Method and system for assisting driver
First Claim
1. A driving assistance method, comprising the steps of:
- obtaining a surrounding image relating to the surrounding environment of a carrier while the carrier is moving;
performing an image-based motion vector estimation based upon the variation of the surrounding image so as to determine a moving status of the carrier while the carrier is moving backward;
constructing an assistant trajectory according to the moving status;
making an evaluation to determine whether there is a feature object found in the varying surrounding image during the backward movement of the carrier; and
if so, determining the distance between the carrier and the feature object;
performing a first assistance process according to the distance between the moving carrier and the feature object; and
performing a viewpoint switching operation while the distance is smaller than a first distance, wherein the viewpoint switching operation is performed for converting a coordinate (x,y,0) is real world into another coordinate (α
,β
) in the image space by the following formula;
1 Assignment
0 Petitions
Accused Products
Abstract
A method and system for assisting driver are provided in the present disclosure, in which images captured by a single image sensing device is processed by a controller having capability of image processing and identification and distance estimation in image space for providing a complete assisting image-information while the carrier is moving forward or backward. By means of the method and system of the presented disclosure, it can identify the image characteristic to be a basis for lane departure assistance/alarm while the carrier is moving forwardly as well as generate assisting track and change view angle or issue an alarm according to the distance estimation while the carrier is moving backwardly. The present disclosure may be utilized and applied in different kinds of carrier type to solve the problem of guiding of carrier maneuvering, and assist carrier lane changing, parking assistance and blind spot detection.
47 Citations
20 Claims
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1. A driving assistance method, comprising the steps of:
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obtaining a surrounding image relating to the surrounding environment of a carrier while the carrier is moving; performing an image-based motion vector estimation based upon the variation of the surrounding image so as to determine a moving status of the carrier while the carrier is moving backward; constructing an assistant trajectory according to the moving status; making an evaluation to determine whether there is a feature object found in the varying surrounding image during the backward movement of the carrier; and
if so, determining the distance between the carrier and the feature object;performing a first assistance process according to the distance between the moving carrier and the feature object; and performing a viewpoint switching operation while the distance is smaller than a first distance, wherein the viewpoint switching operation is performed for converting a coordinate (x,y,0) is real world into another coordinate (α
,β
) in the image space by the following formula; - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A driving assistance system, comprising:
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an image sensing device, mounted on a moving carrier for capturing a surrounding image relating to the surrounding environment of the carrier; a control unit, coupled to the image sensing device for performing the following operations while the carrier is moving backward; determining a moving status of the carrier according to a motion vector relating to the movement of a specific block in the various surrounding images captured by the image sensing device at different time points; constructing an assistant trajectory according to the moving status; performing a detection/identification process relating to a first feature object so as to determine a distance between the moving carrier and the first feature object; and performing a viewpoint switching operation while the distance is smaller than a first distance, wherein the viewpoint switching operation is performed for converting a coordinate (x,y,0) is real world into another coordinate (α
,β
) in the image space by the following formula; - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification