TWI551483B - Blind zone monitoring method and system thereof - Google Patents
Blind zone monitoring method and system thereof Download PDFInfo
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Description
本發明是關於一種盲區監控方法與系統，特別是關於搭配影像擷取裝置的盲區監控方法與系統。 The invention relates to a blind zone monitoring method and system, in particular to a blind zone monitoring method and system for matching an image capturing device.
在台灣、中國大陸、或東南亞人口密集的國家，二輪機動車輛(以下稱為機車)因其機動性高、便利性強的特性而成為許多民眾的代步工具，因此，提升機車行車安全自是重要議題。 In Taiwan, mainland China, or densely populated countries in Southeast Asia, two-wheeled vehicles (hereinafter referred to as locomotives) have become the means of transportation for many people because of their high mobility and convenience. Therefore, it is important to improve the safety of locomotives. issue.
目前，用以輔助機車駕駛者掌握周圍路況而減少視覺盲區(blind zone)的盲區監控方法與系統主要分為二種：(1)第一種是利用圓弧形凸面鏡或不同角度稜鏡之組合來使駕駛者能透過鏡片反射監看盲區影像，然此方式的可視範圍相當有限，駕駛者常常仍需另外自行偏轉頭部以觀看所需的視線範圍，造成駕駛者在行車過程中對前方路況會有短時間的分心，因而在前方出現短暫的視覺盲區，並且，此一方式尚需針對每位駕駛者調整鏡片的擺設；(2)第二種是透過影像擷取裝置擷取盲區影像並加以顯示，習知作法是在車體的尾端裝設一或多台監視器來擷取盲區 影像，並藉由前方顯示螢幕來讓駕駛者觀看後方的盲區影像，然而，當駕駛者欲變換車道或轉彎時，最需關注的盲區主要在於駕駛者的左右兩側，但將監視器設於機車尾端的此類監控系統所擷取的盲區影像卻是以機車車體的正後方為主，因而不易防範側向的碰撞意外，此外，由於機車本身的高度限制以及行進時的偏斜情況，容易造成所擷取的盲區影像難以為駕駛者所用。 At present, the blind zone monitoring method and system for assisting the locomotive driver to grasp the surrounding road conditions and reduce the blind zone are mainly divided into two types: (1) The first one is to use a circular convex mirror or a combination of different angles. In order to enable the driver to monitor the blind spot image through the lens reflection, the visual range of the method is quite limited, and the driver often needs to deflect the head by himself to view the desired line of sight, causing the driver to face the road ahead during the driving process. There will be a short distraction, so there is a short visual blind spot in front, and this method still needs to adjust the lens for each driver; (2) The second is to capture the blind spot image through the image capturing device. And it is shown that it is customary to install one or more monitors at the end of the car body to capture the blind spot. The image is displayed on the front screen to allow the driver to view the rear blind spot image. However, when the driver wants to change lanes or turn, the most important blind spot is the driver's left and right sides, but the monitor is set at The blind spot image captured by such a monitoring system at the tail end of the locomotive is mainly behind the locomotive body, so it is not easy to prevent lateral collision accidents. In addition, due to the height limitation of the locomotive itself and the deflection during travel, It is easy to cause the image of the blind spot captured to be difficult for the driver to use.
有鑑於上述問題，本發明提供一種盲區監控方法與系統，可配合駕駛者的姿態與移動軌跡而動態調整影像擷取裝置，尤其是在駕駛者欲變換車道或轉彎時，可提供駕駛者最需要的側方盲區影像。 In view of the above problems, the present invention provides a blind zone monitoring method and system, which can dynamically adjust an image capturing device in accordance with a driver's posture and a moving trajectory, especially when the driver wants to change lanes or turn, and provides the driver with the most need. Side blind spot image.
依照本發明之一實施例，一種盲區監控方法包含：偵測操控一行動載具之一駕駛者的面對方向；當該面對方向有變化時，計算該駕駛者之身體的擺動方向；調整一影像擷取裝置，使其取像方向由預設取像方向沿調整方向轉動，其中該影像擷取裝置位於該駕駛者之穿戴用具上，該預設取像方向與該面對方向相反，且該調整方向與該擺動方向朝相反方向轉動；以及由該影像擷取裝置擷取該駕駛者視線所不及的第一盲區影像。 According to an embodiment of the present invention, a blind zone monitoring method includes: detecting a facing direction of a driver of one of the mobile vehicles; and calculating a swinging direction of the driver's body when the facing direction changes; adjusting An image capturing device rotates the image capturing direction by a preset image capturing direction in an adjusting direction, wherein the image capturing device is located on the driver's wearing device, and the preset image capturing direction is opposite to the facing direction. And the adjusting direction and the swinging direction are rotated in opposite directions; and the image capturing device captures the first blind spot image that is not accessible to the driver's line of sight.
依照本發明之一實施例，一種盲區監控系統包含：一駕駛者姿態偵測裝置，偵測操控一行動載具之一駕駛者的面對方向；一處理器，電性連接該駕駛者姿態偵測裝置，並在該駕駛者姿態偵測裝置所偵測到的該面對方向有變化時，該處理器計算 該駕駛者之身體的擺動方向，以及計算和該擺動方向相反的調整方向；一調整機構，電性連接該處理器，並由該處理器控制；以及一影像擷取裝置，位於該駕駛者之穿戴用具上，且其預設取像方向和該駕駛者的該面對方向相反，其中該影像擷取裝置由該調整機構調整，使其由該預設取像方向沿該調整方向轉動後擷取該駕駛者視線所不及的第一盲區影像。 According to an embodiment of the present invention, a blind spot monitoring system includes: a driver attitude detecting device that detects a driver's facing direction of one of the mobile vehicles; and a processor that electrically connects the driver's posture detection Measuring device, and when the direction of the face detected by the driver attitude detecting device changes, the processor calculates a direction of the swing of the driver's body, and an adjustment direction opposite to the swing direction; an adjustment mechanism electrically connected to the processor and controlled by the processor; and an image capture device located at the driver And the preset image capturing direction is opposite to the facing direction of the driver, wherein the image capturing device is adjusted by the adjusting mechanism to rotate in the adjusting direction by the preset image capturing direction. Take the first blind spot image that the driver can't see.
為了對本發明之上述及其他方面有更佳的瞭解，下文特舉較佳實施例，並配合所附圖式，作詳細說明如下： In order to better understand the above and other aspects of the present invention, the preferred embodiments are described below, and in conjunction with the drawings, the detailed description is as follows:
1、1’‧‧‧影像擷取裝置 1, 1'‧‧‧ image capture device
2‧‧‧調整機構 2‧‧‧Adjustment agency
3‧‧‧處理器 3‧‧‧ Processor
4‧‧‧駕駛者姿態偵測裝置 4‧‧‧Driver attitude detection device
5‧‧‧顯示裝置 5‧‧‧Display device
6‧‧‧警示裝置 6‧‧‧Warning device
31~33‧‧‧消失點 31~33‧‧‧ vanishing point
41‧‧‧第一位置 41‧‧‧First position
41‧‧‧第二位置 41‧‧‧second position
100‧‧‧盲區監控系統 100‧‧‧Blind area monitoring system
R1、R2‧‧‧駕駛者 R1, R2‧‧‧ drivers
B1、B2‧‧‧機車 B1, B2‧‧‧ locomotive
A1、A1’、A11、A12‧‧‧取像範圍 A1, A1', A11, A12‧‧‧ image capture range
A2‧‧‧視線範圍 A2‧‧ Sight line of sight
F1‧‧‧第一面對方向 F1‧‧‧First facing the direction
F2‧‧‧第二面對方向 F2‧‧‧ second facing direction
C1‧‧‧第一預設取像方向 C1‧‧‧First preset image acquisition direction
C2‧‧‧第二預設取像方向 C2‧‧‧Second preset image taking direction
D1‧‧‧擺動方向 D1‧‧‧ swing direction
D2‧‧‧調整方向 D2‧‧‧Redirection
D3‧‧‧偏移方向 D3‧‧‧Offset direction
P‧‧‧移動軌跡 P‧‧‧Moving track
α‧‧‧擺動角度 ‧‧‧‧ swing angle
β‧‧‧調整角度 β‧‧‧Adjust angle
θ‧‧‧偏移角度 θ‧‧‧Offset angle
S501~S512‧‧‧步驟 S501~S512‧‧‧Steps
圖1為駕駛者的視線範圍與影像擷取裝置的取像範圍之示意圖。 FIG. 1 is a schematic diagram of the driver's line of sight range and the image capturing range of the image capturing device.
圖2(A)為說明依照本發明中一實施例之影像擷取裝置的取像範圍之變化的示意圖，且圖2(B)為說明依照本發明中一實施例之影像擷取裝置的取像方向之調整的簡圖。 2(A) is a schematic diagram showing changes in the image capturing range of the image capturing device according to an embodiment of the present invention, and FIG. 2(B) is a view illustrating the image capturing device according to an embodiment of the present invention. A sketch like the adjustment of the direction.
圖3(A)~3(C)為依照本發明中一實施例之影像擷取裝置所擷取的且額外標示有消失點的盲區影像。 3(A) to 3(C) are blind spot images captured by the image capturing device according to an embodiment of the present invention and additionally marked with vanishing points.
圖4(A)為描繪駕駛者於一段時間內之移動軌跡的示意圖，且圖4(B)為說明該駕駛者於該段時間內之偏移角度與偏移方向的簡圖。 4(A) is a schematic diagram depicting a movement trajectory of a driver over a period of time, and FIG. 4(B) is a diagram illustrating an offset angle and an offset direction of the driver during the period of time.
圖5為依照本發明之盲區監控方法的流程圖。 Figure 5 is a flow chart of a blind zone monitoring method in accordance with the present invention.
圖6為依照本發明之盲區監控系統的方塊圖。 Figure 6 is a block diagram of a blind spot monitoring system in accordance with the present invention.
本發明提供一種盲區監控方法與系統，能夠因應駕駛者的姿態與行進方向之變化而改變影像擷取裝置的取像方向及其取像範圍，進而能提供駕駛者當時所需注意之盲區範圍的盲區影像。後續將參照圖式說明本發明，其中當注意，為求易於理解，以下是以機車作為行動載具的實例，而且，一般而言，機車駕駛者皆會於騎乘機車時穿戴安全帽，故在以下描述中，是以安全帽來代表駕駛者的穿戴用具，然而本發明不當以此為限，舉例來說，行動載具亦可為腳踏車。 The invention provides a blind zone monitoring method and system, which can change the image capturing direction and the image capturing range of the image capturing device according to the change of the driver's posture and the traveling direction, thereby providing the blind zone range that the driver needs to pay attention to at that time. Blind area image. The present invention will be described hereinafter with reference to the drawings, in which, for attention, for ease of understanding, the following is an example of a locomotive as a mobile vehicle, and generally, a locomotive driver wears a helmet when riding a locomotive, In the following description, a helmet is used to represent the driver's wearing appliance, but the present invention is not limited thereto. For example, the mobile vehicle can also be a bicycle.
圖1示意性地呈現機車駕駛者的視線範圍與影像擷取裝置的取像範圍。由圖1清楚可知，習知的影像擷取裝置1’由於裝設在機車(行動載具)B1的尾端，其取像範圍A1’主要落在駕駛者R1的正後方，而在駕駛者R1左側的另一位機車B2駕駛者R2既不落在駕駛者R1可見的視線範圍A2中、亦非位於影像擷取裝置1’的取像範圍A1’內。換言之，駕駛者R1側方的其他物體(車輛、行人、障礙物等等)不易被駕駛者R1察覺而可能影響行車安全。相對而言，依照本實施例之影像擷取裝置1是位在駕駛者R1上，其取像範圍A1比習知影像擷取裝置1’的取像範圍A1’更接近駕駛者R1，因而可涵蓋駕駛者R1側方區域的一部分，有效提供駕駛者R1有關側方盲區的路況資訊。 Fig. 1 schematically shows the range of the line of sight of the locomotive driver and the imaging range of the image capturing device. As is clear from FIG. 1, the conventional image capturing device 1' is installed at the rear end of the locomotive (mobile vehicle) B1, and its image capturing range A1' mainly falls directly behind the driver R1, while the driver The other locomotive B2 driver R2 on the left side of R1 does not fall within the line of sight range A2 visible to the driver R1 or within the image capturing range A1' of the image capturing device 1'. In other words, other objects (vehicles, pedestrians, obstacles, etc.) on the side of the driver R1 are not easily perceived by the driver R1 and may affect driving safety. In contrast, the image capturing device 1 according to the present embodiment is located on the driver R1, and the image capturing range A1 is closer to the driver R1 than the image capturing range A1′ of the conventional image capturing device 1 ′. Covers a part of the driver's R1 side area, effectively providing information on the road conditions of the driver R1 regarding the side blind zone.
依照本發明一實施例，影像擷取裝置1是裝設在駕駛者R1所穿戴的安全帽上，因此，影像擷取裝置1的取像高度接近駕駛者R1的視線高度而可提供駕駛者R1較能直觀理解的影像畫面；另外，影像擷取裝置1的預設取像方向設定成和駕駛者 R1當時的面對方向相反，意即影像擷取裝置1預設是要擷取駕駛者R1後方的盲區影像。透過此一設定，影像擷取裝置1可補足駕駛者R1視線所不及的大部分盲區影像，且可隨著駕駛者R1面對方向的變化而動態地改變取像方向。此處請注意，本文內容所稱的左側、右側、前方、後方，皆是相較駕駛者R1而言，例如在圖2(A)中，另一位駕駛者R2是在駕駛者R1的後方偏左側。 According to an embodiment of the invention, the image capturing device 1 is mounted on the helmet worn by the driver R1. Therefore, the image capturing device 1 has an image capturing height that is close to the line of sight of the driver R1 and can provide the driver R1. More intuitively understood image frame; in addition, the preset image capturing direction of the image capturing device 1 is set to be the driver At the time, R1 faced the opposite direction, which means that the image capturing device 1 preset is to capture the blind spot image behind the driver R1. Through this setting, the image capturing device 1 can complement most of the blind spot images that the driver R1 cannot reach, and can dynamically change the image capturing direction as the driver R1 faces the direction change. Please note here that the left side, the right side, the front side and the rear side of the content of this article are compared with the driver R1. For example, in Fig. 2(A), another driver R2 is behind the driver R1. To the left.
接下來將搭配圖2至圖6詳細說明本發明之盲區監控方法與系統。 Next, the blind area monitoring method and system of the present invention will be described in detail with reference to FIGS. 2 to 6.
請參照圖2(A)，其示意性地說明依照本發明中一實施例之影像擷取裝置的取像範圍之變化。在圖2(A)中，駕駛者R1意圖往左側偏移以變換至左側車道或是往左轉彎，此時，依照一般駕駛習慣，駕駛者R1通常會在實際往左側偏移之前先將頭部往左側擺動，因此，預設取像方向和駕駛者R1之面對方向相反的影像擷取裝置1就會順著頭部往左側的逆時鐘旋轉方向而將取像方向轉動到駕駛者的右側，此時，影像擷取裝置1的取像範圍A11涵蓋到駕駛者R1的右側盲區，但位於駕駛者R1左側盲區中的另一位駕駛者R2卻反而未能落入影像擷取裝置1的取像範圍A11中。換言之，若影像擷取裝置1的取像方向始終維持為和駕駛者R1之面對方向相反的預設取像方向，反而會在駕駛者R1欲變換車道或轉彎時未能提供駕駛者R1當下所需一側的側方盲區影像。 Please refer to FIG. 2(A), which schematically illustrates the change of the imaging range of the image capturing device according to an embodiment of the present invention. In Fig. 2(A), the driver R1 intends to shift to the left to change to the left lane or to the left. At this time, according to the general driving habit, the driver R1 usually first shifts the head before actually shifting to the left. The portion swings to the left side. Therefore, the image capturing device 1 having the opposite image capturing direction and the opposite direction of the driver R1 rotates the image capturing direction to the driver's side in the counterclockwise direction of the head to the left side. On the right side, at this time, the image capturing range A11 of the image capturing device 1 covers the right blind spot of the driver R1, but the other driver R2 located in the blind spot on the left side of the driver R1 fails to fall into the image capturing device 1 The image capture range is A11. In other words, if the image capturing direction of the image capturing device 1 is always maintained in a predetermined image capturing direction opposite to the facing direction of the driver R1, the driver R1 may not be provided when the driver R1 wants to change lanes or turn. A side blind spot image on the desired side.
為此，本發明之盲區監控系統100更包含調整機構2(圖6)，用以適時地調整影像擷取裝置1的取像方向。請參照圖2(B)，其示意性地說明依照本發明之影像擷取裝置的取像方向 之調整。如圖2(B)所示，駕駛者R1於第一時點的面對方向為朝向駕駛者R1前方的第一面對方向F1，影像擷取裝置1的取像方向則預設為朝向後方的第一預設取像方向C1，當駕駛者R1於第二時點的面對方向沿著逆時鐘方向的擺動方向D1轉動朝向左前方的第二面對方向F2時，位於駕駛者R1安全帽上的影像擷取裝置1會一併順著該逆時鐘方向轉動而朝向位於駕駛者R1右後方的第二預設取像方向C2。依照本發明之盲區監控方法，為使影像擷取裝置1擷取到駕駛者R1所需一側的盲區影像，調整機構2(圖6)會使影像擷取裝置1由第二預設取像方向C1沿著順時鐘方向(和逆時鐘方向的擺動方向D1為相反的旋轉方向)的調整方向D2轉動，致使影像擷取裝置1能擷取到駕駛者R1左側的盲區。經過上述調整，依照本發明之影像擷取裝置1即可擷取到和駕駛者R1的偏移方向落在駕駛者R1同一側的側方盲區影像。如圖2(A)所示，當駕駛者R1往左側偏移，經調整機構2調整後的影像擷取裝置1之取像範圍A12可涵蓋到駕駛者R1左側的側方盲區影像，位於駕駛者R1左側的另一位駕駛者R2因而會落在影像擷取裝置1的取像範圍A12中。在本發明之一實施例中，如圖2(B)所示，調整機構2使影像擷取裝置1由第二預設取像方向C2沿調整方向D2轉動的調整角度β等於駕駛者R1由第一面對方向F1轉動至第二面對方向F2的擺動角度α，但本發明並不以此為限，調整角度的大小可依駕駛者R1的需求而自行增減。 To this end, the blind spot monitoring system 100 of the present invention further includes an adjustment mechanism 2 (FIG. 6) for adjusting the image capturing direction of the image capturing device 1 in a timely manner. Please refer to FIG. 2(B), which schematically illustrates the image capturing direction of the image capturing device according to the present invention. Adjustment. As shown in FIG. 2(B), the facing direction of the driver R1 at the first time is the first facing direction F1 toward the front of the driver R1, and the image capturing direction of the image capturing device 1 is preset to the rear. The first preset image capturing direction C1 is located in the driver R1 helmet when the driver R1 is rotated in the counterclockwise direction of the swinging direction D1 at the second clockwise direction toward the left front second facing direction F2. The upper image capturing device 1 is rotated along the counterclockwise direction toward the second preset image capturing direction C2 located at the right rear of the driver R1. According to the blind spot monitoring method of the present invention, in order to enable the image capturing device 1 to capture the blind spot image on the side required by the driver R1, the adjusting mechanism 2 (Fig. 6) causes the image capturing device 1 to be imaged by the second preset. The direction C1 is rotated in the adjustment direction D2 of the clockwise direction (the opposite direction of rotation from the swing direction D1 in the counterclockwise direction), so that the image capturing device 1 can capture the blind spot on the left side of the driver R1. Through the above adjustment, the image capturing device 1 according to the present invention can capture a side blind spot image that falls on the same side of the driver R1 as the direction of the driver R1. As shown in FIG. 2(A), when the driver R1 is shifted to the left side, the image capturing range A12 of the image capturing device 1 adjusted by the adjusting mechanism 2 can cover the side blind spot image on the left side of the driver R1, and is located in the driving. The other driver R2 on the left side of the R1 will thus fall in the image capturing range A12 of the image capturing device 1. In an embodiment of the present invention, as shown in FIG. 2(B), the adjustment mechanism 2 adjusts the adjustment angle β of the image capturing device 1 by the second preset image capturing direction C2 in the adjusting direction D2 to be equal to the driver R1. The first facing direction F1 is rotated to the swinging angle α of the second facing direction F2, but the invention is not limited thereto, and the size of the adjusting angle may be increased or decreased according to the demand of the driver R1.
在本發明之另一實施例中，本發明之盲區監控方法更包含細部調整影像擷取裝置1的取像方向，致使影像擷取裝置1能確實擷取到駕駛者R1所需的盲區影像。以下將參照圖 3(A)~3(C)說明細部調整方法。圖3(A)~3(C)為影像擷取裝置1所擷取的且額外標示有消失點31~33的盲區影像，其中的消失點31~33是藉由路緣或是車道線等等的地面特徵資訊加以定義。具體而言，該等影像中兩條直線的相交點即為消失點31~33。 In another embodiment of the present invention, the blind spot monitoring method of the present invention further includes finely adjusting the image capturing direction of the image capturing device 1, so that the image capturing device 1 can accurately capture the blind spot image required by the driver R1. The following will refer to the figure 3(A)~3(C) explains the detail adjustment method. 3(A)~3(C) are blind area images captured by the image capturing device 1 and additionally marked with vanishing points 31~33, wherein the vanishing points 31~33 are by way of curb or lane lines, etc. The ground feature information is defined. Specifically, the intersection of two straight lines in the images is the vanishing point 31-33.
圖3(A)呈現當駕駛者R1面對前方、且已水平校正過之影像擷取裝置1朝向駕駛者R1後方所擷取的盲區影像。由於影像的中心點即為影像擷取裝置1之取像範圍的中心點，因此，在圖3(A)中，消失點31會位於該張影像的中央，且由於影像擷取裝置1已經過校正而保持在正確的水平取像視角，故圖3(A)所示的各個物件皆是位於正確的水平位置而無偏斜。 Fig. 3(A) shows a blind spot image captured by the image capturing device 1 facing the driver R1 when the driver R1 faces the front and has been horizontally corrected. Since the center point of the image is the center point of the image capturing range of the image capturing device 1, in FIG. 3(A), the vanishing point 31 is located at the center of the image, and since the image capturing device 1 has passed Correcting and maintaining the image viewing angle at the correct level, the objects shown in Fig. 3(A) are all in the correct horizontal position without skew.
圖3(B)的消失點32與圖3(A)的消失點31皆是位於該張影像的中央。然而，圖3(B)與圖3(A)的不同在於圖3(B)中的物件朝順時鐘方向往右傾斜。這是由於影像擷取裝置1未經水平校正，以致當駕駛者R1往一側傾斜時，裝設在駕駛者R1安全帽上的影像擷取裝置1亦一併往同一側傾斜。 Both the vanishing point 32 of Fig. 3(B) and the vanishing point 31 of Fig. 3(A) are located at the center of the image. However, FIG. 3(B) differs from FIG. 3(A) in that the object in FIG. 3(B) is inclined to the right in the clockwise direction. This is because the image capturing device 1 is not horizontally corrected, so that when the driver R1 is tilted to one side, the image capturing device 1 mounted on the driver R1 helmet is also tilted to the same side.
依照本發明之一實施例，盲區監控系統100亦包含處理器3與駕駛者姿態偵測裝置4(圖6)，其中駕駛者姿態偵測裝置4可偵測駕駛者R1的傾斜方向與傾斜角度，處理器3可計算出和駕駛者R1的傾斜方向相反的校正方向並連同傾斜角度輸出至調整機構2，藉以控制調整機構2來調整影像擷取裝置1的取像視角以回到和地面平行的水平視角。舉例而言，當面向前方的駕駛者R1往其右側傾斜15度時，取像方向為後方的影像擷取 裝置1亦會朝駕駛者R1的右側傾斜15度，此時依照本發明之一實施例，調整機構2會接收來自處理器3的資訊而將影像擷取裝置1往駕駛者的左側轉回15度。如此一來，經過水平校正的影像擷取裝置1所擷取之盲區影像中的物件就會位於正確的水平位置，而不會輸出如圖3(B)所示的傾斜影像。 According to an embodiment of the present invention, the blind spot monitoring system 100 also includes a processor 3 and a driver attitude detecting device 4 (FIG. 6), wherein the driver attitude detecting device 4 can detect the tilting direction and the tilting angle of the driver R1. The processor 3 can calculate the correction direction opposite to the tilt direction of the driver R1 and output it to the adjustment mechanism 2 together with the tilt angle, thereby controlling the adjustment mechanism 2 to adjust the image capturing angle of the image capturing device 1 to return to the ground. Horizontal perspective. For example, when the forward-facing driver R1 is tilted 15 degrees to the right side, the image capturing direction is the rear image capturing. The device 1 is also tilted 15 degrees to the right of the driver R1. In accordance with an embodiment of the present invention, the adjustment mechanism 2 receives information from the processor 3 and turns the image capture device 1 back to the left side of the driver. degree. As a result, the objects in the blind spot image captured by the horizontally corrected image capturing device 1 are located at the correct horizontal position without outputting the oblique image as shown in FIG. 3(B).
接著，請參照圖3(C)，其呈現當駕駛者R1的面對方向發生變化時影像擷取裝置1所擷取的盲區影像。在圖3(C)中，所有的物件是位於正確的水平位置，然而，圖3(C)中的消失點33並不在該影像的中央而是往側邊偏移，這是由於駕駛者R1的面對方向變化而連帶影響影像擷取裝置1的取像方向改變所引起。以圖3(C)所呈現的影像為例，其中的消失點33相較於圖3(A)中的消失點31是較靠近該張影像的右側，這表示該張影像是在駕駛者R1朝其右側偏移、而影像擷取裝置1的取像方向是朝駕駛者R1的左側偏移時擷取的(因為駕駛者R1的面對方向與影像擷取裝置1的預設取像方向為相反方向)。 Next, please refer to FIG. 3(C), which shows a blind spot image captured by the image capturing device 1 when the facing direction of the driver R1 changes. In Fig. 3(C), all the objects are in the correct horizontal position, however, the vanishing point 33 in Fig. 3(C) is not offset in the center of the image but on the side, which is due to the driver R1. The direction change of the face is caused by a change in the image capturing direction of the image capturing device 1. Taking the image presented in FIG. 3(C) as an example, the vanishing point 33 is closer to the right side of the image than the vanishing point 31 in FIG. 3(A), which means that the image is in the driver R1. Shifting toward the right side, and the image capturing direction of the image capturing device 1 is taken toward the left side of the driver R1 (because the facing direction of the driver R1 and the preset image capturing direction of the image capturing device 1) In the opposite direction).
依照本發明之一實施例，調整機構2可調整影像擷取裝置1的取像方向，使其所擷取的盲區影像中的消失點位於該影像的中央，而透過此一調整後，影像擷取裝置1所擷取的盲區影像的主要範圍會落在和駕駛者R1的偏移方向同一側。舉例而言，當駕駛者R1往其右側偏移時，影像擷取裝置1的取像方向會往駕駛者R1的左側偏移(因預設取像方向和駕駛者R1的面對方向相反，且影像擷取裝置1的轉動方向和駕駛者R1的轉動方 向一致)，而在影像擷取裝置1所擷取出的盲區影像中來看，消失點則會往影右側偏移。透過調整機構2使所擷取之盲區影像中的消失點轉回至中央，影像擷取裝置1就可擷取到駕駛者R1所需關注之右側的盲區影像(和駕駛者R1的偏一方同一側)。藉由保持消失點的位置於盲區影像的中央來調整影像擷取裝置1的取像方向，即可確保所擷取到的盲區影像是和駕駛者的偏移方向相對應，減少由於影像擷取裝置1的多次來回擺動或隨著時間增加而造成判斷取像方向上的誤差。因為駕駛者R1所行經的地區不一定具備能夠定義出消失點的地面特徵資訊，故在本發明之一實施例中，此一細部調整過程是定期尋找消失點，並在可尋得消失點的狀況執行。 According to an embodiment of the present invention, the adjustment mechanism 2 can adjust the image capturing direction of the image capturing device 1 so that the vanishing point in the blind spot image captured is located in the center of the image, and after the adjustment, the image is displayed. The main range of the blind spot image captured by the taking device 1 falls on the same side as the offset direction of the driver R1. For example, when the driver R1 is shifted to the right side thereof, the image capturing direction of the image capturing device 1 is shifted to the left side of the driver R1 (because the preset image capturing direction is opposite to the facing direction of the driver R1, And the rotation direction of the image capturing device 1 and the rotation of the driver R1 In the blind spot image taken out by the image capturing device 1, the vanishing point is shifted to the right side of the shadow. Through the adjustment mechanism 2, the vanishing point in the captured blind spot image is turned back to the center, and the image capturing device 1 can capture the blind spot image on the right side of the driver's attention R1 (the same as the driver R1's side) side). By maintaining the position of the vanishing point in the center of the blind spot image to adjust the image capturing direction of the image capturing device 1, it is ensured that the captured blind spot image corresponds to the driver's offset direction, and the image capturing is reduced. The device 1 swings back and forth a plurality of times or changes with time to determine an error in the image taking direction. Because the region where the driver R1 travels does not necessarily have the ground feature information capable of defining the vanishing point, in an embodiment of the present invention, the detail adjustment process is to periodically find the vanishing point and find the vanishing point. Status execution.
以上說明如何調整影像擷取裝置1的取像方向以取得符合駕駛者R1所需關注的盲區影像。除此之外，依照本發明，駕駛者R1實際觀看到影像可為影像擷取裝置1所擷取之盲區影像的全部或部分，以下將搭配圖4(A)與4(B)說明如何決定欲顯示哪些部分的盲區影像。圖4(A)示意性地描繪駕駛者R1於一段時間內的移動軌跡P，且圖4(B)則為駕駛者R1於該段時間內移動的偏移角度與偏移方向的簡圖。在本發明之一實施例中，可透過全球定位系統(Global Positioning System,GPS)、慣性量測單元、或其他裝置得知駕駛者R1於該段時間內的移動軌跡以及總共的偏移角度θ與偏移方向D3。舉例而言，可由GPS系統的資訊描繪出駕駛者R1的移動軌跡P，意即駕駛者R1於第一時點的第一位置 41以及於第二時點的第二位置42皆為已知，而藉由這二點位置41與42之間的差異，即可計算出駕駛者R1在第一時點至第二時點這段時間內的偏移情況(包括偏移角度θ與偏移方向D3)，如圖4(B)所示。在本發明之一實施例中，當盲區監控系統100判定此一偏移角度θ大於一門檻值時，就會切割影像擷取裝置1所擷取的盲區影像為左右二部分，並僅顯示落在和駕駛者R1之偏移方向D3同一側的該部分盲區影像。舉例來說，當駕駛者R1的移動軌跡顯示駕駛者R1往其左側偏移30度時，依照本發明之盲區監控系統100就會顯示所擷取之盲區影像的左半部給駕駛者R1。 The above explains how to adjust the image capturing direction of the image capturing device 1 to obtain a blind spot image that meets the attention of the driver R1. In addition, according to the present invention, the driver R1 actually views the image, which may be all or part of the blind spot image captured by the image capturing device 1, and will be described below with reference to FIGS. 4(A) and 4(B). Which parts of the blind spot image are to be displayed. 4(A) schematically depicts the movement trajectory P of the driver R1 over a period of time, and FIG. 4(B) is a simplified diagram of the offset angle and the offset direction of the driver R1 moving during the period of time. In an embodiment of the present invention, the global locating system (GPS), the inertial measurement unit, or other device can be used to know the movement trajectory of the driver R1 during the period of time and the total offset angle θ. With offset direction D3. For example, the information of the GPS system can be used to describe the movement trajectory P of the driver R1, that is, the first position of the driver R1 at the first time point. 41 and the second position 42 at the second time point are all known, and by the difference between the two point positions 41 and 42, the time from the first time point to the second time point of the driver R1 can be calculated. The internal offset (including the offset angle θ and the offset direction D3) is as shown in Fig. 4(B). In an embodiment of the present invention, when the blind spot monitoring system 100 determines that the offset angle θ is greater than a threshold value, the blind spot image captured by the image capturing device 1 is cut into two parts, and only the drop is displayed. The partial blind spot image on the same side as the offset direction D3 of the driver R1. For example, when the trajectory of the driver R1 indicates that the driver R1 is offset 30 degrees to its left side, the blind spot monitoring system 100 in accordance with the present invention displays the left half of the captured blind spot image to the driver R1.
在經過上述調整而擷取到配合駕駛者R1姿態與行進方向的盲區影像之後，即可將該盲區影像輸出至顯示裝置5(圖6)以供駕駛者觀看。顯示裝置5可為安裝在機車2前端或後視鏡上的顯示螢幕、或是內嵌於安全帽之前罩上的顯示單元等等。另外，依照本發明之盲區監控系統100亦可包含警示裝置6(圖6)，該警示裝置6可辨識盲區影像中的物件(例如行人、車輛等等)，且當該警示裝置6判定該物件會對駕駛者R1造成危害時，警示裝置6即會提供警示給駕駛者R1。警示的形式可為聲音、影像、動作或其結合。舉例而言，當警示裝置6判定駕駛者R1左側有台快速逼近的車輛時，即會發出閃燈以警告駕駛者R1。 After the above adjustment is made to capture the blind spot image matching the posture and the traveling direction of the driver R1, the blind spot image can be output to the display device 5 (FIG. 6) for the driver to view. The display device 5 can be a display screen mounted on the front end of the locomotive 2 or the rear view mirror, or a display unit embedded in the front cover of the helmet, and the like. In addition, the blind spot monitoring system 100 according to the present invention may further include an alerting device 6 (FIG. 6) that can identify objects in the blind spot image (eg, pedestrians, vehicles, etc.), and when the alerting device 6 determines the object When the driver R1 is harmed, the warning device 6 will provide a warning to the driver R1. The form of the alert can be sound, video, motion or a combination thereof. For example, when the alerting device 6 determines that there is a fast approaching vehicle on the left side of the driver R1, a flashing light is emitted to alert the driver R1.
綜合上述，圖5呈現依照本發明之盲區監控方法的相關步驟S501~S512。依照本發明一實施例，本發明之盲區監控 方法包含步驟S501~S504。首先，在步驟S501中，偵測操控行動載具(例如機車或自行車)之駕駛者R1的面對方向。接著，在步驟S502中，當偵測到該面對方向有變化時，計算駕駛者R1之身體的擺動方向，意即駕駛者R1由第一面對方向轉動至第二面對方向的變化情況；此外，在此步驟S502中，亦可包含計算駕駛者R1之身體的擺動角度。然後，在步驟S503中，因應變化，調整位於駕駛者R1之穿戴用具(例如安全帽)上的影像擷取裝置1，包括水平校正影像擷取裝置1以確保取像視角位於正確的水平位置，以及使影像擷取裝置1的取像方向由預設取像方向沿調整方向轉動，其中，影像擷取裝置1的預設取像方向和駕駛者R1的面對方向相反(例如面對方向為前方，預設取像方向為後方)，且影像擷取裝置1的調整方向和駕駛者R1的擺動方向為相反的旋轉方向(例如擺動方向為逆時鐘，調整方向為順時鐘)；此外，在此步驟S503中，使影像擷取裝置1沿調整方向轉動的調整角度可相等於駕駛者R1沿擺動方向轉動的擺動角度。最後，在步驟S504中，經調整後之影像擷取裝置1會擷取第一盲區影像以供後續使用，例如顯示盲區影像給駕駛者R1觀看(步驟S508)，或是當判定該盲區影像中的物件會對該駕駛者造成危害時，提供警示給駕駛者R1(步驟509)。 In summary, FIG. 5 presents steps S501 to S512 of the blind zone monitoring method in accordance with the present invention. According to an embodiment of the invention, the blind zone monitoring of the present invention The method includes steps S501 to S504. First, in step S501, the facing direction of the driver R1 that controls the mobile vehicle (for example, a locomotive or a bicycle) is detected. Next, in step S502, when it is detected that the facing direction changes, the swinging direction of the body of the driver R1 is calculated, that is, the change of the driver R1 from the first facing direction to the second facing direction. In addition, in this step S502, the swing angle of the body of the driver R1 may also be included. Then, in step S503, the image capturing device 1 located on the wearing device (for example, a helmet) of the driver R1 is adjusted according to the change, and the horizontally corrected image capturing device 1 is included to ensure that the image capturing angle of view is at the correct horizontal position. And rotating the image capturing direction of the image capturing device 1 in the adjusting direction by the preset image capturing direction, wherein the preset image capturing direction of the image capturing device 1 is opposite to the facing direction of the driver R1 (for example, the facing direction is In the front, the preset image capturing direction is rearward, and the adjusting direction of the image capturing device 1 and the swinging direction of the driver R1 are opposite rotating directions (for example, the swinging direction is an inverse clock and the adjusting direction is a clockwise); In this step S503, the adjustment angle for rotating the image capturing device 1 in the adjustment direction may be equal to the swing angle of the driver R1 rotating in the swinging direction. Finally, in step S504, the adjusted image capturing device 1 captures the first blind spot image for subsequent use, for example, displaying the blind spot image to the driver R1 for viewing (step S508), or when determining the blind spot image When the object will cause harm to the driver, an alert is provided to the driver R1 (step 509).
在本發明之另一實施例中，除了步驟S501~S504、S508與S509以外，依照本發明之盲區監控方法更包含選擇性的步驟S505~S507。該等步驟S505~S507是在步驟S504之後、並在 顯示盲區影像(步驟S508)或提供警示(步驟509)之前進行，以使影像擷取裝置1的調整機制更加細緻。在步驟S505中，尋找於上一步驟S504中影像擷取裝置1所擷取出的第一盲區影像中的消失點，具體而言，即是要判斷是否可從第一盲區影像中藉由地面特徵資訊定義出該張影像的消失點(例如兩條車道線相交之點)。若可，則接著進行步驟S506，再次調整影像擷取裝置1的取像方向，致使消失點保持在盲區影像的中央。然後，在步驟S507中，經過再次調整之影像擷取裝置1進行第二盲區影像之擷取。 In another embodiment of the present invention, in addition to steps S501 to S504, S508 and S509, the blind spot monitoring method according to the present invention further includes optional steps S505 to S507. The steps S505 to S507 are after step S504 and The display of the blind spot image (step S508) or the provision of the alert (step 509) is performed to make the adjustment mechanism of the image capturing device 1 more detailed. In step S505, the vanishing point in the first blind spot image extracted by the image capturing device 1 in the previous step S504 is searched for, specifically, whether the ground feature is available from the first blind spot image. The information defines the vanishing point of the image (for example, the point where the two lane lines intersect). If yes, proceed to step S506 to adjust the image capturing direction of the image capturing device 1 again, so that the vanishing point is maintained at the center of the blind spot image. Then, in step S507, the image capturing device 1 that has been adjusted again performs the capturing of the second blind spot image.
在本發明之又一實施例中，顯示給駕駛者R1的盲區影像為經調整後之影像擷取裝置1所擷取之盲區影像的一部分，步驟S510~S513即呈現如何決定要顯示哪一部分的盲區影像。此處需特別注意，進行切割與顯示之盲區影像(步驟S511與S512)為經調整後之影像擷取裝置1擷取所得，然而取得駕駛者R1之偏移角度與偏移方向(步驟S510)的處理作業在時間上並不必然是發生在取得盲區影像(步驟S504或S507)之後，故圖5呈現之流程僅為本發明之一可能實施例。在決定欲顯示之盲區影像的步驟中，首先要計算駕駛者R1於該段時間內行進的偏移角度與偏移方向，如步驟S510。接著，在步驟S511中，當判定偏移角度超過門檻值(例如30度)時，將經調整後之影像擷取裝置1所擷取的盲區影像切割為左右二部分。最後，在步驟S512中，顯示落在和駕駛者R1的偏移方向同一側之該部分的盲區影像，例如當駕駛者R1往其左側偏移時，顯示左部分的盲區影像。 In still another embodiment of the present invention, the blind spot image displayed to the driver R1 is a part of the blind spot image captured by the adjusted image capturing device 1, and steps S510-S513 show how to determine which part to display. Blind area image. It should be noted here that the blind area image for cutting and displaying (steps S511 and S512) is obtained by the adjusted image capturing device 1, but the offset angle and the offset direction of the driver R1 are obtained (step S510). The processing of the processing does not necessarily occur in time after obtaining the blind spot image (step S504 or S507), so the flow presented in FIG. 5 is only one possible embodiment of the present invention. In the step of determining the blind spot image to be displayed, first, the offset angle and the offset direction in which the driver R1 travels during the time period are calculated, as by step S510. Next, in step S511, when it is determined that the offset angle exceeds the threshold value (for example, 30 degrees), the blind spot image captured by the adjusted image capturing device 1 is cut into two parts. Finally, in step S512, the blind spot image of the portion falling on the same side as the offset direction of the driver R1 is displayed, for example, when the driver R1 is shifted to the left side thereof, the blind spot image of the left portion is displayed.
接下來，請參照圖6，其示意性地說明依照本發明之盲區監控系統100。依照本發明之盲區監控系統100包含駕駛者姿態偵測裝置4、處理器3、調整機構2、影像擷取裝置1以及顯示裝置5，更可選擇性包含警示裝置6。裝設在駕駛者R1上的駕駛者姿態偵測裝置4偵測駕駛者R1的姿態(意即駕駛者R1於三維空間中相對於三軸的旋轉角度)以得知該駕駛者R1於某一時點的面對方向。在本發明一實施例中，駕駛者姿態偵測裝置4可為慣性量測單元，包含磁力計、加速規與陀螺儀，其可測得駕駛者R1當前的絕對方位、加速度與角速度；然本領域具有通常知識者，當可思及其他類型之感測器，而不應以此為限。和駕駛者姿態偵測裝置4電性連接的處理器3可由上述資料計算得知駕駛者R1當前的面對方向、相對於水平地面的傾斜角度、相對於前一時點的擺動角度、擺動方向、或是駕駛者於一段時間內的移動距離、偏移角度、偏移方向或移動軌跡等等資訊；處理器3更可針對影像擷取裝置1所擷取的盲區影像進行各式影像處理作業，例如影像穩定、扭曲校正等等。依照本發明，處理器3可根據所得資訊進一步計算如何調整位於駕駛者之穿戴用具上的影像擷取裝置1，並據此控制與之電性連接的調整機構2，使其可配合駕駛者R1的姿態與行進方向而動態地調整影像擷取裝置1的取像方向，詳細的調整流程誠如先前所述，於此便不再贅言。經調整後之影像擷取裝置1所擷取的盲區影像可輸出至顯示裝置5以供駕駛者R1觀看，或是可輸出至警示裝置6，以在判定出會危 害駕駛者R1的情況-下提供警示給駕駛者R1。 Next, please refer to FIG. 6, which schematically illustrates a blind spot monitoring system 100 in accordance with the present invention. The blind spot monitoring system 100 according to the present invention includes a driver attitude detecting device 4, a processor 3, an adjusting mechanism 2, an image capturing device 1 and a display device 5, and optionally includes a warning device 6. The driver attitude detecting device 4 mounted on the driver R1 detects the posture of the driver R1 (that is, the angle of rotation of the driver R1 with respect to the three axes in three-dimensional space) to know that the driver R1 is at a certain time. Point to face. In an embodiment of the present invention, the driver attitude detecting device 4 may be an inertial measuring unit, including a magnetometer, an accelerometer and a gyroscope, which can measure the current absolute position, acceleration and angular velocity of the driver R1; The field has the usual knowledge, and can be considered as a sensor and other types of sensors, and should not be limited to this. The processor 3 electrically connected to the driver attitude detecting device 4 can calculate the current facing direction of the driver R1, the tilting angle with respect to the horizontal ground, the swinging angle with respect to the previous point, the swinging direction, and the Or the driver's movement distance, offset angle, offset direction or movement trajectory for a period of time; the processor 3 can perform various image processing operations for the blind spot image captured by the image capturing device 1. For example, image stabilization, distortion correction, and so on. According to the present invention, the processor 3 can further calculate how to adjust the image capturing device 1 located on the wearer's wearing device according to the obtained information, and thereby control the adjusting mechanism 2 electrically connected thereto to cooperate with the driver R1. The posture of the image capturing device 1 is dynamically adjusted by the posture and the traveling direction, and the detailed adjustment process is as described above, and it is no longer rumored. The blind spot image captured by the adjusted image capturing device 1 can be output to the display device 5 for viewing by the driver R1, or can be output to the warning device 6 to determine that it is dangerous. In the case of a driver R1 - a warning is provided to the driver R1.
雖為求易於了解，以上是以駕駛機車並穿戴安全帽的駕駛者為例來說明本發明之盲區監控方法與系統，然而，本發明並不限於此，熟知本技術領域者，當可在不違背本發明之真實精神下，輕易思及本發明之簡單變化、置換、或等效者。因此，本發明之範疇應以隨附申請專利範圍為準。 The above is a blind spot monitoring method and system of the present invention by taking a driver who drives a locomotive and wears a helmet as an example. However, the present invention is not limited thereto, and those skilled in the art may In light of the true spirit of the invention, the simple variations, permutations, or equivalents of the invention are readily apparent. Therefore, the scope of the invention should be determined by the scope of the accompanying claims.
S501~S512‧‧‧步驟 S501~S512‧‧‧Steps
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