TWM524490U - Driving panoramic auxiliary device - Google Patents

Driving panoramic auxiliary device Download PDF

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Publication number
TWM524490U
TWM524490U TW105200794U TW105200794U TWM524490U TW M524490 U TWM524490 U TW M524490U TW 105200794 U TW105200794 U TW 105200794U TW 105200794 U TW105200794 U TW 105200794U TW M524490 U TWM524490 U TW M524490U
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Taiwan
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image
vehicle
lens
driving
driving assistance
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TW105200794U
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Chinese (zh)
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Yong-Jhou Chen
Le-Hung Chen
Meng-Hung Chan
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Hua Chuang Automobile Information Technical Ct Co Ltd
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Priority to TW105200794U priority Critical patent/TWM524490U/en
Priority to CN201610285156.8A priority patent/CN106985748B/en
Publication of TWM524490U publication Critical patent/TWM524490U/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
    • B60R2300/8026—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views in addition to a rear-view mirror system

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)

Description

行車環景輔助裝置 Driving ring assist device

本創作是一種行車環景輔助裝置，特別是一種可以透視車底查看路況的行車環景輔助裝置。 The creation is a driving environment auxiliary device, in particular, a driving environment auxiliary device capable of seeing the road condition of the vehicle bottom.

過去駕駛在行車過程中，僅能透過內、外後視鏡的輔助查看是否有障礙物存在，因內、外後視鏡有先天上的死角，故其安全性廣為詬病。隨著影像辨識的技術提昇，一種利用複數鏡頭(通常是前鏡頭、後鏡頭、右鏡頭及左鏡頭)透過影像拼接合成為一俯視的環景影像，並透過螢幕播放，使駕駛能夠輕鬆的查看車外的路況。 In the past, during driving, only the inner and outer mirrors could be used to check whether there were obstacles. Because the inner and outer mirrors had congenital dead angles, their safety was widely criticized. With the advancement of image recognition technology, a multi-lens lens (usually a front lens, a rear lens, a right lens, and a left lens) is combined into a panoramic image through a video image and played through a screen to enable driving to be easily viewed. Road conditions outside the car.

請參閱第1圖，係為習知的行車環景示意圖。呈如上述前鏡頭、後鏡頭、右鏡頭及左鏡頭各自拍攝車外影像後，將前影像IF、後影像IB、左影像IL及右影像IR拼接合成為一俯視的環景影像IA，而環景影像IA內所區隔出來的一車底影像IU，通常是以黑影像處理，最後在黑影像上疊加一虛擬車輛圖IC。 Please refer to Figure 1 for a schematic view of the driving view. After taking the outside camera image as the front lens, the rear lens, the right lens and the left lens as described above, the front image I F , the rear image I B , the left image I L and the right image I R are combined into a panoramic view image I A , and a vehicle image I U separated by the panoramic image I A is usually processed by a black image, and finally a virtual vehicle map I C is superimposed on the black image.

因此，習知技術僅仍解決車外環景的視野需求，但因為以黑影像處理的車底影像IU，並無法讓駕駛看清車底下的路況，還是會讓駕駛發生如：車輪落溝、誤輾車底下的小動物等... 憾事。 Therefore, the conventional technology only solves the visual field requirement of the exterior view of the car, but because the vehicle image I U processed by the black image does not allow the driver to see the road condition under the vehicle, the driving will occur as follows: Misunderstanding the small animals under the car, etc...

有鑑於上述問題，本創作提供一種行車環景輔助裝置，並透過影像延遲的處理技術，使車底影像可被透視，而可輕易查看車底下的路況。 In view of the above problems, the present invention provides a driving environment auxiliary device, and through the image delay processing technology, the vehicle bottom image can be seen through, and the road condition under the vehicle can be easily viewed.

本創作的一種行車環景輔助裝置，適用於一車輛上，該裝置主要係由一鏡頭群組、一影像處理模組及一顯示單元所組成。其中，鏡頭群組可拍攝該車輛周圍的複數個外部影像；影像處理模組包含一影像拼接處理單元及一影像延遲處理單元，影像拼接處理單元可將上述外部影像拼接為車外環景影像，影像延遲處理單元係可依據車輛之一行進路徑，將與行進路徑重疊之車外環景影像劃分為複數個延遲影像，並依據一延遲時間，由鄰近車底影像的延遲影像開始，依序貼合於車外環景影像所區隔出的車底影像上；顯示單元可顯示經上述影像延遲處理之車外環景影像及車底影像所形成的一全透視影像。 The driving environment auxiliary device of the present invention is applicable to a vehicle, and the device is mainly composed of a lens group, an image processing module and a display unit. The lens group can capture a plurality of external images around the vehicle; the image processing module includes an image mosaic processing unit and an image delay processing unit, and the image mosaic processing unit can splicing the external image into an outside scenery image. The image delay processing unit can divide the image of the exterior scene of the vehicle overlapping with the traveling path into a plurality of delayed images according to a traveling path of the vehicle, and according to a delay time, start from the delayed image of the adjacent vehicle bottom image, and sequentially paste the image. The display unit can display a full perspective image formed by the outer image of the vehicle and the vehicle bottom image processed by the image delay processing.

1‧‧‧行車環景輔助裝置 1‧‧‧ Driving Range Assist

10‧‧‧鏡頭群組 10‧‧‧ lens group

10F‧‧‧前鏡頭 10F‧‧‧ front lens

10B‧‧‧後鏡頭 10B‧‧‧ rear lens

10L‧‧‧左鏡頭 10L‧‧‧left lens

10R‧‧‧右鏡頭 10R‧‧‧Right lens

20‧‧‧影像處理模組 20‧‧‧Image Processing Module

21‧‧‧影像拼接處理單元 21‧‧‧Image stitching processing unit

22‧‧‧影像延遲處理單元 22‧‧‧Image Delay Processing Unit

30‧‧‧顯示單元 30‧‧‧Display unit

40‧‧‧檔位裝置 40‧‧‧ gear position device

50‧‧‧記憶體 50‧‧‧ memory

IF‧‧‧前影像 I F ‧‧‧Pre-image

IB‧‧‧後影像 I B ‧‧‧After image

IL‧‧‧左影像 I L ‧‧‧left image

IR‧‧‧右影像 I R ‧‧‧Right image

IA‧‧‧車外環景影像 I A ‧‧‧Outdoor view

IU‧‧‧車底影像 I U ‧‧‧Car bottom image

ID1~D3‧‧‧延遲影像 I D1~D3 ‧‧‧Delayed image

IU1~U3‧‧‧車底影像 I U1~U3 ‧‧‧Car bottom image

IT‧‧‧全透視影像 I T ‧‧‧Full perspective image

[第1圖]習知的行車環景示意圖。 [Fig. 1] A schematic view of a conventional driving view.

[第2圖]本創作行車環景輔助裝置的方塊圖。 [Fig. 2] A block diagram of the creation of a driving assistance device.

[第3圖]本創作行車環景輔助裝置的顯示第一步驟示意圖。 [Fig. 3] Schematic diagram of the first step of the display of the driving lane auxiliary device.

[第4圖]本創作行車環景輔助裝置的顯示第二步驟示意圖。 [Fig. 4] A schematic diagram showing the second step of the display of the driving lane auxiliary device.

請參閱第2圖，係為本創作行車環景輔助裝置的方塊圖。在本實施例中，行車環景輔助裝置1，適用於一車輛上。該裝置主要係由一鏡頭群組10、一影像處理模組20及一顯示單元30所組成。鏡頭群組10包括複數個鏡頭，該些鏡頭分別設置於該車輛周圍的不同位置處，以分別拍攝該車輛周圍的複數個外部影像。以本例而言，鏡頭群組10分別為一前鏡頭10F、一後鏡頭10B、一左鏡頭10L及一右鏡頭10R所組成。影像處理模組20係與鏡頭群組10電性連接，該影像處理模組20包括一影像拼接處理單元21及一影像延遲處理單元22所組成。顯示單元30係與影像處理模組20電性連接，用於輸出並顯示影像。 Please refer to Figure 2, which is a block diagram of the creation of a driving assistance device. In the present embodiment, the driving assistance device 1 is applicable to a vehicle. The device is mainly composed of a lens group 10, an image processing module 20 and a display unit 30. The lens group 10 includes a plurality of lenses that are respectively disposed at different positions around the vehicle to respectively capture a plurality of external images around the vehicle. In this example, the lens group 10 is composed of a front lens 10F, a rear lens 10B, a left lens 10L, and a right lens 10R. The image processing module 20 is electrically connected to the lens group 10. The image processing module 20 includes an image mosaic processing unit 21 and an image delay processing unit 22. The display unit 30 is electrically connected to the image processing module 20 for outputting and displaying images.

請共同參閱第2圖及第3圖，第3圖係為本創作行車環景輔助裝置的顯示第一步驟示意圖。在本實施例中，進行行車環景顯示時，首先，第一步驟，透過前鏡頭10F、後鏡頭10B、左鏡頭10L及右鏡頭10R所拍攝的前影像IF、後影像IB、左影像IL及右影像IR，透過影像拼接處理單元21將上述外部影像拼接合成為一車外環景影像IA，而該車外環景影像內則區隔出一車底影像IU。 Please refer to Figure 2 and Figure 3 together. Figure 3 is a schematic diagram of the first step of the display of the driving assistance device. In the embodiment, when performing the driving scene display, first, in the first step, the front image I F , the rear image I B , and the left image captured by the front lens 10F, the rear lens 10B, the left lens 10L, and the right lens 10R. The I L and the right image I R are spliced into an outside scene image I A through the image splicing processing unit 21, and a vehicle bottom image I U is separated in the outside scene image.

請共同參閱第2圖及第4圖，第4圖係為本創作行車環景輔助裝置的顯示第二步驟示意圖。呈如上述，接著，第二步驟，影像延遲處理單元22係可依據車輛之一行進路徑F，將與該行進路徑F重疊之車外環景影像IA劃分為複數個延遲影像(ID1~D3)，並依據一延遲時間，由鄰近車底影像IU的延遲影像ID1 開始，依序貼合於該車底影像IU上。 Please refer to Figure 2 and Figure 4 together. Figure 4 is a schematic diagram showing the second step of the display of the driving assistance device. As described above, then, in the second step, the image delay processing unit 22 divides the exterior scenery image I A overlapping the traveling path F into a plurality of delayed images according to the traveling path F of the vehicle (I D1~ D3 ), and according to a delay time, is started by the delayed image I D1 adjacent to the vehicle bottom image I U and sequentially attached to the vehicle bottom image I U .

以第4圖為例，車輛之一行進路徑F為前進，該些延遲影像(ID1~D3)由前影像IF所劃分。其中延遲時間可為數秒，而該些延遲影像所的劃分數量可與延遲時間的秒數相同，例如延遲時間為3秒，前影像IF所劃分的延遲影像(ID1~D3)即被劃分為3個片狀影像。而從本實施例可知，該些延遲影像(ID1~D3)與車底影像IU的軸向邊界可設計為等距，使延遲影像(ID1~D3)可對齊貼合在車底影像IU上。 Taking FIG. 4 as an example, one of the vehicle's travel paths F is forward, and the delayed images (I D1 D D3 ) are divided by the front image I F . The delay time may be several seconds, and the number of divisions of the delayed images may be the same as the number of seconds of the delay time, for example, the delay time is 3 seconds, and the delayed image (I D1~D3 ) divided by the front image I F is divided. It is 3 patch images. It can be seen from the embodiment that the axial boundaries of the delayed images (I D1~D3 ) and the vehicle image I U can be designed to be equidistant, so that the delayed images (I D1~D3 ) can be aligned and fit on the vehicle bottom image. I U.

較詳細的說，本例預設延遲時間為3秒，前影像IF所劃分的延遲影像為3片，當車輛的行使路徑F為前進時，若完成拼接合成為車外環景影像IA假設為第1秒，後續第2秒起，前影像IF的延遲影像ID1貼合於車底影像IU1上，而前影像IF的延遲影像ID2覆蓋延遲影像ID1、延遲影像ID3覆蓋延遲影像ID2；第3秒起，延遲影像ID1貼合於車底影像IU2上，而前影像IF的延遲影像ID2覆蓋在第2秒的延遲影像ID1位置；並依此邏輯連續數秒(如接下來的第4秒，延遲影像ID1貼合於車底影像IU3上，後續影像依此類推貼合於後一張影像上)，直至車底影像IU被延遲影像貼滿。 In more detail, in this example, the preset delay time is 3 seconds, and the delayed image divided by the front image I F is 3 pieces. When the vehicle's exercise path F is forward, if the stitching is completed into the vehicle exterior scene image I A It is assumed that the first second, after the second second, the delayed image I D1 of the front image I F is attached to the vehicle image I U1 , and the delayed image I D2 of the front image I F covers the delayed image I D1 and the delayed image I D3 covers the delayed image I D2 ; from the 3rd second, the delayed image I D1 is attached to the vehicle image I U2 , and the delayed image I D2 of the front image I F is covered by the delayed image I D1 of the second second; This logic is continuous for a few seconds (for example, the next 4th second, the delayed image I D1 is attached to the vehicle image I U3 , and the subsequent image is attached to the next image, etc.) until the vehicle image I U is delayed. The image is full.

請再參閱第2圖及第4圖，呈如上述，顯示單元30可顯示經上述影像延遲處理之車外環景影像IA及車底影像IU而形成的一全透視影像IT。簡言之，透過車輛行進間所擷取的車外環景影像，並經過一個延遲時間差回補至車底影像IU，使得車輛行進間的車底影像IU能夠呈現透明的狀態，而可輕易查看車底下的 路況。故針對例如：輪胎與道路邊界、崎嶇路面下，輪胎與低漥路面之相對關係、低速行駛下，車底是否有動物(貓、狗、小動物等)突然侵入的問題都能獲得解決。 Referring to FIG. 2 and FIG. 4 again, as shown above, the display unit 30 can display an all-perspective image I T formed by the image delay processing of the exterior image I A and the vehicle image I U . Briefly, through the car outer view image captured by inter-vehicle traveling, and after a delay time difference to the bottom of the vehicle to cover the image I U, so that the bottom of the vehicle between the images I U traveling vehicle can assume a transparent state, but may Easily check the road conditions under the car. Therefore, for example, tires and road boundaries, under the rough road surface, the relative relationship between the tires and the low-lying road surface, and the problem of sudden intrusion of animals (cats, dogs, small animals, etc.) at the bottom of the vehicle can be solved under low-speed driving.

請繼續參考第2圖，本實施例的行進路徑F為前進，係可透過檔位裝置40(如：排檔桿或換檔撥片)的D檔訊號，使影像延遲處理單元22擷取前影像IF所劃分的延遲影像(ID1~D3)，回補至車底影像IU上。當然，熟知該項技術者應能推知，行進路徑F若為後退，則可透過檔位裝置40的R檔訊號，使影像延遲處理單元22擷取後影像所劃分的延遲影像(此例本圖未示)，回補至車底影像IU上。而行進路徑F為左彎、右彎其影像延遲處理技術邏輯相同，在此即不再贅述。 Referring to FIG. 2, the travel path F of the embodiment is forward, and the image delay processing unit 22 can capture the front image through the D-range signal of the gear device 40 (eg, the shift lever or the shift paddle). The delayed image (I D1~D3 ) divided by I F is replenished to the vehicle image I U . Of course, those skilled in the art should be able to infer that if the travel path F is backward, the image delay processing unit 22 can capture the delayed image divided by the rear image through the R-range signal of the gear device 40 (this example). Not shown), replenished to the vehicle image I U. The travel path F is the same as the left-turn and right-bend image delay processing techniques, and will not be described here.

請繼續參考第2圖及第4圖，本實施例的全透視影像為二維(2D)影像。熟知該項技術者應能推知，該全透視影像可透過影像處理模組20經逆投影技術將上述為二維(2D)影像再轉換為三維(3D)影像，此技術已相當成熟此即不再贅述。 With continued reference to FIGS. 2 and 4, the full perspective image of the present embodiment is a two-dimensional (2D) image. Those skilled in the art should be able to infer that the full perspective image can be reconverted into a three-dimensional (3D) image by the image processing module 20 via a back projection technique. This technique is quite mature. Let me repeat.

請繼續參考第2圖及第4圖，本創作的行車環景輔助裝置1，更可包括一記憶體50，係可將車輛熄火時之經影像延遲處理的車底影像IU(即透視影像)儲存，並於該車輛啟動時，將該車底影像IU(即透視影像)恢復，使駕駛在車輛啟動時，即可看見車底透視影像。 Please refer to FIG. 2 and FIG. 4 again. The driving assistance device 1 of the present invention may further include a memory 50, which is a vehicle image I U (ie, a fluoroscopic image) that can delay the image processing when the vehicle is turned off. ) Storage, and when the vehicle is started, the vehicle image I U (ie, the fluoroscopic image) is restored, so that when the vehicle is started, the vehicle bottom fluoroscopic image can be seen.

此外，熟知該項技術者應能推知，車底影像上可疊加虛擬四輪(圖未示)，如此可使車輪與地面或障礙物的相對關係 更為明確。 In addition, those skilled in the art should be able to infer that the virtual four wheels (not shown) can be superimposed on the vehicle bottom image, so that the relative relationship between the wheels and the ground or obstacles can be made. More specific.

綜上所述，本創作所提供的一種行車環景輔助裝置，係透過影像延遲的處理技術，使車底影像可被透視，而可輕易查看車底下的路況，進而使駕駛無須下車實際查看才能了解路面輪胎與路面邊界、路面狀況、路面物體之相對關係，而相對大幅提高行車的安全性。 In summary, the driving range assisting device provided by the present invention uses the image delay processing technology to enable the vehicle bottom image to be seen through, and the road condition under the vehicle can be easily viewed, so that the driving can be viewed without having to get off the vehicle. Understand the relative relationship between road tires and road surface boundaries, road surface conditions, and road objects, and significantly improve the safety of driving.

雖然本創作的技術內容已經以較佳實施例揭露如上，然其並非用以限定本創作，任何熟習此技藝者，在不脫離本創作之精神所作些許之更動與潤飾，皆應涵蓋於本創作的範疇內，因此本創作之保護範圍當視後附之申請專利範圍所界定者為準。 Although the technical content of the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the present invention. Anyone who is familiar with the art, and some modifications and refinements that do not depart from the spirit of the present invention should be included in the creation. Therefore, the scope of protection of this creation is subject to the definition of the scope of the patent application.

1‧‧‧行車環景輔助裝置 1‧‧‧ Driving Range Assist

10‧‧‧鏡頭群組 10‧‧‧ lens group

10F‧‧‧前鏡頭 10F‧‧‧ front lens

10B‧‧‧後鏡頭 10B‧‧‧ rear lens

10L‧‧‧左鏡頭 10L‧‧‧left lens

10R‧‧‧右鏡頭 10R‧‧‧Right lens

20‧‧‧影像處理模組 20‧‧‧Image Processing Module

21‧‧‧影像拼接處理單元 21‧‧‧Image stitching processing unit

22‧‧‧影像延遲處理單元 22‧‧‧Image Delay Processing Unit

30‧‧‧顯示單元 30‧‧‧Display unit

40‧‧‧檔位裝置 40‧‧‧ gear position device

50‧‧‧記憶體 50‧‧‧ memory

Claims (10)

一種行車環景輔助裝置，適用於一車輛上，該裝置包括：一鏡頭群組，包括複數個鏡頭，該些鏡頭分別設置於該車輛周圍的不同位置處，以分別拍攝該車輛周圍的複數個外部影像；一影像處理模組，係與該鏡頭群組電性連接，該影像處理模組包括：一影像拼接處理單元，係接收該些外部影像並拼接合成為一車外環景影像，且於該車外環景影像內區隔出一車底影像；一影像延遲處理單元，係可依據該車輛之一行進路徑，將與該行進路徑重疊之該車外環景影像劃分為複數個延遲影像，並依據一延遲時間，由鄰近該車底影像的該延遲影像開始，依序貼合於該車底影像上；以及一顯示單元，係與該影像處理模組電性連接，並可顯示經上述影像延遲處理之該車外環景影像及該車底影像所形成的一全透視影像。 A driving scene assisting device is applicable to a vehicle, the device comprising: a lens group comprising a plurality of lenses respectively disposed at different positions around the vehicle to respectively capture a plurality of surrounding the vehicle An image processing module is electrically connected to the lens group, and the image processing module includes: an image mosaic processing unit that receives the external images and splicing and synthesizing into an exterior scenery image, and An image of the vehicle bottom is separated from the inner image of the outer image of the vehicle; an image delay processing unit is configured to divide the outer image of the exterior image overlapping the traveling path into a plurality of delays according to a traveling path of the vehicle And displaying, according to a delay time, the delayed image adjacent to the vehicle bottom image, and sequentially attaching to the vehicle bottom image; and a display unit electrically connected to the image processing module and displaying The vehicle exterior image processed by the image delay and a full perspective image formed by the vehicle bottom image. 如請求項1所述之行車環景輔助裝置，其中該些鏡頭分別為一前鏡頭、一後鏡頭、一左鏡頭及一右鏡頭所組成，係接收該些鏡頭之該些外部影像並對應拼接合成為具有一前影像、一後影像、一左影像及一右影像的該車外環景影像。 The driving scene assisting device of claim 1, wherein the lenses are respectively composed of a front lens, a rear lens, a left lens and a right lens, and receive the external images of the lenses and correspondingly splicing The image is synthesized as an exterior scenery image having a front image, a rear image, a left image, and a right image. 如請求項2所述之行車環景輔助裝置，其中該行進路徑為前進，該些延遲影像由該前影像所劃分。 The driving assistance device as claimed in claim 2, wherein the traveling path is forward, and the delayed images are divided by the front image. 如請求項2所述之行車環景輔助裝置，其中該行進路徑為後退，該些延遲影像由該後影像所劃分。 The driving assistance device as claimed in claim 2, wherein the traveling path is backward, and the delayed images are divided by the rear image. 如請求項1所述之行車環景輔助裝置，其中該全透視影像可為二維(2D)影像。 The driving assistance device of claim 1, wherein the full perspective image is a two-dimensional (2D) image. 如請求項1所述之行車環景輔助裝置，其中該全透視影像可為三維(3D)影像。 The driving assistance device of claim 1, wherein the full perspective image is a three-dimensional (3D) image. 如請求項1所述之行車環景輔助裝置，更包括一記憶體，係可將該車輛熄火時之經影像延遲處理的該車底影像儲存，並於該車輛啟動時，將該車底影像恢復。 The driving assistance device of claim 1, further comprising a memory for storing the vehicle bottom image processed by the image when the vehicle is turned off, and when the vehicle is started, the vehicle bottom image is restore. 如請求項1所述之行車環景輔助裝置，其中該車底影像上可疊加虛擬四輪。 The driving environment auxiliary device of claim 1, wherein the vehicle bottom image is superimposed with a virtual four wheel. 如請求項1所述之行車環景輔助裝置，其中該延遲時間可為數秒，而該些延遲影像所的劃分數量可與延遲時間的秒數相同。 The driving assistance device as claimed in claim 1, wherein the delay time is several seconds, and the number of divisions of the delayed images may be the same as the number of seconds of the delay time. 如請求項1所述之行車環景輔助裝置，其中該些延遲影像與該車底影像的軸向邊界為等距。 The driving assistance device of claim 1, wherein the delayed images are equidistant from the axial boundary of the vehicle image.
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