TWI520861B

TWI520861B - Forward vehicle motion detection system and method thereof

Info

Publication number: TWI520861B
Application number: TW102113524A
Authority: TW
Inventors: Xuan-Yi Su; Liang-Yi Jian
Original assignee: Papago Inc
Priority date: 2013-04-16
Filing date: 2013-04-16
Publication date: 2016-02-11
Also published as: TW201441074A

Description

前方車輛移動偵測系統及其方法 Front vehicle motion detection system and method thereof

本發明係有關一種影像辨識方法，特別是有關於一種利用連續影像判斷前方是否有車輛存在及前方車輛是否移動之移動偵測方法。 The present invention relates to an image recognition method, and more particularly to a motion detection method for determining whether a vehicle is present in front and whether a vehicle in front is moving by using a continuous image.

目前廣泛使用於車輛上的倒車雷達系統，係使用超音波感測器來偵測車輛與周圍障礙物的情況，若周圍障礙物接近駕駛人車輛一定距離時由警報系統發出警示音，依照不同的距離而有不同頻率的警示音，駕駛人可藉由不同頻率的警示音得知駕駛車輛與周圍障礙物的距離，解除了駕駛人在停車、倒車、和啟動車輛時前後左右探視所引起的困擾，可提高駕駛時的安全性；而更進一步的倒車雷達系統並附有攝影鏡頭，當車輛排入倒車檔後，即自動啟動車內顯示器顯示攝影鏡頭拍攝之車外影像，駕駛人可利用車內顯示器影像看見車外障礙物情況，並依照超音波感測器所發出之警示音掌握駕駛人車輛與周圍障礙物的距離，。 The reversing radar system currently widely used in vehicles uses an ultrasonic sensor to detect the situation of the vehicle and surrounding obstacles. If the surrounding obstacle approaches a certain distance of the driver's vehicle, the warning system emits a warning sound, according to different There are different frequency warning sounds, and the driver can know the distance between the driving vehicle and the surrounding obstacles by the warning sounds of different frequencies, which relieves the driver from the trouble caused by parking, reversing, and starting the vehicle. It can improve the safety of driving; further, the reversing radar system is equipped with a photographic lens. When the vehicle is discharged into the reverse gear, the car display automatically displays the image of the car taken by the photographic lens, and the driver can use the car. The display image sees the obstacles outside the vehicle and grasps the distance between the driver's vehicle and the surrounding obstacles according to the warning sound emitted by the ultrasonic sensor.

上述倒車雷達系統，主要應用於掌握駕駛人車輛後方之情況。然而在駕駛人車輛前方情況卻未提供偵測系統以利駕駛人掌握車況。 The above reversing radar system is mainly used to grasp the situation behind the driver's vehicle. However, in the case of the driver's vehicle, no detection system is provided to facilitate the driver to grasp the condition of the vehicle.

本發明的目的在於提供一種車輛移動偵測系統及其偵測方法，用以偵測一車輛靜止時之前方是否有車輛存在，並依據該車輛靜止時之前方車輛的移動情形發出警示音提醒使用者前方車況的改變。 The object of the present invention is to provide a vehicle motion detection system and a detection method thereof for detecting whether a vehicle exists in the front when a vehicle is stationary, and to issue a warning tone reminder according to the movement condition of the vehicle before the vehicle is stationary. The change of the car situation ahead.

本發明揭露的車輛移動偵測系統，適用於裝置在一車輛上，包括一影像擷取單元及一運算處理單元。影像擷取單元拍攝該車輛靜止時前方以產生至少一連續影像，運算處理單元連接影像擷取單元以從該影像擷取單元取得該至少一連續影像，並判定該至少一連續影像的內容包括一前車車尾影像時，分析前車車尾影像的變化，以判斷該車輛靜止時之前方車輛是否移動。 The vehicle motion detection system disclosed in the present invention is applicable to a device, including an image capturing unit and an arithmetic processing unit. The image capturing unit captures the front of the vehicle when the camera is stationary to generate at least one continuous image, and the operation processing unit is connected to the image capturing unit to obtain the at least one continuous image from the image capturing unit, and determines that the content of the at least one continuous image includes one In the image of the front and rear of the car, analyze the change of the image of the front and rear of the car to determine the front of the vehicle when it is stationary. Whether the vehicle is moving.

本發明的功效主要在車輛前方的車況偵測，主動提供使用者關於前方車況改變的警示訊號，有別於先前技術著重於車輛後方的車況偵測，且無法在車況改變時主動告知使用者車況的改變。 The utility model mainly detects the vehicle condition in front of the vehicle, and actively provides the user with a warning signal about the change of the front vehicle condition, which is different from the prior art focusing on the vehicle condition detection behind the vehicle, and cannot actively inform the user of the vehicle condition when the vehicle condition changes. Change.

110‧‧‧影像擷取單元 110‧‧‧Image capture unit

111‧‧‧連續影像 111‧‧‧Continuous imagery

120‧‧‧運算處理單元 120‧‧‧Operation Processing Unit

130‧‧‧音波發送單元 130‧‧‧Sonic transmitter unit

140‧‧‧音波感測單元 140‧‧‧Sonic sensing unit

141‧‧‧反射波訊號 141‧‧‧Reflected wave signal

142‧‧‧距離數值 142‧‧‧ Distance value

150‧‧‧光線發送單元 150‧‧‧Light transmission unit

160‧‧‧光線感測單元 160‧‧‧Light sensing unit

161‧‧‧反射光訊號 161‧‧‧Reflected optical signal

162‧‧‧距離數值 162‧‧‧ Distance value

200‧‧‧靜止車輛 200‧‧‧Standing vehicles

200A‧‧‧靜止車輛之前方車輛 200A‧‧‧ Vehicles in front of stationary vehicles

S110~S140‧‧‧步驟流程 S110~S140‧‧‧Step procedure

圖1A繪示本發明之車輛移動偵測系統的元件方塊示意圖。 FIG. 1A is a block diagram showing the components of the vehicle motion detection system of the present invention.

圖1B繪示本發明之車輛移動偵測系統流程示意圖。 FIG. 1B is a schematic flow chart of a vehicle motion detection system according to the present invention.

圖2A、圖2B及圖2C繪示本發明之車輛移動偵測系統的第一種架構示意圖。 2A, 2B and 2C are schematic diagrams showing a first architecture of the vehicle motion detection system of the present invention.

圖3A、圖3B及圖3C繪示本發明之車輛移動偵測系統的第二種架構示意圖。 3A, 3B and 3C are schematic diagrams showing a second architecture of the vehicle motion detection system of the present invention.

圖4A、圖4B及圖4C繪示本發明之車輛移動偵測系統的第三種架構示意圖。 4A, 4B and 4C are schematic diagrams showing a third architecture of the vehicle motion detection system of the present invention.

以下，將配合參考所附圖式，說明本發明之實施例。 Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

請參閱圖1A繪示本發明之車輛移動偵測系統的元件方塊示意圖。此系統至少包括一影像擷取單元110及連接一影像擷取單元110的運算處理單元120。此系統適用於裝設在一車輛上，或是建構於行車記錄器或是相類似具影像拍攝能力的電子裝置，且此等電子裝置是架設於此車輛。 1A is a block diagram showing the components of the vehicle motion detection system of the present invention. The system includes at least an image capturing unit 110 and an arithmetic processing unit 120 connected to an image capturing unit 110. The system is suitable for being mounted on a vehicle, or is constructed on a driving recorder or an electronic device similar to image capturing capability, and such electronic devices are mounted on the vehicle.

影像擷取單元110是朝向該車輛前方進行拍攝，藉以產生一個以上的連續影像111。影像擷取單元110可為攝像模組、電路、裝置、元件等任一種硬體呈現態樣，如CCD鏡頭、攝影機…等。連續影像111可為一串流影像或是連續性拍照的圖片所形成的動態畫面資料。 The image capturing unit 110 images the front side of the vehicle to generate one or more continuous images 111. The image capturing unit 110 can be any hardware presentation mode such as a camera module, a circuit, a device, and a component, such as a CCD lens, a camera, and the like. The continuous image 111 can be a dynamic image data formed by a stream of images or a picture taken continuously.

當該車輛靜止時，運算處理單元120連接影像擷取單元110取得上述的連續影像111，並對連續影像111進行分析。當運算處理單元120判斷出此連續影像111包括一個前車車尾影像時，會分析前車車尾影像的變化，以判斷此前方車輛是否移動或是呈現停止狀態。其中，運算處理單元110分析連續影像111是否存在前車車尾影像的方式至少包括下列方式：運算處理單元110會依據一車尾特徵資訊分析連續影像111。運算處理單元110判斷連續影像111中，有局部影像符合車尾特徵資訊時，判定此局部影像為前車車尾影像。 When the vehicle is stationary, the arithmetic processing unit 120 connects the image capturing unit 110 to obtain the continuous image 111 described above, and analyzes the continuous image 111. When the operation processing unit 120 determines that the continuous image 111 includes a front vehicle rear image, it analyzes the change of the front vehicle rear image to determine whether the front vehicle is moving or exhibiting a stop state. The manner in which the operation processing unit 110 analyzes whether the continuous image 111 has a front-vehicle image includes at least the following manner: the operation processing unit 110 analyzes the continuous image 111 according to a tail feature information. The arithmetic processing unit 110 determines that the partial image conforms to the tail feature information when the partial image is in the continuous image 111, and determines that the partial image is the front vehicle rear image.

請參閱圖1B繪示本發明之車輛移動偵測方法流程示意圖，請配合參閱圖1A以利於了解。此方法至少包括下列步驟：經由影像擷取單元110拍攝該車輛靜止時前方以產生至少一連續影像111(步驟S110)。其中連續影像111可為一串流影像或是連續性拍照的圖片所形成的動態畫面資料。 Please refer to FIG. 1B , which is a schematic flowchart of the vehicle motion detection method of the present invention. Please refer to FIG. 1A for understanding. The method includes at least the following steps: capturing the front of the vehicle when it is stationary via the image capturing unit 110 to generate at least one continuous image 111 (step S110). The continuous image 111 can be a dynamic image data formed by a streaming image or a continuously photographed image.

經由運算處理單元120從影像擷取單元110取得該至少一連續影像111(步驟S120)。其中連續影像111可能包括前方行人影像、周圍景物狀態…等任何影像。 The at least one continuous image 111 is acquired from the image capturing unit 110 via the arithmetic processing unit 120 (step S120). The continuous image 111 may include any image such as a front pedestrian image, a surrounding scene state, and the like.

經由運算處理單元120判定此連續影像111的內容是否包括一前車車尾影像(步驟S130)。其中運算處理單元120判定連續影像111的內容是否包括一前車車尾影像時的依據，可能包括車尾方向燈、車牌、車輛輪廓…等。 It is determined via the arithmetic processing unit 120 whether the content of the continuous image 111 includes a preceding vehicle rear image (step S130). The operation processing unit 120 determines whether the content of the continuous image 111 includes a front-vehicle image, and may include a taillight, a license plate, a vehicle outline, and the like.

當運算處理單元120判定連續影像111的內容包括一前車車尾影像時，分析該前車車尾影像的變化，以判斷該車輛靜止時之前方車輛是否移動(步驟S140)。其中判斷該車輛靜止時之前方車輛是否移動的依據，可能包括車尾影像位置變化、車牌位置變化、車輛輪廓大小變化…等。 When the operation processing unit 120 determines that the content of the continuous image 111 includes a preceding vehicle rear image, the change of the front vehicle rear image is analyzed to determine whether the preceding vehicle moves when the vehicle is stationary (step S140). The basis for determining whether the vehicle is moving when the vehicle is stationary may include a change in the position of the rear image, a change in the position of the license plate, a change in the size of the vehicle, and the like.

相反的，當運算處理單元120判定連續影像111的內容未包括前車車尾影像時，返回步驟S110，以重新進行車輛移動偵測方法。 Conversely, when the operation processing unit 120 determines that the content of the continuous image 111 does not include the preceding vehicle rear image, the process returns to step S110 to re-execute the vehicle movement detection method.

請參閱圖2A、圖2B及圖2C繪示本發明一實例之車輛靜止時前方車輛移動判斷示意圖，請配合前實施例的說明以利於了解。圖2A中當該車輛靜止時前方沒有車輛時，影像擷取單元110取得的連續影像111傳送至運算處理單元120，並判斷出該車輛靜止時前方沒有車輛時，不會發出警示；圖2B中當該靜止車輛前方有車輛存在時，影像擷取單元110拍攝到前方車輛影像，並傳送前方車輛影像至運算處理單元120，由運算處理單元120判斷出該車輛靜止時前方存在車輛；圖2C中當該車輛靜止時前方車輛位置改變時，影像擷取單元110拍攝到前方車輛影像變化，傳送前方車輛影像至運算處理單元120，由運算處理單元120判斷出前方車輛影像變化後，傳送一警示訊號藉以提醒使用者前方車輛移動情形。 2A, FIG. 2B and FIG. 2C are schematic diagrams showing the determination of the movement of the preceding vehicle when the vehicle is stationary according to an example of the present invention. Please cooperate with the description of the previous embodiment to facilitate understanding. In FIG. 2A, when there is no vehicle in front when the vehicle is stationary, the continuous image 111 acquired by the image capturing unit 110 is transmitted to the arithmetic processing unit 120, and it is determined that there is no vehicle in front of the vehicle when it is stationary, and no warning is issued; When there is a vehicle in front of the stationary vehicle, the image capturing unit 110 captures the image of the preceding vehicle and transmits the preceding vehicle image to the arithmetic processing unit 120, and the arithmetic processing unit 120 determines that the vehicle exists in front of the vehicle when it is stationary; FIG. 2C When the front vehicle position changes when the vehicle is stationary, the image capturing unit 110 captures the front vehicle image change, transmits the front vehicle image to the arithmetic processing unit 120, and the arithmetic processing unit 120 determines that the front vehicle image changes, and transmits a warning signal. In order to remind the user of the movement of the vehicle ahead.

請參閱圖3A、圖3B及圖3C繪示本發明之車輛移動偵測系統的第二種硬件配置示意圖，請配合圖1A以利於了解。此系統更包括連接運算處理單元120的一音波發送單元130及一音波感測單元140。此音波發送單元130及音波感測單元140設置於車輛上，其中音波發送單元130朝向該車輛前方發送一音波訊號。音波感測單元140用以感測對應音波訊號的一反射波訊號141，運算處理單元120依據反射波訊號141產生一距離數值142。於步驟S130中，運算處理單元120會依據距離數值142以協助判斷前車車尾影像是否存在。並於步驟S140，也就是運算處理單元120判斷前車車尾影像存在時，運算處理單元120會結合前車車尾影像與距離數值142的變化，決定前方車輛是否移動或呈現停止狀態。 Please refer to FIG. 3A, FIG. 3B and FIG. 3C for the vehicle motion detection system of the present invention. The second hardware configuration diagram of the system, please cooperate with Figure 1A to facilitate understanding. The system further includes an acoustic wave transmitting unit 130 and an acoustic wave sensing unit 140 connected to the arithmetic processing unit 120. The sound wave transmitting unit 130 and the sound wave sensing unit 140 are disposed on the vehicle, wherein the sound wave transmitting unit 130 transmits an sound wave signal toward the front of the vehicle. The sound sensing unit 140 is configured to sense a reflected wave signal 141 corresponding to the sound wave signal, and the operation processing unit 120 generates a distance value 142 according to the reflected wave signal 141. In step S130, the arithmetic processing unit 120 uses the distance value 142 to assist in determining whether the front vehicle rear image exists. In step S140, that is, when the arithmetic processing unit 120 determines that the preceding vehicle rear image exists, the arithmetic processing unit 120 determines whether the preceding vehicle moves or assumes the stop state in combination with the change of the front vehicle rear image and the distance value 142.

請參閱圖4A、圖4B及圖4C繪示本發明之車輛移動偵測系統的第三種硬件配置示意圖，請配合圖1A以利於了解。此系統更包括連接運算處理單元120的一光線發送單元150及一光線感測單元160。此光線發送單元150及光線感測單元160設置於一車輛上，其中光線發送單元150朝向該車輛前方發送一光線訊號。光線感測單元160用以感測對應光線訊號的一反射光訊號161，運算處理單元120依據反射光訊號161產生一距離數值162。於步驟S130中，運算處理單元120會依據距離數值162以協助判斷前車車尾影像是否存在。並於步驟S140，也就是運算處理單元120判斷前車車尾影像存在時，運算處理單元120會結合前車車尾影像與距離數值162的變化，決定前方車輛是否移動或呈現停止狀態。 Please refer to FIG. 4A, FIG. 4B and FIG. 4C for a third hardware configuration diagram of the vehicle motion detection system of the present invention. Please refer to FIG. 1A for understanding. The system further includes a light transmitting unit 150 and a light sensing unit 160 connected to the arithmetic processing unit 120. The light transmitting unit 150 and the light sensing unit 160 are disposed on a vehicle, wherein the light transmitting unit 150 sends a light signal toward the front of the vehicle. The light sensing unit 160 is configured to sense a reflected light signal 161 corresponding to the light signal, and the operation processing unit 120 generates a distance value 162 according to the reflected light signal 161. In step S130, the arithmetic processing unit 120 determines the presence or absence of the vehicle front image based on the distance value 162. In step S140, that is, when the arithmetic processing unit 120 determines that the preceding vehicle rear image exists, the arithmetic processing unit 120 determines whether the preceding vehicle moves or assumes the stop state in combination with the change of the front vehicle rear image and the distance value 162.

值得一提的是，在一實施例中，本發明之車輛移動偵測系統及其方法係可應用於「設置本系統的車輛」與「鄰近本車輛的前方車輛」二者皆處於靜止狀態之後，該前方車輛後續是否有移動的行為。 It is to be noted that, in an embodiment, the vehicle motion detection system and method of the present invention can be applied to both the "vehicle in which the system is installed" and the "vehicle in the vicinity of the host vehicle" are in a stationary state. Whether the vehicle in front of the vehicle has a moving behavior.

雖然本發明以前述實施例揭露如上，然其前非用以限定本發明，任何熟習相像技藝者，在不脫離本發明之精神和範圍內，所作更動與潤飾之等效替換，仍為本發明之專利保護範圍之內。 While the present invention has been described above in the foregoing embodiments, the present invention is not intended to limit the invention, and the equivalents of the modifications and retouchings are still in the present invention without departing from the spirit and scope of the invention. Within the scope of patent protection.

110‧‧‧影像擷取單元 110‧‧‧Image capture unit

111‧‧‧連續影像 111‧‧‧Continuous imagery

120‧‧‧運算處理單元 120‧‧‧Operation Processing Unit

130‧‧‧音波發送單元 130‧‧‧Sonic transmitter unit

140‧‧‧音波感測單元 140‧‧‧Sonic sensing unit

141‧‧‧反射波訊號 141‧‧‧Reflected wave signal

142‧‧‧距離數值 142‧‧‧ Distance value

150‧‧‧光線發送單元 150‧‧‧Light transmission unit

160‧‧‧光線感測單元 160‧‧‧Light sensing unit

161‧‧‧反射光訊號 161‧‧‧Reflected optical signal

162‧‧‧距離數值 162‧‧‧ Distance value

Claims

一種車輛移動偵測系統，包括：一影像擷取單元，係拍攝該車輛靜止時前方以產生至少一連續影像；一運算處理單元，連接該影像擷取單元以從該影像擷取單元取得該至少一連續影像，並判定該至少一連續影像的內容包括一前車車尾影像時，分析該前車車尾影像的變化；一音波發送單元與一音波感測單元，用以朝向該車輛前方發送一音波訊號並產生一距離數值；以及一光線發送單元與一光線感測單元，用以朝向該車輛前方發送一光線訊號並產生另一距離數值，其中該運算處理單元結合該距離數值及該另一距離數值與該前車車尾影像以判斷該車輛靜止時之前方車輛是否移動。 A vehicle motion detection system includes: an image capturing unit that captures a front of the vehicle while stationary to generate at least one continuous image; an arithmetic processing unit that is coupled to the image capturing unit to obtain the at least the image capturing unit a continuous image, and determining that the content of the at least one continuous image includes a front-vehicle image, analyzing the change of the image of the front-vehicle image; a sound wave transmitting unit and a sound wave sensing unit for transmitting toward the front of the vehicle An acoustic signal generates a distance value; and a light transmitting unit and a light sensing unit for transmitting a light signal toward the front of the vehicle and generating another distance value, wherein the arithmetic processing unit combines the distance value with the other A distance value and the image of the front vehicle rear to determine whether the vehicle is moving before the vehicle is stationary.

如申請專利範圍第1項所述之車輛移動偵測系統，其中該運算處理單元取得該至少一連續影像時，依據一車尾特徵資訊分析該至少一連續影像，以判斷該至少一連續影像是否存在該前車車尾影像。 The vehicle motion detection system of claim 1, wherein the operation processing unit analyzes the at least one continuous image according to a tail feature information when the at least one continuous image is acquired to determine whether the at least one continuous image is There is an image of the front car tail.

如申請專利範圍第1項所述之車輛移動偵測系統，其中該運算處理單元分析該前車車尾影像的變化時，係依據該前車車尾影像於該至少一連續影像的涵蓋範圍的尺寸變化，判斷該車輛靜止時之前方車輛是否移動。 The vehicle motion detection system of claim 1, wherein the arithmetic processing unit analyzes the change of the image of the front and rear of the vehicle according to the coverage of the at least one continuous image of the front vehicle image. The size changes to determine whether the vehicle is moving when the vehicle is stationary.

如申請專利範圍第1項所述之車輛移動偵測系統，其中該運算處理單元分析該前車車尾影像的變化時，係依據該前車車尾影像於該至少一連續影像的涵蓋範圍界定該車輛靜止時之前方車輛輪廓，以依據該前方車輛輪廓的尺寸變化，判斷該車輛靜止時之前方車輛是否移動。 The vehicle motion detection system of claim 1, wherein the operation processing unit analyzes the change of the image of the front and rear of the vehicle, and defines the coverage of the at least one continuous image according to the image of the vehicle at the front of the vehicle. The front vehicle profile when the vehicle is stationary, to determine whether the preceding vehicle moves when the vehicle is stationary, according to the size change of the front vehicle profile.

一種車輛移動偵測方法，其步驟包括：經由一影像擷取單元拍攝該車輛靜止時前方以產生至少一連續影像；經由一運算處理單元從該影像擷取單元取得該至少一連續影像；當該運算處理單元判定該至少一連續影像的內容包括一前車車尾影像時，分析該前車車尾影像的變化；藉由一音波發送單元與一音波感測單元朝向該車輛前方發送一音波訊號並產生一距離數值；藉由一光線發送單元與一光線感測單元朝向該車輛前方發送一光線訊號並產生另一距離數值；以及透過該運算處理單元結合該距離數值及該另一距離數值與該前車車尾影像以判斷該車輛靜止時之前方車輛是否移動。 A method for detecting a motion of a vehicle, the method comprising: capturing, by an image capturing unit, a front of the vehicle when the camera is stationary to generate at least one continuous image; acquiring the at least one continuous image from the image capturing unit via an operation processing unit; The operation processing unit determines that the content of the at least one continuous image includes a front vehicle rear image, and analyzes the change of the front vehicle rear image; and sends a sound toward the front of the vehicle by a sound wave transmitting unit and a sound wave sensing unit. The wave signal generates a distance value; a light transmitting unit and a light sensing unit send a light signal toward the front of the vehicle and generate another distance value; and the distance value and the other distance are combined by the operation processing unit The value and the vehicle tail image are used to determine whether the vehicle is moving before the vehicle is stationary.

如申請專利範圍第5項所述之車輛移動偵測方法，其中該運算處理單元判定該至少一連續影像的內容包括一前車車尾影像之該步驟更包括：經由該運算處理單元依據一車尾特徵資訊分析該至少一連續影像；以及當該運算處理單元判斷該至少一連續影像中的局部影像匹配該前車車尾影像特徵資訊時，判定存在該前車車尾影像。 The vehicle motion detection method according to claim 5, wherein the operation processing unit determines that the content of the at least one continuous image includes a front-vehicle image, and the step further comprises: The tail feature information analyzes the at least one continuous image; and when the operation processing unit determines that the partial image in the at least one continuous image matches the front vehicle image feature information, determining that the front vehicle rear image exists.

如申請專利範圍第5項所述之車輛移動偵測方法，其中分析該前車車尾影像的變化之該步驟更包括：經由該運算處理單元依據該前車車尾影像於該至少一連續影像的涵蓋範圍的尺寸變化，判斷該車輛靜止時前方車輛是否移動。 The vehicle motion detection method of claim 5, wherein the step of analyzing the change of the image of the front vehicle rear image further comprises: performing, by the operation processing unit, the at least one continuous image according to the front vehicle rear image The size of the coverage varies to determine if the vehicle is moving when the vehicle is stationary.

如申請專利範圍第5項所述之車輛移動偵測方法，其中分析該前車車尾影像的變化之該步驟更包括：經由該運算處理單元依據該前車車尾影像於該至少一連續影像的涵蓋範圍界定該車輛靜止時之前方車輛輪廓；以及經由該運算處理單元依據該前方車輛輪廓的尺寸變化，判斷該車輛靜止時前方車輛是否移動。 The vehicle motion detection method of claim 5, wherein the step of analyzing the change of the image of the front vehicle rear image further comprises: performing, by the operation processing unit, the at least one continuous image according to the front vehicle rear image The coverage defines the front vehicle profile when the vehicle is stationary; and determines whether the preceding vehicle moves when the vehicle is stationary based on the dimensional change of the forward vehicle profile via the arithmetic processing unit.