CN105711497A - Reverse camera system capable of automatically switching three-state visual angle and reverse camera device thereof - Google Patents

The invention discloses a reverse camera system and a reverse camera device thereof capable of automatically switching three-state visual angles, wherein the system comprises: a controller area network; a reverse camera device comprising: a controller; a first camera including a first lens and a first sensor; a second camera including a second lens and a second sensor; and a display device; the controller of the backing-up camera device captures vehicle information parameters of a controller local area network, judges the state of a vehicle to be one of a plurality of situations, automatically switches the starting or closing of the lens through the judgment of the situations, and the first sensor and the second sensor can judge the first distance and the second distance, automatically switches the lens to be a wide-angle view, a normal view or a tristate view angle of a top view according to the numerical value of the first distance and the second distance, and displays the tristate view angle of the lens on the display device. The driver can switch to the picture of the tri-state visual angle with the optimal condition through different distances when backing or parking, and the condition of the front and the back of the current vehicle is judged.

自动切换三态视角的倒车摄影系统及其倒车摄影装置Reversing camera system with automatic switching of three-state viewing angles and its reversing camera device

技术领域technical field

本发明关于一种倒车摄影装置，尤其涉及一种可利用影像检测以自动切换三态视角的倒车摄影系统及其倒车摄影装置。The present invention relates to a reversing camera device, in particular to a reversing camera system and a reversing camera device capable of automatically switching three-state viewing angles by using image detection.

背景技术Background technique

随着传动系统、材料科学的精进以及经济快速的成长，今日的车辆已具备高度的机动性并趋于普及化，大幅节省前往目的地所耗费的时间。伴随车辆的使用人数的增加，行车安全也成为今日车辆科技的发展重点之一。With the improvement of transmission system, material science and rapid economic growth, today's vehicles have become highly mobile and popularized, which greatly saves the time it takes to travel to the destination. With the increase in the number of vehicle users, driving safety has become one of the development priorities of today's vehicle technology.

长久以来，车辆行车安全的技术发展除了车辆行进间的行车视野、与前后车、左右两侧车辆之间的安全距离之外，有关车辆进行倒车时的倒车辅助装置的相关技术研究也为极重要的一环。随着安全意识的提升，目前民间车辆倒车辅助装置已普遍采用倒车音波雷达(sensor)或是倒车专用摄影机。一般传统的倒车音波雷达主要为检测到障碍物反射的音波讯号后，即发出警示声响；然而，传统的倒车音波雷达或是倒车专用摄影机的有效回传深度最多为90～150公分，且其检测高度低于30～45公分以下时，即会产生无法检测的情况，且其宽度也限制为扇射形的区域，故其不管是在回传深度、检测高度及宽度上均具有无法检测的盲区，且所述倒车音波雷达仅以警示音通知驾驶人后方具有障碍物，然而却无法通过倒车音波雷达以使驾驶人知悉所述障碍物的距离或是位置，故驾驶人无法通过倒车音波雷达以取得车辆后方的真实状况。For a long time, in the technical development of vehicle driving safety, in addition to the driving vision between vehicles, the safety distance from the front and rear vehicles, and the vehicles on the left and right sides, the related technical research on the reversing auxiliary device when the vehicle is reversing is also very important. part of the Along with the raising of safety consciousness, at present folk vehicle reversing auxiliary device generally adopts reversing sound wave radar (sensor) or reversing special camera. Generally, the traditional sound wave radar for reversing mainly detects the sound wave signal reflected by the obstacle, and then sends out a warning sound; When the height is less than 30-45 cm, it will be impossible to detect, and its width is also limited to a fan-shaped area, so it has blind areas that cannot be detected in terms of return depth, detection height and width , and the reversing sound wave radar only informs the driver that there is an obstacle behind with a warning sound, but the driver cannot know the distance or position of the obstacle through the reversing sound wave radar, so the driver cannot use the reversing sound wave radar to Get the real situation behind the vehicle.

虽后续更研发出倒车专用摄影机以搭配倒车音波雷达，以即使反映出车辆后方的实景状态，然而，一般的倒车专用摄影机的水平视角最多为140至150度，因此会因其视角不够广而存在有盲区，除此之外，由于一般的倒车专用摄影机也无法自动切换不同视角，因此当车辆进行倒车而接近垂直面物体时，会因无法切换到俯视角度，而产生碰撞或是事故等危险。举例来说，若是车辆在倒车时，其车辆后方邻近山沟、断厓、或是海港堤防等垂直面物体时，由于其无法实时切换为俯视角度，故难以让驾驶人判定车辆后方的真实状况，有可能会导致车辆后轮陷入山沟或是断崖，又或是与海港堤防产生碰撞等危险。Although a reversing camera was later developed to match the reversing sonic radar to reflect the real scene behind the vehicle. However, the horizontal viewing angle of the general reversing camera is at most 140 to 150 degrees, so it will exist due to its insufficient viewing angle. There are blind spots. In addition, because the general reversing camera cannot automatically switch between different viewing angles, when the vehicle is reversing and approaches a vertical object, it will not be able to switch to the overlooking angle, which may cause collisions or accidents. Danger. For example, if the vehicle is reversing and the rear of the vehicle is close to vertical objects such as ravines, cliffs, or harbor embankments, it is difficult for the driver to determine the real situation behind the vehicle because it cannot switch to the overlooking angle in real time. It may cause the rear wheels of the vehicle to fall into a ravine or a cliff, or to collide with a harbor embankment.

此外，一般的倒车广视角摄像机，其所具备的广视角场景、标准视角场景、俯视视角场景等都必须由驾驶人手动切换，以产生倒车当下最适合的视野，然而倒车为一连续性动作，若需经停顿以人工方式切换画面，对使用者实为不便。In addition, the general reversing wide-angle camera, which has a wide-angle scene, a standard angle of view scene, and a bird’s-eye view scene, must be manually switched by the driver to produce the most suitable field of view for reversing. However, reversing is a continuous action. It is really inconvenient for the user to manually switch the screen through a pause.

有鉴于此，如何发展一种自动切换三态视角的倒车摄影系统及其倒车摄影装置，以解决现有倒车音波雷达及倒车专用摄影机存在盲区，且无法自动切换不同视角，导致倒车时无法确知车辆前后方的真实状况的问题，实为目前有待解决的课题。In view of this, how to develop a reversing camera system and its reversing camera device that automatically switches three-state viewing angles to solve the existing blind spots in the existing reversing sound wave radar and reversing special cameras, and the inability to automatically switch between different viewing angles, resulting in uncertainty when reversing. The problem of the real situation of the front and rear of the vehicle is actually a problem to be solved at present.

发明内容Contents of the invention

本发明的目的在于提供一种自动切换三态视角的倒车摄影系统及其倒车摄影装置，以通过车辆前、后方的第一摄影机及第二摄影机的感测器感应其与障碍物的距离，并依据其特定距离以自动切换广角、正常及俯视等三态视野的画面，进而辅助驾驶人可在倒车时确知车辆前后方的真实状况。The object of the present invention is to provide a reversing camera system and its reversing camera device with automatic switching of three-state viewing angles, so as to sense the distance between the first camera and the second camera at the front and rear of the vehicle and the obstacle, and According to its specific distance, it can automatically switch the wide-angle, normal and bird's-eye view images, and then assist the driver to know the real situation of the front and rear of the vehicle when reversing.

本发明的另一目的在于提供一种自动切换三态视角的倒车摄影系统及其倒车摄影装置，更可利用车辆的档位变化及档位暂留时间等车辆信息参数，以决定车辆前、后方的第一摄影机及第二摄影机的启闭时机。Another object of the present invention is to provide a reversing camera system and its reversing camera device with automatic switching of three-state viewing angles, which can use vehicle information parameters such as vehicle gear change and gear stay time to determine the front and rear of the vehicle. The opening and closing timing of the first camera and the second camera.

根据本发明的构想，本发明的一较广实施方式为提供一种自动切换三态视角的倒车摄影系统，包括：控制器局域网络，提供车辆信息参数；倒车摄影装置，包括：控制器，耦接于控制器局域网络；第一摄影机，耦接于控制器，包含：第一镜头；以及第一感测器；第二摄影机，耦接于控制器，包含：第二镜头；以及第二感测器；以及显示装置，耦接于倒车摄影装置；其中，倒车摄影装置的控制器撷取控制器局域网络的车辆信息参数，并判定车辆的状态为多个情境之一，通过多个情境的判定以自动切换第一镜头及第二镜头的启动或关闭，且第一感测器及第二感测器分别判断第一镜头与一第一障碍物的一第一距离及第二镜头与一第二障碍物的一第二距离，并依据第一距离及所述第二距离的数值以自动切换为广角视野、正常视野或俯视视野的三态视角，并将第一镜头及第二镜头的三态视角显示于所述显示装置上。According to the idea of the present invention, a wider implementation of the present invention is to provide a reverse camera system that automatically switches three-state viewing angles, including: a controller local area network, providing vehicle information parameters; a reverse camera device, including: a controller, coupled Connected to the controller area network; the first camera, coupled to the controller, includes: a first lens; and a first sensor; the second camera, coupled to the controller, includes: a second lens; and a second sensor detector; and a display device, coupled to the reversing camera device; wherein, the controller of the reversing camera device retrieves the vehicle information parameters of the controller local area network, and determines that the state of the vehicle is one of multiple scenarios, through multiple scenarios Determine to automatically switch the activation or deactivation of the first lens and the second lens, and the first sensor and the second sensor respectively determine a first distance between the first lens and a first obstacle and a distance between the second lens and a A second distance of the second obstacle, and according to the value of the first distance and the second distance, automatically switch to a three-state perspective of wide-angle field of view, normal field of view or bird's-eye view, and the first lens and the second lens. Tri-state viewing angles are displayed on the display device.

根据本发明的构想，本发明的另一较广实施方式为提供一种倒车摄影装置，适用于自动切换三态视角的倒车摄影系统，自动切换三态视角的倒车摄影系统具有控制器局域网络及显示装置，倒车摄影装置，包括：控制器，耦接于控制器局域网络；第一摄影机，耦接于控制器，包含：第一镜头；以及第一感测器；第二摄影机，耦接于控制器，包含：第二镜头；以及第二感测器；其中，倒车摄影装置的控制器撷取控制器局域网络的车辆信息参数，并判定车辆的状态为多个情境之一，通过多个情境的判定以自动切换第一镜头及第二镜头的启动或关闭，且第一感测器及所述第二感测器分别判断第一镜头与第一障碍物的第一距离及第二镜头与第二障碍物的第二距离，并依据第一距离及第二距离的数值以自动切换为广角视野、正常视野或俯视视野的三态视角，并将第一镜头及第二镜头的三态视角显示于显示装置上。According to the conception of the present invention, another broad embodiment of the present invention is to provide a reversing camera device, which is suitable for a reversing camera system that automatically switches three-state viewing angles. The reversing camera system that automatically switches three-state viewing angles has a controller local area network and The display device, the reversing camera device, includes: a controller, coupled to the controller local area network; a first camera, coupled to the controller, including: a first lens; and a first sensor; a second camera, coupled to The controller includes: a second lens; and a second sensor; wherein, the controller of the reversing camera device retrieves the vehicle information parameters of the controller local area network, and determines that the state of the vehicle is one of multiple scenarios, through multiple The determination of the situation is to automatically switch the activation or deactivation of the first lens and the second lens, and the first sensor and the second sensor respectively judge the first distance between the first lens and the first obstacle and the second lens The second distance from the second obstacle, and according to the value of the first distance and the second distance, automatically switch to the three-state view of wide-angle view, normal view or bird's-eye view, and the three-state view of the first lens and the second lens The viewing angle is displayed on the display device.

通过本发明提供的自动切换三态视角的倒车摄影系统通过第一摄影机及第二摄影机的第一感测器及第二感测器判断车辆与前方或后方障碍物的距离，以自动切换第一镜头及第二镜头的画面，进而辅助驾驶人能在倒车或停车时通过可自动依据不同距离切换成最适情况的三态视角的画面，而判断当下车辆前方及后方的情况，进而以避免碰撞或是产生危险、事故等情形。本发明更可利用档位变化、并配合档位暂留时间等车辆信息参数以决定第一摄影机及第二摄影机的第一镜头及第二镜头的启闭时机，进而使驾驶人可更便利地掌控车辆前、后方的信息，且不会因交通堵塞情形而产生误判，更为智能及兼具便利性。The reversing camera system that automatically switches the three-state angle of view provided by the present invention judges the distance between the vehicle and the front or rear obstacles through the first sensor and the second sensor of the first camera and the second camera, so as to automatically switch the first The images of the camera lens and the second lens, and then assist the driver to judge the situation in front and behind the current vehicle through the image of the three-state perspective that can automatically switch to the most suitable situation according to different distances when reversing or parking, so as to avoid collisions Or the occurrence of danger, accident and other situations. The present invention can also use gear changes and vehicle information parameters such as gear stay time to determine the opening and closing timing of the first lens and the second lens of the first camera and the second camera, so that the driver can more conveniently It is more intelligent and convenient to control the information of the front and rear of the vehicle, and will not cause misjudgment due to traffic jams.

附图说明Description of drawings

图1为本发明较佳实施例的自动切换三态视角的倒车摄影系统的架构示意图。FIG. 1 is a schematic structural diagram of a reversing camera system with automatic switching of three-state viewing angles according to a preferred embodiment of the present invention.

图2为本发明较佳实施例的车辆与前方及后方障碍物相距的第一距离及第二距离的示意图。Fig. 2 is a schematic diagram of the first distance and the second distance between the vehicle and the front and rear obstacles of the preferred embodiment of the present invention.

图3A为图2所示的倒车摄影装置的第二镜头所拍摄的视野为广角视野的示意图。FIG. 3A is a schematic diagram illustrating that the field of view captured by the second lens of the rear view camera device shown in FIG. 2 is a wide-angle field of view.

图3B为图2所示的倒车摄影装置的第二镜头所拍摄的视野为正常视野的示意图。FIG. 3B is a schematic diagram illustrating that the field of view captured by the second lens of the reversing camera device shown in FIG. 2 is a normal field of view.

图3C为图2所示的倒车摄影装置的第二镜头所拍摄的视野为俯视视野的示意图。FIG. 3C is a schematic diagram illustrating that the field of view captured by the second lens of the reverse camera device shown in FIG. 2 is a top view field of view.

上述附图标记说明如下：The above-mentioned reference signs are explained as follows:

1：自动切换三态视角的倒车摄影系统1: Reversing camera system with automatic switching of three-state viewing angles

10：车辆10: Vehicle

11：控制器局域网络11: Controller Area Network

12：显示装置12: Display device

13：控制器13: Controller

14：第一摄影机14: First camera

141：第一镜头141: First shot

142：第一感测器142: First sensor

15：第二摄影机15: Second camera

151：第二镜头151: Second shot

152：第二感测器152: Second sensor

16：倒车摄影装置16: Reversing camera device

21：第一障碍物21: First Obstacle

22：第二障碍物22: Second obstacle

3：虚拟多段车幅线3: Virtual multi-segment spoke lines

30、31：2段车幅线30, 31: 2-section spoke line

4：虚拟立面车幅线4: virtual façade spoke line

d1：第一距离d1: first distance

d2：第二距离d2: second distance

具体实施方式detailed description

体现本发明特征与优点的一些典型实施例将在后段的说明中详细叙述。应理解的是本发明能够在不同的实施方式上具有各种的变化，其皆不脱离本发明的范围，且其中的说明及说明书附图在本质上当作说明之用，而非用于限制本发明。Some typical embodiments embodying the features and advantages of the present invention will be described in detail in the description in the following paragraphs. It should be understood that the present invention can have various changes in different implementations without departing from the scope of the present invention, and that the description and drawings in the description are used as illustrations in nature and not for limiting the present invention. invention.

图1为本发明较佳实施例的自动切换三态视角的倒车摄影系统的架构示意图。如图1所示，本发明的自动切换三态视角的倒车摄影系统适用于车辆10(如图2所示)中，且其包括控制器局域网络(CANBus)11、显示装置12及倒车摄影装置16，其中控制器局域网络11可与一行车计算机(图中未示出)连接，所述行车计算机设置于车辆10内部，并可提供多个车辆信息参数，以通过多个车辆信息参数表示车辆10当前的状态。举例来说，所述多个车辆信息参数包括车载电源参数、引擎状态参数、车速、档位变化信息、档位暂留时间…等参数，在本实施例中，所采用的车辆信息参数主要为一档位变化信息及一档位暂留时间，但不以此为限。FIG. 1 is a schematic structural diagram of a reversing camera system with automatic switching of three-state viewing angles according to a preferred embodiment of the present invention. As shown in FIG. 1 , the reversing camera system for automatically switching three-state viewing angles of the present invention is applicable to a vehicle 10 (as shown in FIG. 2 ), and it includes a controller area network (CANBus) 11, a display device 12 and a reversing camera device. 16, wherein the controller local area network 11 can be connected with a driving computer (not shown in the figure), the driving computer is arranged inside the vehicle 10, and can provide multiple vehicle information parameters, so as to represent the vehicle through multiple vehicle information parameters 10 Current status. For example, the multiple vehicle information parameters include vehicle power supply parameters, engine state parameters, vehicle speed, gear change information, gear residence time... and other parameters. In this embodiment, the vehicle information parameters used are mainly A gear change information and a gear stay time, but not limited thereto.

请参阅图1，如图所示，本发明的倒车摄影装置16包括控制器13、第一摄影机14及第二摄影机15，其中控制器13耦接于控制器局域网络11，第一摄影机14具有第一镜头141及第一感测器142，并耦接于控制器13，第二摄影机具有第二镜头151及第二感测器152，并耦接于控制器13。在本实施例中，该第一摄影机14设置在车辆10的前方(如图2所示)，用于拍摄车辆10前方影像，其所设置的位置不以此为限，该第二摄影机15设置在车辆10的后方(如图2所示)，用于拍摄车辆10后方影像，其所设置的位置也不以此为限。第一摄影机14及第二摄影机15内的第一感测器142及第二感测器152用于判断第一镜头141与第二镜头151分别与第一障碍物21及第二障碍物22的第一距离d1及第二距离d2的数值。第一镜头141及第二镜头151的种类并不限定，其可为一般镜头、广角镜头或是视角更为广泛的鱼眼镜头。以及，车辆10中更设置显示装置12，且该显示装置12耦接于该倒车摄影装置16，在本实施例中，倒车摄影装置16的控制器13可撷取控制器局域网络11的多个车辆信息参数，从而判定车辆10的状态为多个情境之一，通过多个情境的判定以切换第一镜头141及第二镜头151的启动或关闭，并依据第一距离d1及第二距离d2的数值，因此自动切换为广角视野、正常视野或俯视视野的三态视角，并将第一镜头141及第二镜头151的三态视角显示于显示装置12上。Please refer to FIG. 1, as shown in the figure, the reversing camera device 16 of the present invention includes a controller 13, a first camera 14 and a second camera 15, wherein the controller 13 is coupled to the controller area network 11, and the first camera 14 has The first lens 141 and the first sensor 142 are coupled to the controller 13 , and the second camera has a second lens 151 and the second sensor 152 and are coupled to the controller 13 . In this embodiment, the first camera 14 is arranged in front of the vehicle 10 (as shown in FIG. 2 ) for shooting images in front of the vehicle 10, and its location is not limited thereto. The second camera 15 is set The rear of the vehicle 10 (as shown in FIG. 2 ) is used to capture the rear image of the vehicle 10 , and its location is not limited thereto. The first sensor 142 and the second sensor 152 in the first camera 14 and the second camera 15 are used to determine the distance between the first lens 141 and the second lens 151 and the first obstacle 21 and the second obstacle 22 respectively. The values of the first distance d1 and the second distance d2. The types of the first lens 141 and the second lens 151 are not limited, and they may be general lenses, wide-angle lenses or fisheye lenses with wider viewing angles. And, a display device 12 is further provided in the vehicle 10, and the display device 12 is coupled to the back-up camera device 16. In this embodiment, the controller 13 of the back-up camera device 16 can capture multiple data from the controller area network 11. Vehicle information parameters, so as to determine the state of the vehicle 10 as one of multiple scenarios, switch the activation or deactivation of the first lens 141 and the second lens 151 through the determination of multiple scenarios, and according to the first distance d1 and the second distance d2 Therefore, the three-state viewing angle of the wide-angle field of view, the normal field of view or the top-view field of view is automatically switched, and the three-state viewing angles of the first lens 141 and the second lens 151 are displayed on the display device 12 .

请再参阅图1，控制器13可从控制器局域网络11撷取多个车辆信息参数，在本实施例中，该多个车辆信息参数为一档位变化信息及一档位暂留时间，但不以此为限。通过档位变化信息及档位暂留时间，控制器13将车辆10的状态判定为多个行车情境之一，以本实施为例，多个行车情境可为第一情境、第二情境及第三情境，但不以此为限。当档位变化信息为非倒车档进入倒车档时，控制器13将判定车辆10的状态为第一情境，并将第一镜头141及第二镜头151同时启动；当档位变化信息为倒车档进入非倒车档时，控制器13将判定车辆10的状态为第二情境，并将第一镜头141启动，第二镜头151关闭；而当档位变化信息为倒车档进入非倒车档、且档位暂留时间超过设定值时，例如：15秒，但不以此为限，控制器13将判定车辆10的状态为第三情境，并将第一镜头141及第二镜头151同时关闭。也就是当驾驶人欲停放车辆10将车辆档位进入倒车档位时，车辆10的状态首先被判定为第一情境，此时启动第一镜头141及第二镜头151，以观察车辆10前后方的视野，若驾驶人认为停放位置理想时则将档位由倒车档位进入停车档位，此时驾驶人即完成停车动作，车辆10的状态会被判定为第二情境，且第二镜头151的画面即停止显示，若驾驶人认为当停放位置不理想，须做位置的微调而在短时间内重复变换档位时，由于第三情境的判定需满足档位由倒车档位进入非倒车档位并且超过一暂留时间，故当驾驶人在暂留时间内重复变换档位以调整车辆10的位置时，车辆10的状态将被判定为第一情境或第二情境其中之一，第一镜头141将持续启动而第二镜头151将在倒车时自动开启，如此一来，可在调整车辆10的位置时持续注意与前后方障碍物的距离。此外，一般倒车摄影装置的前摄影机由档位配合车速来判断启动时机，但由于车辆10行进于市区中可能遇到交通壅塞的路况需走走停停，如果档位在前进档且低车速(例如：5～10km/hr)来判断前镜头的启动，则容易造成前镜头在交通壅塞或塞车时启动，而本发明设置于前方的第一镜头141的启动时机，则为档位由非倒车档位进入倒车档位而决定，一般来说在交通壅塞或塞车时通常不会将车辆10的档位进入倒车档，故可避免传统倒车摄影装置的前摄影机会在交通壅塞时启动的情形。Please refer to FIG. 1 again, the controller 13 can retrieve a plurality of vehicle information parameters from the controller local area network 11. In this embodiment, the plurality of vehicle information parameters are a gear change information and a gear residence time, But not limited to this. The controller 13 determines the state of the vehicle 10 as one of multiple driving situations based on the gear change information and the gear stay time. Taking this embodiment as an example, the multiple driving situations can be the first situation, the second situation and the second situation. Three situations, but not limited to this. When the gear position change information is non-reverse gear and enters reverse gear, the controller 13 will determine that the state of the vehicle 10 is the first situation, and start the first lens 141 and the second lens 151 simultaneously; when the gear position change information is reverse gear When entering a non-reverse gear, the controller 13 will determine that the state of the vehicle 10 is the second situation, and start the first camera 141 and turn off the second camera 151; When the bit dwell time exceeds the set value, for example, 15 seconds, but not limited thereto, the controller 13 will determine that the state of the vehicle 10 is the third situation, and turn off the first lens 141 and the second lens 151 at the same time. That is to say, when the driver intends to park the vehicle 10 and put the vehicle gear into the reverse gear, the state of the vehicle 10 is first judged as the first situation. At this time, the first lens 141 and the second lens 151 are activated to observe the front and rear of the vehicle 10. If the driver thinks that the parking position is ideal, the gear will be changed from the reverse gear to the parking gear. At this time, the driver will complete the parking action, and the state of the vehicle 10 will be determined as the second situation, and the second camera 151 If the driver thinks that the parking position is unsatisfactory and needs to make fine adjustments to the position and repeatedly changes gears in a short period of time, the third situation needs to meet the requirements of the third situation to change the gear from the reverse gear to the non-reverse gear position and exceeds a dwell time, so when the driver repeatedly shifts gears to adjust the position of the vehicle 10 within the dwell time, the state of the vehicle 10 will be judged as one of the first situation or the second situation, the first The camera 141 will be continuously activated and the second camera 151 will be automatically turned on when the vehicle is reversing. In this way, the distance to the front and rear obstacles can be continuously paid attention to when adjusting the position of the vehicle 10 . In addition, the front camera of a general reversing camera device judges the starting time based on the gear position and the vehicle speed. (for example: 5 ~ 10km/hr) to judge the start of the front lens, then it is easy to cause the front lens to start when traffic jams or traffic jams, and the start timing of the first lens 141 arranged in the front of the present invention is that the gear position is changed from non to non. The reverse gear is determined by entering the reverse gear. Generally speaking, in traffic jams or traffic jams, the gear of the vehicle 10 is usually not put into the reverse gear, so it can avoid the situation that the front camera of the traditional reverse camera device will be activated when the traffic is jammed. .

请参阅图2，图2为本发明较佳实施例的车辆与前方及后方障碍物相距的第一距离及第二距离的示意图。如图所示，第一摄影机14与第一障碍物21的距离为第一距离d1，第二摄影机15与第二障碍物22的距离为第二距离d2。第一摄影机14与第二摄影机15的第一感测器142及第二感测器152可感测并判断第一距离d1及第二距离d2的数值，且可将第一距离d1及第二距离d2的数值提供给控制器13，以依据该数值切换第一镜头141与第二镜头151的视角。举例来说，当第一距离d1及第二距离d2的数值被判定为大于1.5公尺的长距离时，控制器13则将切换第一镜头141与第二镜头151为一广角视野，但不以此为限。当第一距离d1及第二距离d2的数值判定为介于40公分与1.5公尺之间的中距离时，控制器13将切换第一镜头141与第二镜头151为一正常视野，但不以此为限。又当第一距离d1及第二距离d2的数值被判定为小于40公分的短距离时，控制器13将切换第一镜头141与第二镜头151为一俯视视野，但不以此为限。因此以利用影像检测距离并自动将第一镜头141及第二镜头151切换为三态视角之一，解决现有技术中，一般倒车摄影装置在倒车时，驾驶人须手动切换镜头视角造成的不便。Please refer to FIG. 2 . FIG. 2 is a schematic diagram of the first distance and the second distance between the vehicle and the front and rear obstacles according to a preferred embodiment of the present invention. As shown in the figure, the distance between the first camera 14 and the first obstacle 21 is a first distance d1, and the distance between the second camera 15 and the second obstacle 22 is a second distance d2. The first sensor 142 and the second sensor 152 of the first camera 14 and the second camera 15 can sense and judge the values of the first distance d1 and the second distance d2, and can compare the first distance d1 and the second distance d2 The value of the distance d2 is provided to the controller 13 to switch the viewing angles of the first lens 141 and the second lens 151 according to the value. For example, when the values of the first distance d1 and the second distance d2 are determined to be a long distance greater than 1.5 meters, the controller 13 will switch the first lens 141 and the second lens 151 to a wide-angle field of view, but not This is the limit. When the values of the first distance d1 and the second distance d2 are determined to be the middle distance between 40 centimeters and 1.5 meters, the controller 13 will switch the first lens 141 and the second lens 151 to a normal field of view, but not This is the limit. Also, when the values of the first distance d1 and the second distance d2 are determined to be less than 40 cm, the controller 13 will switch the first lens 141 and the second lens 151 into a bird's-eye view, but not limited thereto. Therefore, by using the image to detect the distance and automatically switch the first lens 141 and the second lens 151 to one of the three-state viewing angles, it solves the inconvenience caused by the driver having to manually switch the lens viewing angle when the general reversing camera device is reversing in the prior art. .

请参阅图2及图3A，图3A为图2所示的倒车摄影装置的第二镜头所拍摄的视野为广角视野的示意图。如图2所示，当倒车摄影装置16的控制器13撷取到控制器局域网络11的车辆信息参数为车辆10的档位由非倒车档位进入倒车档位时，即为前述的第一情境下，控制器13将第一镜头141及第二镜头151同时启动，并利用第一摄影机14及第二摄影机15内的第一感测器142及第二感测器152分别判断第一镜头141与第一障碍物21的第一距离d1及第二镜头151与第二障碍物22的第二距离d2的数值，以本实施例为例，第二距离d2为大于1.5公尺的长距离。此时控制器13会将第二镜头151自动切换为一广角视野，并将该广角视野的画面显示于显示装置12上，即如图3A所示，以使驾驶人可通过该广角视野的画面确认车辆10后方第二障碍物22及其他周边景象，以继续进行倒车作业。至于第一镜头141的作动模式也如同第二镜头151，同样可通过第一感测器142判断第一镜头141与第一障碍物21的第一距离d1的数值，而使控制器13将第一镜头141对应切换至不同视角，进而确认车辆10与前方第一障碍物21的距离及周边景象。在另一些实施例中，该广角视野的水平角度较佳为170至190度，且不以此为限。Please refer to FIG. 2 and FIG. 3A . FIG. 3A is a schematic diagram of a wide-angle field of view captured by the second lens of the reversing camera device shown in FIG. 2 . As shown in FIG. 2 , when the controller 13 of the reversing camera device 16 captures the vehicle information parameter of the controller area network 11 as the gear of the vehicle 10 from a non-reverse gear to a reverse gear, it is the aforementioned first In this situation, the controller 13 activates the first lens 141 and the second lens 151 at the same time, and uses the first sensor 142 and the second sensor 152 in the first camera 14 and the second camera 15 to determine the first lens The value of the first distance d1 between 141 and the first obstacle 21 and the second distance d2 between the second lens 151 and the second obstacle 22, taking this embodiment as an example, the second distance d2 is a long distance greater than 1.5 meters . At this time, the controller 13 will automatically switch the second lens 151 to a wide-angle field of view, and display the picture of the wide-angle field of view on the display device 12, as shown in Figure 3A, so that the driver can pass through the picture of the wide-angle field of view Confirm the second obstacle 22 and other surrounding scenes at the rear of the vehicle 10 to continue the reversing operation. As for the operation mode of the first lens 141, like the second lens 151, the value of the first distance d1 between the first lens 141 and the first obstacle 21 can be judged by the first sensor 142, so that the controller 13 will The first lens 141 switches to different viewing angles correspondingly, so as to confirm the distance between the vehicle 10 and the first obstacle 21 in front and surrounding scenes. In some other embodiments, the horizontal angle of the wide-angle field of view is preferably 170 to 190 degrees, and is not limited thereto.

请参阅图2及图3B，其中图3B为图2所示的倒车摄影装置的第二镜头所拍摄的视野为正常视野的示意图。如前所述，以第二摄影机15为例，当第二感测器152感测到第二镜头151与第二障碍物22之间的第二距离d2为介于40公分与1.5公尺之间的中距离时，此时控制器13会将第二镜头151自动切换为一正常视野，并将该正常视野的画面显示于显示装置12上，即如图3B所示，以使驾驶人可通过该正常视野的画面确认其与车辆10后方第二障碍物22的距离，并准备进行停车作业。且在一些实施例中，该正常视野的水平角度较佳为110至150度，但不以此为限。以及，为了辅助驾驶人进行倒车及停车作业，在本实施例中，如图3B所示，当显示装置12在显示正常视野的画面时，更可具有一虚拟多段式车幅线3，即其具有2段车幅线30、31，或是3段车幅线，均不以此为限，用于辅助驾驶人可评估其与前方第一障碍物21或是后方第二障碍物22的距离，以避免产生碰撞。Please refer to FIG. 2 and FIG. 3B , wherein FIG. 3B is a schematic view showing that the field of view captured by the second lens of the reversing camera device shown in FIG. 2 is a normal field of view. As mentioned above, taking the second camera 15 as an example, when the second sensor 152 detects that the second distance d2 between the second lens 151 and the second obstacle 22 is between 40 centimeters and 1.5 meters When the middle distance is between, at this time, the controller 13 will automatically switch the second lens 151 to a normal field of view, and display the picture of the normal field of view on the display device 12, as shown in Figure 3B, so that the driver can Confirm the distance to the second obstacle 22 behind the vehicle 10 through the screen of the normal field of view, and prepare for parking operation. And in some embodiments, the horizontal angle of the normal field of view is preferably 110 to 150 degrees, but not limited thereto. And, in order to assist the driver to perform reversing and parking operations, in this embodiment, as shown in FIG. There are 2 sections of spoke lines 30, 31, or 3 sections of spoke lines, which are not limited to this, and are used to assist the driver in evaluating the distance from the first obstacle 21 in front or the second obstacle 22 in the rear , to avoid collisions.

请参阅图2及图3C，其中图3C为图2所示的倒车摄影装置的第二镜头所拍摄的视野为俯视视野的示意图。以第二摄影机15为例，当第二感测器152感测到第二镜头151与第二障碍物22之间的第二距离d2为小于40公分的短距离时，此时控制器13会将第二镜头151自动切换为一俯视视野，并将该俯视视野的画面显示于显示装置12上，即如图3C所示，以供驾驶人可通过该俯视视野的画面确认其与车辆10后方的第二障碍物22的距离，以避免短距离的垂直视野不佳而产生碰撞或是事故等情形。且在一些实施例中，该俯视视野的水平角度较佳为60至90度，但不以此为限。以及，为了辅助驾驶人进行倒车作业，在本实施例中，如图3C所示，当显示装置12在显示俯视视野的画面时，更可具有一虚拟立面车幅线4，即其具有一ㄇ字型的虚拟车幅线，但不以此为限，用于辅助驾驶人可进一步确认其与前方第一障碍物21及后方第二障碍物22之间的距离，并可通过该俯视视野的画面以确认后方地面的状况，以避免产生碰撞或是事故的情形。Please refer to FIG. 2 and FIG. 3C , wherein FIG. 3C is a schematic diagram of a top-view field of view captured by the second lens of the reverse camera device shown in FIG. 2 . Taking the second camera 15 as an example, when the second sensor 152 detects that the second distance d2 between the second lens 151 and the second obstacle 22 is a short distance less than 40 cm, the controller 13 will The second lens 151 is automatically switched to a bird's-eye view, and the picture of the bird's-eye view is displayed on the display device 12, as shown in FIG. The distance of the second obstacle 22, in order to avoid situations such as collisions or accidents caused by poor vertical vision in short distances. And in some embodiments, the horizontal angle of the overlooking view is preferably 60 to 90 degrees, but not limited thereto. And, in order to assist the driver to carry out the reversing operation, in this embodiment, as shown in Figure 3C, when the display device 12 is displaying the picture of the bird's-eye view, it can also have a virtual facade line 4, that is, it has a The ㄇ-shaped virtual spoke line, but not limited thereto, is used to assist the driver to further confirm the distance between him and the first obstacle 21 in front and the second obstacle 22 in the rear, and can pass through the bird's-eye view screen to confirm the condition of the ground behind to avoid collisions or accidents.

综上所述，本发明的自动切换三态视角的倒车摄影系统通过第一摄影机及第二摄影机的第一感测器及第二感测器判断车辆与前方或后方障碍物的距离，以自动切换第一镜头及第二镜头的画面，进而辅助驾驶人能在倒车或停车时通过可自动依据不同距离切换成最适情况的三态视角的画面，而判断当下车辆前方及后方的情况，进而以避免碰撞或是产生危险、事故等情形，以及，本发明更可利用档位变化、并配合档位暂留时间等车辆信息参数以决定第一摄影机及第二摄影机的第一镜头及第二镜头的启闭时机，进而使驾驶人可更便利地掌控车辆前、后方的信息，且不会因交通壅塞情形而产生误判，更为智能及兼具便利性。To sum up, the reversing camera system of the present invention automatically switches three-state viewing angles to judge the distance between the vehicle and the front or rear obstacles through the first sensor and the second sensor of the first camera and the second camera, so as to automatically Switch the images of the first lens and the second lens, and then assist the driver to judge the current situation in front of and behind the vehicle through the images that can automatically switch to the most suitable three-state perspective according to different distances when reversing or parking. To avoid collisions or situations such as dangers and accidents, and the present invention can further utilize gear changes and cooperate with vehicle information parameters such as gear dwell time to determine the first lens and the second lens of the first camera and the second camera. The opening and closing timing of the camera allows the driver to more conveniently control the information in front of and behind the vehicle without misjudgment due to traffic congestion, which is more intelligent and convenient.

本发明可以由本领域的技术人员任施匠思而为诸般修饰，然皆不脱离本发明的权利要求所限定的保护范围。The present invention can be modified in various ways by those skilled in the art without departing from the scope of protection defined by the claims of the present invention.