内； (c )運算、判斷：該控制單元將在警示區之車輛影 像輪廓之線形尺寸作向量圖形的處理，運算出其與自車車 輛之相對速度、相對距離’若在相對速度及相對速度變化 率非可接受之範圍時，即做出應對措施； 2012/06/28修正替換頁 1378873 (d )警示效果：由該控制單元控制該警示單元發出 警示訊號予自車或他車駕駛人； (e )主動控制效果：由該控制單元控制該主動控制 單元以改變自車車輛之行車方式。 本發明之上述及其他目的與優點，不難從下述所選用 實施例之詳細說明與附圖中，獲得深入了解。 當然，本發明在某些另件上，或另件之安排上容許有 所不同，但所選用之實施例，則於本說明書中，予以詳細 說明，並於附圖中展示其構造。 【實施方式】 請參閱第1圖至第7圖，圖中所示者為本發明所選用 之實施例結構，此僅供說明之用，在專利申請上並不受此 種結構之限制。 請參閱第1〜6圖，以下係本發明道路前後車輛安全 距離保持方法與裝置之實施例說明，其中該道路前後車輛 安全距離保持裝置係包含： 一控制單元1，如第6圖所示，其於實施上係設於汽 車上，該控制單元1係可偵測自車車輛的車速訊號，且内 建有一可針對影像資料作線形運算處理之單晶片電腦運算 系統。 至少二不同視角之攝影裝置2設於一自車車輛3前方 及（或）後方左、右側，該攝影裝置2係擷取自車車輛3外 部環境之一車輛3 1或其他物件之影像資料，於同一攝影 裝置2擷取至少二影像，於該二攝影裝置2之視角範圍定 2012/06/28修正替換頁 1378873 義一警示區2 1，且所擷取之車輛3 1或其他物件係形成 一影像輪廓3 1 1，將前述之影像資料傳送至該控制單元 1，該控制單元1之單晶片電腦運算系統可針對該影像輪 廓3 1 1之線形尺寸作向量圖形的運算、分析；於本實施 例中，如第2圖所示，更係於該自車車輛3前方之左、右 側分別設有一攝影裝置2 2 L、2 2 R，於自車車輛3左 、右側後照鏡分別設有一攝影裝置2 3 L、2 3 R，及自 車車輛3後方之左、右側或車尾分別設有一攝影裝置2 4 L、2 4 R。 再者，該攝影裝置2左、右二側係可為不同視角之高 景深攝影機，以清晰擷取不同遠、近距離之前方及側方物 體。 該控制單元1，係依據自車車輛3的速度，配合該攝 影裝置2所擷取之影像資料，其判斷方式係以影像輪廓3 1 1辨識該車輛3 1或其他物件，且判斷該車輛3 1是否 在警示區2 1内，並針對在警示區2 1内的外部車輛或其 他物件以線形運算其與自車車輛3間之相對速度、相對距 離，若在相對速度及相對速度變化率非可接受之範圍，即 做出應對措施。 一警示單元4，如第6圖所示，其於實施上係設於車 輛上，該警示單元4係連接該控制單元1，由該控制單元 1控制發出各式警示訊息予自車或他車駕駛人，其中該警 示方式係可為聲音、影像或燈光等。 一主動控制單元5，如第6圖所示，其於實施上係設 於車輛上，該主動控制單元5係連接該控制單元1，由該 2012/06/28修正替換頁 $，，元1控制發出訊號予自車車輛3，以控制自車車輛 變行車方式，例如減速，或啟動閃爍警示燈、蜂鳴器 =達主動採取反應之效果。 _田以影像輪廓3 1 1辨識該車輛3 1或其他物件在警 區？ "1 D+ 吟’且其相對速度及相對速度變化率在非可接受 已f ’則控制單元1會控制該警示單元4以警示予駕駛人 • u車輛3ι與自車車輛3之相對速度愈快且相對距離 4】時或者該車輛3 1係以高速移動且進入警示區2 1 ^自^控制單元1則會控制該主動控制單元5以發出訊號 車輛3，而快速且採取減速或啟動閃爍警示燈或 動蜂烏器等主動反應，針對突發而來之危險狀況作出及時 反應’以破保行車安全。 請參閱第3〜4圖所示，於本實施例中，如 :輛=彻3前方左側該攝影裝置22 取自車 其他物件之影像資料，且 22L2以有2側影像22L1及-右侧影像 2 2 L如第3至5。=象，於本實施例中該左攝影裝置 ，所揭取之車輛分別位在圖中左側的影像 料μ 輛31或其他物件之影像輪廓31]係顧- 於该攝影襄置2 2 L之右側影像 ^係顯不 自車車輛3前方右側嗜摄第4圖係為 ，該攝影装==Τ22峨取之影像資料 僮9 9ϋ 0 ，、有—左側影像2 2R1及一太伽與 像2 2R2以擷取至少二影偾_ , . ^ y 右側汾 置22R如第3至5圖所:；本實㈣彳中該右攝影裝 推 5圖所不擷取三分別位在圖中 像，且於該攝影裝置22R之左側影像22ri= = 8 2012/06/28修正替換頁 1378873 車輛3 1之影像輪廓3 1 1，於該攝影裝置2 2 R之右側 影像2 2R2中可見一車輛3 2之影像輪廓3 2 1 ;由於 各攝影裝置2均有其死角，藉由左、右攝影裝置2 2 L、 2 2 R之設置可增加視角，以減小其死角，達到遠、近皆 能清楚辨認之目的，例如左側該攝影裝置2 2 L無法擷取 超出其視角右側之該車輛3 2，而該車輛3 2係位於右側 該攝影裝置2 2 R之視角内，因此可藉各該左、右攝影裝 置2 2 L、2 2 R所擷取之影像相互比對參考。 請配合參閱第1圖所示，當該車輛32突然移動且接 近該自車車輛3時，該車輛3 2於原位置之影像輪廓3 2 1其寬度係L :，且該車輛.3 2接近該自車車輛3時其影像 會放大而具有一放大之影像輪廓3 2 2，且該輪廓3 2 2 之寬度係L i i，如第5圖所示，該控制單元1判斷該影像 輪廓3 2 2以辨識該車輛3 2是否在警示區2 1中，若該 車輛3 2係在警示區2 1中，則控制單元1會將該車輛3 2之輪廓3 2 1與輪廓3 2 2相比較，而以Li及Lii間之 向量圖形的變化即可以線形尺寸運算出其影像變化率，配 合自車車輛3之行車狀態，同時進行線形尺寸的運算、分 析，即可快速計算出該車輛3 2之相對速度、相對距離， 並判斷該車輛3 2之相對速度及相對速度變化率是否在可 接受範圍，若係在非可接受範圍時，則進一步控制該警示 單元4發出警示予自車或他車駕駛人，或以該主動控制單 元5採取自車車輛3減速或閃爍警示燈或啟動蜂鳴器等主 動反應，以確保行車安全。 再者，其亦可設有一顯示裝置（圖中未示），係可連接 2012/06/28修正替換頁 1378873 該控制單元1，以供顯示該攝影裝置2所擷取之影像資料 ，亦可顯示該警示單元4之警示訊號，以便利駕駛人參考 及警示作用。 請參閱第7圖，係本發明之道路前後車輛安全距離保 持方法之流程示意圖，其係包括以下步驟： (a )擷取影像：以設於該自車車輛3前方左、右侧 之二不同視角之攝影裝置2擷取自車車輛3外部環境之車 輛3 1或其他物件影像資料，並將該影像資料傳送至該控 制單元1。 (b) 警示判斷：該控制單元1將由攝影裝置2擷取 之車輛3 1或其他物件影像輪廓3 1 1以辨識該車輛3 1 ，並判斷該車輛3 1是否在警示區2 1内。 (c) 線形運算、判斷：該控制單元1將在警示區2 1之車輛3 1影像輪廓3 1 1之線形尺寸作向量圖形的處 理，運算出其與自車車輛3之相對速度、相對距離，若在 相對速度及相對速度變化率非可接受之範圍時，即做出應 對措施。 (d) 警示效果：由該控制單元1控制該警示單元4 發出警示訊號予自車或他車駕駛人。 (e )主動控制效果：由該控制單元1控制該主動控 制單元5以改變自車車輛3之行車方式，例如將自車車輛 3減速，或啟動警示燈、蜂鳴器等各式主動控制效果。 並且，若前、後方車輛越線超車時，該控制單元1由 攝影裝置2所擷取之影像輪廓，可快速判斷該車輛之相對 速度、相對距離，若該車輛距離遠且速度慢，則判斷其為 2012/06/28修正替換頁 1378873 安全，若該車輛距離遠但速度快，則控制單元1即判斷其 為危險，而進一步採取警示步驟，以確保行車安全。 以上所述實施例之揭示係用以說明本發明，並非用以 限制本發明，故舉凡數值之變更或等效元件之置換仍應隸 屬本發明之範_。 由以上詳細說明，可使熟知本項技藝者明瞭本發明的 確可達成前述目的，實已符合專利法之規定，爰提出專利 申請。 【圖式簡單說明】 第1圖係本發明車輛前方外部環境之示意圖。 第2圖係本發明車輛後方外部環境之示意圖。 第3圖係本發明左侧攝影裝置之影像示意圖。 第4圖係本發明右側攝影裝置之影像示意圖。 第5圖係顯示本發明車輛靠近時，該右侧攝影裝置之影像 示意圖。 第6圖係本發明裝置之方塊圖。 第7圖係本發明之流程示意圖。 【主要元件符號說明】 (習用部分） 無 (本發明部分） 11 2012/06/28修正替換頁 1378873 控制單元11378873 2012/06/28Revision and replacement page VI. Description of the invention: [Technical field of the invention] The present invention relates to a safety distance between a vehicle before and after a road, a device, and more particularly to an image recognition wheel with a handle . The method and device for maintaining the safe distance of the vehicle before and after the action of the relative speed and relative distance of the vehicle. v, take [previous technology] Press, when the vehicle is driving, its front, back, left and right can be at any time, the vehicle is moving, and the visual range of the driver is limited, with the b rear view mirror to observe the rear The vehicle dynamics, however, the scope of the rearview mirror can be limited, and there are also dead ends, so that there is a potential for walking vehicles. Therefore, many operators have developed various design risks for automobile collision avoidance, such as the Republic of China patent. Application No. 961丨5521 Issued ^月°Special Collision Warning System" and No. 95135045 Invention Patent "Detection Method and Device", etc., mainly used in the car body: shadow device, capture The image of the external environment of the vehicle and the image analysis to calculate the relative speed of the vehicle and the obstacle and the distance between the distance and the right are further warning the driver. The criterion side of the vehicle side collision warning system can only distinguish the lateral incision into the near object, and the right front and the rear of the right side can not be judged, and = distinguish the dangerous approaching object, in addition, it can not actively control the speed, It is still actively controlled by the driver, but the driver does not respond to the dangerous situation of the smoke. The latter _ distance to the car 1378873 2012/06/28 correction replacement page device, when there is no lane line, it is impossible to distinguish the target area, and there is no dangerous thing in the target area. Furthermore, before f, the exact cut ^ is a well-known technique that requires braking images and calculations. The judgment and calculation are complex and slow, and cannot be timely reacted. In view of this, how to improve the above-mentioned shortcomings and the key points of the present invention, therefore, the inventors have relied on the concept of research and integration to form the invention. BACKGROUND OF THE INVENTION One of the objects of the present invention is to solve the above problems and to provide a method and device for vehicle safety before and after the road, and to calculate the relative speed and relative speed of the vehicle and the vehicle (4). , : danger or not 'and use the image outline as a linear operation of the image contour, which can reach the characteristics of fast ^. The second purpose of this is that there is a camera device on the left and right sides of the vehicle, and the vehicle can be set before and after the vehicle. By::: increasing the angle of view to reduce the dead angle, so that it can be clear far and near; The third object of the present invention is that the control unit can actively control the self-vehicle vehicle mode to control the deceleration of the vehicle, the warning light or the effect of starting the reaction, and can immediately respond to the sudden danger and ensure the safety of the vehicle. . For the purpose of the foregoing, the present invention includes: - a needle: Ϊ: ! yuan 'system of the vehicle speed signal of the self-vehicle vehicle' and a built-in computing system for the image processing of the child's image; at least - The different viewing angles of the photographic equipment are placed on the right side of the correction page of 2012/06/28. The photographic device captures the image data of the left object and the object placed in front of a self-driving vehicle. The viewing angle of one of the vehicles in the external environment of the vehicle or the two photographic devices: the shirt display captures at least two images, and the other object forms an image contour warning zone, and the vehicle unit is taken; the control unit The operation of transmitting the image data to the control is performed to identify the linear shape of the vehicle and the contour of the self-contour, and determine whether the relative speed and the relative distance between the warning regions are relative to each other. When the speed, phase, and warning zone of the vehicle change to an acceptable range, the line: ===================================================================================== ==Preferred from To control the change from the vehicle-vehicle auxiliary driving mode. And the following steps are included: (a) Capture the image: take the image of the vehicle or other object of the vehicle from the vehicle to the left and right sides of the vehicle (four). And transmitting the image data to the control unit; (b) alerting: the control unit identifies the vehicle or other object image profile captured by the camera device to identify the vehicle and determines whether the vehicle is in the warning zone; (c) Operation and judgment: The control unit processes the linear dimension of the vehicle image contour in the warning zone as a vector graphic to calculate the relative speed and relative distance between the vehicle and the vehicle. If the relative speed and the relative speed change rate are unacceptable In the scope of the scope, the response measures are taken; 2012/06/28 Amendment replacement page 1378873 (d) Warning effect: The control unit controls the warning unit to send a warning signal to the driver or the driver of the vehicle; (e) Active control Effect: The active control unit is controlled by the control unit to change the driving mode of the self-vehicle vehicle. The above and other objects and advantages of the present invention will be readily understood from Of course, the invention may be varied on certain components, or in the arrangement of the components, but the selected embodiments are described in detail in the specification and their construction is shown in the drawings. [Embodiment] Please refer to Fig. 1 to Fig. 7, which show the structure of the embodiment selected for the present invention, which is for illustrative purposes only and is not limited by this structure in the patent application. Referring to Figures 1 to 6, the following is an embodiment of a method and apparatus for maintaining a safe distance of a road before and after a road according to the present invention, wherein the road front and rear vehicle safety distance maintaining device comprises: a control unit 1, as shown in Fig. 6, It is implemented in a car. The control unit 1 can detect the speed signal of the self-vehicle vehicle, and has a single-chip computer computing system capable of linear processing for image data. The photographing device 2 of at least two different viewing angles is disposed in front of and/or rear left and right sides of a self-vehicle vehicle 3, and the photographing device 2 captures image data of the vehicle 3 1 or other objects in the external environment of the self-vehicle vehicle 3, At least two images are captured by the same photographing device 2, and the angle of view of the two photographing devices 2 is corrected in 2012/06/28 to replace the replacement page 1387873, the first warning zone 2 1, and the captured vehicle 3 1 or other objects form a The image profile 3 1 1 is used to transmit the image data to the control unit 1. The single-chip computer computing system of the control unit 1 can perform vector graphics calculation and analysis on the linear dimension of the image contour 3 1 1; In the example, as shown in FIG. 2, a camera device 2 2 L and 2 2 R are respectively disposed on the left and right sides of the front side of the bicycle 3, and a left and right rear view mirrors are respectively provided in the self-vehicle vehicle 3; The photographing devices 2 3 L, 2 3 R, and the left, right, or rear sides of the rear of the vehicle 3 are provided with a photographing device 2 4 L, 2 4 R, respectively. Furthermore, the left and right sides of the photographing device 2 can be high depth of field cameras of different viewing angles to clearly capture the front and side objects of different far and close distances. The control unit 1 cooperates with the image data captured by the photographing device 2 according to the speed of the self-vehicle vehicle 3, and determines the vehicle 3 1 or other objects by the image contour 31 1 and judges the vehicle 3 1 Whether it is in the warning zone 2 1 and the relative speed and relative distance between the vehicle and the vehicle 3 in the warning zone 2 1 are linearly calculated, if the relative speed and the relative speed change rate are not The acceptable range is to respond. A warning unit 4, as shown in FIG. 6, is implemented on the vehicle, and the warning unit 4 is connected to the control unit 1, and the control unit 1 controls to issue various warning messages to the vehicle or the vehicle. The driver, wherein the warning mode can be sound, video or light. An active control unit 5, as shown in FIG. 6, is implemented on the vehicle, and the active control unit 5 is connected to the control unit 1, and the replacement page $, the element 1 is corrected by the 2012/06/28 The control sends a signal to the self-driving vehicle 3 to control the changing mode of the self-vehicle vehicle, such as deceleration, or activation of the flashing warning light, buzzer = active response. _ Tian identifies the vehicle 3 1 or other objects in the police zone with the image outline 3 1 1? "1 D+ 吟' and its relative speed and relative speed change rate are unacceptable f' then the control unit 1 will control the warning unit 4 to alert the driver. u The relative speed of the vehicle 3ι and the self-vehicle 3 Fast and relative distance 4] or the vehicle 3 1 moves at high speed and enters the warning zone 2 1 ^ Control unit 1 controls the active control unit 5 to emit the signal vehicle 3, and quickly and takes a slowdown or starts flashing Actively responding to warning lights or beekeeping devices, responding promptly to sudden dangerous situations, in order to break the safety of driving. Referring to FIG. 3 to FIG. 4, in the present embodiment, for example, the camera unit 22 on the left side of the front side of the vehicle is taken from the image data of other objects in the vehicle, and the 22L2 has two side images 22L1 and the right side image. 2 2 L as in the 3rd to 5th. = In the embodiment, in the left photographic device, the image of the image taken on the left side of the image is displayed on the left side of the image, or the image contour of the other object is 31] - the photographic device is 2 2 L The image on the right side of the camera is displayed on the right side of the car. The picture is shown in Fig. 4, the image is loaded with the image data of 9 9 ϋ 0, and there is — the left image 2 2R1 and a tar and image 2 2R2 to draw at least two shadows _, . ^ y right side of the device 22R as shown in Figures 3 to 5;; this real (four) 该 in the right photographic loading 5 picture does not take three separate positions in the picture, And the image on the left side of the photographing device 22R 22ri==8 2012/06/28 Correction replacement page 1378873 The image contour 3 1 of the vehicle 3 1 is visible in the right image 2 2R2 of the photographing device 2 2 R. The image contour 3 2 1 ; since each camera device 2 has its dead angle, the left and right camera devices 2 2 L, 2 2 R can be set to increase the angle of view to reduce the dead angle, which can be clear far and near. For the purpose of identification, for example, the camera 2 2 L on the left side cannot capture the vehicle 3 2 beyond the right side of the viewing angle, and the vehicle 3 2 is located on the right side. 2 2 R the angle of view of the fixing device, therefore, by each of the left and right camera apparatus 2 2 L, 2 2 R ratio of each image captured by the reference. Referring to FIG. 1 , when the vehicle 32 suddenly moves and approaches the own vehicle 3 , the image contour 3 2 1 of the vehicle 3 2 in its original position has a width L: and the vehicle . 3 2 is close to The image of the self-vehicle vehicle 3 is enlarged to have an enlarged image contour 3 2 2, and the width of the contour 3 2 2 is L ii. As shown in FIG. 5, the control unit 1 determines the image contour 3 2 2 to identify whether the vehicle 3 2 is in the warning zone 2 1 , if the vehicle 3 2 is in the warning zone 2 1 , the control unit 1 compares the contour 3 2 1 of the vehicle 3 2 with the contour 3 2 2 The change of the vector pattern between Li and Lii can calculate the image change rate according to the linear size, and cooperate with the driving state of the self-vehicle 3, and simultaneously calculate and analyze the linear size to quickly calculate the vehicle 3 2 Relative speed, relative distance, and determining whether the relative speed and relative speed change rate of the vehicle 3 2 are within an acceptable range, and if it is in an unacceptable range, further controlling the warning unit 4 to issue a warning to the vehicle or him The driver of the vehicle, or take the self-driving vehicle with the active control unit 5 An active response such as a 3 deceleration or flashing warning light or a buzzer is activated to ensure safe driving. Furthermore, it can also be provided with a display device (not shown), which can be connected to the 2012/06/28 correction replacement page 1387873. The control unit 1 can display the image data captured by the camera device 2, The warning signal of the warning unit 4 is displayed to facilitate the driver's reference and warning function. Please refer to FIG. 7 , which is a schematic flow chart of a method for maintaining a safe distance of a vehicle before and after a road according to the present invention, which comprises the following steps: (a) capturing an image: different from the left and right sides of the front of the self-vehicle vehicle 3; The photographic device 2 of the viewing angle captures the vehicle 3 1 or other object image data of the external environment of the vehicle 3 and transmits the image data to the control unit 1. (b) Warning judgment: The control unit 1 identifies the vehicle 3 1 by the vehicle 3 1 or other object image contour 3 1 1 captured by the photographing device 2, and determines whether the vehicle 3 1 is in the warning area 2 1 . (c) Linear calculation and judgment: The control unit 1 processes the linear dimension of the image 3 1 1 of the vehicle 3 1 in the warning area 2 1 as a vector graphic, and calculates the relative speed and relative distance from the self-vehicle 3 If the relative speed and relative speed change rate are unacceptable, the countermeasures are taken. (d) Warning effect: The warning unit 4 is controlled by the control unit 1 to issue a warning signal to the driver or the driver of the vehicle. (e) Active control effect: The active control unit 5 is controlled by the control unit 1 to change the driving mode of the self-vehicle 3, for example, decelerating the self-vehicle 3, or starting various active control effects such as warning lights and buzzers. . Moreover, if the front and rear vehicles overtake the vehicle, the control unit 1 can quickly determine the relative speed and relative distance of the vehicle by the image contour captured by the photographing device 2. If the vehicle is far away and the speed is slow, then It is judged that it is the 2012/06/28 amendment replacement page 1387873. If the vehicle is far away but the speed is fast, the control unit 1 judges that it is dangerous, and further takes a warning step to ensure driving safety. The above description of the embodiments is intended to be illustrative of the invention and is not intended to limit the scope of the invention. From the above detailed description, it will be apparent to those skilled in the art that the present invention can achieve the above-mentioned objects, and is in accordance with the provisions of the Patent Law. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing the external environment of the front side of the vehicle of the present invention. Figure 2 is a schematic illustration of the rear exterior environment of the vehicle of the present invention. Fig. 3 is a schematic view showing the image of the left side photographing device of the present invention. Fig. 4 is a schematic view showing the image of the right side photographing device of the present invention. Fig. 5 is a view showing the image of the right side photographing device when the vehicle of the present invention approaches. Figure 6 is a block diagram of the apparatus of the present invention. Figure 7 is a schematic flow diagram of the present invention. [Explanation of main component symbols] (Applicable part) None (Invention part) 11 2012/06/28 Correction replacement page 1378873 Control unit 1
攝影裝置 2、22L、22R、23L、23R、24L、 2 4 R 警示區2 1 左侧影像2 2 L 1、2 2 L 2 右側影像22R1、22R2 自車車輛3 車輛3 1、3 2 影像輪廓311、321、322 警示單元4 主動控制單元5 寬度L1、L 11Photographic device 2, 22L, 22R, 23L, 23R, 24L, 2 4 R Warning zone 2 1 Left image 2 2 L 1 , 2 2 L 2 Right image 22R1, 22R2 Vehicle vehicle 3 Vehicle 3 1 , 3 2 Image outline 311, 321, 322 warning unit 4 active control unit 5 width L1, L 11