Inter-vehicle communication perspective warning system and inter-vehicle communication perspective warning method

Abstract

The invention provides an inter-vehicle communication perspective warning system and an inter-vehicle communication perspective warning method. The inter-vehicle communication perspective warning method comprises the steps that a first image is extracted through a first view of a front vehicle, and a second image is extracted through a second view of a rear vehicle; identifying one or more first objects in the first image; identifying one or more second objects in the second image; in response to the judgment that one or more first objects have one or more first risk objects, corresponding first risk object information is transmitted to the rear vehicle; and according to the first risk object information, marking one or more first target objects which do not belong to the second object in the first risk object in the displayed second image. Therefore, the existence of the risk object can be obviously reminded and displayed so as to improve the mastering of the driving environment of the rear vehicle, the driving safety is guaranteed, and the driving efficiency is further improved.

Description

Technical Field

[0001] The present invention relates to a workshop warning method, and in particular to a workshop communication perspective warning system and method thereof. Background Art

[0002] The see-through system is one of the safety applications of the Advanced Driver Assistance System (ADAS) for overtaking operations of visually impaired vehicles. It uses low-latency vehicle-to-everything (V2X) communication technology to provide image streaming between the leading and trailing vehicles, and combines image stitching technology to enable the overtaking vehicle to see the visual perspective of the road ahead, enhancing the driver's visual perception of vehicles traveling in the opposite lane.

[0003] At present, mainstream perspective system technology mainly discusses how to improve the performance of the perspective system, or focuses on how to perfectly stitch the image of the front vehicle into the image of the rear vehicle. However, none of them takes into account that the image of the dangerous object detected by the front vehicle may not be included in the stitching of the image of the rear vehicle, thus causing driving hazards. Summary of the invention

[0004] The present invention is directed to a vehicle-to-vehicle communication perspective warning system and a vehicle-to-vehicle communication perspective warning method used therein, which can warn of risks that are invisible in the field of vision of the following vehicle.

[0005] An embodiment of the present invention provides a vehicle communication perspective warning system, comprising: a front vehicle terminal and a rear vehicle terminal. The front vehicle terminal is configured on the front vehicle, wherein the front vehicle terminal comprises a first processor, a first camera and a first communication circuit unit. The rear vehicle terminal is configured on the rear vehicle, wherein the front vehicle terminal comprises a second processor, a second camera and a display. The first camera is used to extract a first image, the second camera is used to extract a second image, and the display is used to display the second image. In response to determining that one or more first objects have one or more first risk objects, the first processor is also used to generate first risk object information corresponding to the one or more first risk objects, and transmit the first risk object information to the rear vehicle terminal via a vehicle connection between the front vehicle terminal and the rear vehicle terminal, wherein in response to determining that one or more first target objects among the one or more first risk objects do not belong to one or more second objects in the second image, the second processor is also used to mark the one or more first target objects in the displayed second image according to the first risk object information to warn of risks that are not visible in the field of view of the rear vehicle.

[0006] In one embodiment of the present invention, the first processor is used to perform a first object recognition operation on the first image to identify the one or more first objects in the first image, and the second processor further performs a second object recognition operation on the second image to identify the one or more second objects in the second image, wherein one of the one or more second objects is a front vehicle object corresponding to the front vehicle, wherein the second processor further sets a first perspective area corresponding to the front vehicle in the second image based on the front vehicle object, wherein the first processor is also used to transmit the first image to the rear vehicle terminal via the workshop connection, wherein the second processor is also used to identify a first area image in the first image based on a first relative position of the front vehicle and the rear vehicle, and stitch the first area image to the first perspective area in the displayed second image to cover the image originally displayed in the first perspective area.

[0007] In an embodiment of the present invention, the second processor determines whether there is one or more second risk objects among the one or more second objects, wherein the second processor marks the one or more second risk objects in the displayed second image.

[0008] In an embodiment of the present invention, the first risk object information includes: location information respectively corresponding to the one or more first risk objects; and first risk object images respectively corresponding to the one or more first risk objects.

[0009] In one embodiment of the present invention, in the operation of marking the one or more first target objects in the displayed second image according to the first risk object information, the second processor determines, based on the first risk object information, the first position at which each of the one or more first target objects is imaged to the displayed second image, and displays one or more first marks corresponding to the one or more first target objects in the displayed second image according to the first position.

[0010] In one embodiment of the present invention, in response to determining that a second target object among the one or more first target objects is not within the first perspective area, the second processor sets a second perspective area corresponding to the second target object in the second image according to position information of the second target object, wherein the second processor stitches the second target object image to the second perspective area in the displayed second image according to the position information of the second target object and the second target object image to cover the image originally displayed in the second perspective area.

[0011] In one embodiment of the present invention, the second processor sets the first perspective area corresponding to the leading vehicle in the second image according to at least one of the following conditions: an image area of ​​the leading vehicle object; and an object contour of the leading vehicle object.

[0012] In one embodiment of the present invention, in the operation of identifying the first area image in the first image according to the first relative position of the front vehicle and the rear vehicle, and stitching the first area image to the first perspective area in the displayed second image, the second processor obtains the area and shape of the first area image in the first image through a projection algorithm according to the first relative position and the area and shape of the first perspective area; and the second processor stitches the obtained first area image to the first perspective area in the second image.

[0013] In one embodiment of the present invention, in the operation of determining whether one or more first objects are one or more first risk objects, the first processor determines whether the first object is the risk object based on at least one of the following conditions: the moving speed of the first object; the object type of the first object; the moving direction of the first object; the predicted motion path of the first object; and the relative position of the first object.

[0014] Another embodiment of the present invention provides a vehicle communication perspective warning method, which is applicable to a vehicle communication perspective warning system. The system includes a front vehicle terminal configured on a front vehicle and a rear vehicle terminal configured on a rear vehicle. The method includes: extracting a first image via the front vehicle terminal, extracting a second image via the rear vehicle terminal, and displaying the second image; in response to determining that one or more first objects have one or more first risk objects, generating first risk object information corresponding to the one or more first risk objects via the front vehicle terminal, and transmitting the first risk object information to the rear vehicle terminal via a vehicle connection between the front vehicle terminal and the rear vehicle terminal; and in response to determining that one or more first target objects among the one or more first risk objects do not belong to one or more second objects in the second image, marking the one or more first target objects in the displayed second image via the rear vehicle terminal according to the first risk object information to warn of risks that are not visible in the field of view of the rear vehicle.

[0015] Based on the above, the vehicle communication perspective warning system and the vehicle communication perspective warning method provided by the present invention can transmit the first image extracted by the front vehicle and the possible risk object information through the vehicle communication between the front vehicle and the rear vehicle, so that the rear vehicle can stitch one or more partial images in the first image to the second image extracted by the rear vehicle accordingly, so as to achieve the perspective effect, and at the same time, the risk object can be marked and displayed in the second image extracted by the rear vehicle. In this way, the second image of the rear vehicle finally displayed can significantly remind and display the existence of the risk object, so as to enhance the rear vehicle's grasp of the driving environment, ensure driving safety, and thus improve driving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. 4 is a block diagram of a vehicle-to-vehicle communication perspective warning system according to an embodiment of the present invention.

[0017] Figure 2 FIG. 4 is a schematic diagram of data stored in a storage circuit unit according to an embodiment of the present invention.

[0018] Figure 3A FIG. 4 is an operation flow chart of a vehicle-to-vehicle communication perspective warning method according to an embodiment of the present invention.

[0019] Figure 3B FIG. 4 is another operation flow chart of a vehicle-to-vehicle communication perspective warning method according to an embodiment of the present invention.

[0020] Figure 4A is a schematic diagram of a perspective projection algorithm according to an embodiment of the present invention.

[0021] Figure 4B FIG. 4 is a schematic diagram of a perspective view of a workshop formed by stitching images according to an embodiment of the present invention.

[0022] Figure 5 is a bird's-eye view schematic diagram of traffic conditions according to an embodiment of the present invention.

[0023] Fig. 6A FIG. 4 is a schematic diagram of a first image captured by a preceding vehicle according to an embodiment of the present invention.

[0024] Figure 6B FIG. 4 is a schematic diagram of a second image captured by a rear vehicle according to an embodiment of the present invention.

[0025] Fig. 7A FIG. 4 is a schematic diagram of setting a perspective area according to a preceding vehicle object according to an embodiment of the present invention.

[0026] Figure 7BFIG. 4 is a schematic diagram of setting a partial regional image within a first image according to a perspective region according to an embodiment of the present invention.

[0027] Figure 8 FIG. 4 is a schematic diagram illustrating stitching a regional image to a perspective region of a second image according to an embodiment of the present invention.

[0028] Fig. 9 FIG. 4 is a schematic diagram of identifying a plurality of risk objects according to an embodiment of the present invention.

[0029] Fig. 10A FIG. 4 is a schematic diagram of a first risk object determined by marking a front vehicle in a second image according to an embodiment of the present invention.

[0030] Fig. 10B FIG. 4 is a schematic diagram of marking a first risk object determined by a preceding vehicle and displaying the first risk object outside a perspective area in a second image according to an embodiment of the present invention.

[0031] Fig. 10C It is a schematic diagram illustrating a first risk object determined by a front vehicle, a first risk object displayed outside a perspective area, and a second risk object determined by a rear vehicle in a second image according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] Reference will now be made in detail to exemplary embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Whenever possible, the same reference numerals are used in the drawings and the description to refer to the same or like parts.

[0033] Please refer to Figure 1 In this embodiment, the vehicle communication perspective warning system 10 includes a front vehicle terminal 100 and a rear vehicle terminal 200. There is a vehicle connection line NC between the front vehicle terminal 100 and the rear vehicle terminal 200. The front vehicle terminal 100 includes a first processor 110, a first communication circuit unit 120, a first storage circuit unit 130, a first input / output unit 140 and a first camera 150. The rear vehicle terminal 200 includes a second processor 210, a second communication circuit unit 220, a second storage circuit unit 230, a second input / output unit 240 and a second camera 250.

[0034] The first communication circuit unit 120 and the second communication circuit unit 220 are used to establish a vehicle-to-vehicle connection NC between the front vehicle terminal 100 and the rear vehicle terminal 200 via a vehicle-to-vehicle communication protocol (V2V). The front vehicle terminal 100 and the rear vehicle terminal 200 can use the vehicle-to-vehicle connection NC to transmit data. For example, the front vehicle terminal 100 can transmit the first image IMG1 captured by the first camera 150 to the rear vehicle terminal 200 via the vehicle-to-vehicle connection NC, and can also transmit the generated risk object information RI to the rear vehicle terminal 200.

[0035] The processors 110 and 210 are, for example, microprogrammed control units (Microprogrammed Control Units), central processing units (CPUs), programmable microprocessors (Microprocessors), application specific integrated circuits (Application Specific Integrated Circuits, ASICs), programmable logic devices (Programmable Logic Devices, PLDs), or other similar devices.

[0036] The communication circuit units 120 and 220 are respectively coupled to the processors 110 and 210 for transmitting or receiving data by wired or wireless communication. In the present embodiment, the communication circuit unit may have a wireless communication circuit module (not shown) and support one or a combination of the Global System for Mobile Communication (GSM) system, Wireless Fidelity (WiFi) system, different generations of mobile communication technologies (e.g., 3G-6G), and Bluetooth communication technology, but are not limited thereto.

[0037] The storage circuit unit 130, 230 is coupled to the processor 110, 210. The storage circuit unit 130, 230 can store data via instructions from the processor 110, 210. The storage circuit unit includes any type of hard disk drive (HDD) or non-volatile memory storage device (e.g., SSD). In one embodiment, the storage circuit unit also includes a memory for temporarily storing instructions or data executed by the processor, such as a dynamic random access memory (DRAM), a static random access memory (SRAM), etc.

[0038] The input / output units 140 and 240 include input devices and output devices. The input devices are, for example, microphones, touch pads, touch panels, knobs, buttons, etc., which are used to allow users to input data or control the functions that users want to operate. The output devices are, for example, displays (which receive data of display screens to display images), speakers (which can receive audio data to produce sound effects), etc., but the present application is not limited thereto. In one embodiment, the input / output units 140 and 240 can be touch screens.

[0039] Please refer to Figure 2 In this embodiment, the storage circuit unit 130, 230 can store multiple program modules. For example, the storage circuit unit 130 stores an image extraction module 131, an object recognition module 132, a risk judgment module 133, and an image stitching module 134. The processor 110 executes the image extraction module 131 to control the camera 150 to extract an image. The processor 110 executes the object recognition module 132 to perform an object recognition operation on the extracted image to identify one or more objects in the extracted image. The processor 110 executes the risk judgment module 133 to perform risk judgment on the identified object to determine whether each of the one or more objects is a risk object. The processor 110 executes the image stitching module 134 to stitch / synthesize the images of the determined parts and perform corresponding markings to generate the required image content. In another embodiment, the program modules 131 to 134 can all be implemented as hardware circuit units to implement corresponding functions.

[0040] Please refer to Figure 3A In one embodiment, the terminal of the rear vehicle may mark risk objects that are visible to the front vehicle but invisible to the rear vehicle in the image displayed by the rear vehicle according to the risk information provided by the terminal of the front vehicle.

[0041] Specifically, in step S310, the first camera 150 is used to extract a first image. In addition, in step S320, the second camera 250 is used to extract a second image, and the input / output unit 240 is used to display the second image. Then, in step S330, in response to determining that one or more first objects in the first image have the one or more first risk objects, the first processor 110 is also used to generate first risk object information corresponding to the one or more first risk objects, and transmit the first risk object information to the rear vehicle terminal via the vehicle-to-vehicle connection between the front vehicle terminal and the rear vehicle terminal. Then, in step S340, in response to determining that one or more first target objects in the one or more first risk objects do not belong to one or more second objects in the second image, the second processor 210 is also used to mark the one or more first target objects in the displayed second image according to the first risk object information.

[0042] In another embodiment, the second image further has a portion of the first image to form a perspective effect corresponding to the preceding vehicle.

[0043] Please refer to Figure 3B , wherein step S411 is similar to step S310, step S412 is similar to step S320, step S470 is similar to step S330, and step S490 is similar to step S340. The details of steps S310, S320, S330, and S340 will be explained together in the description of steps S411, S412, S470, and S490 below.

[0044] Please refer to Figure 5 , 6A 6B, in step S411, the first camera 150 is used to extract a first image IMG1 (eg, Figure 5 , 6A In step S412, the second camera 250 is used to extract a second image IMG2 (eg, Figure 5 , 6B The extracted image will be displayed on the display / screen in the input / output unit 140, 240 of each vehicle terminal.

[0045] Next, in step S421, the first processor 110 is used to perform a first object recognition operation on the first image to identify one or more first objects (eg, Fig. 6AIn step S422, the second processor 210 is used to perform a second object recognition operation on the second image IMG2 to identify one or more second objects (such as, Fig. 6A It should be noted that one of the one or more second objects is a preceding vehicle object corresponding to the preceding vehicle (e.g., Figure 6B The preceding vehicle object A) is shown.

[0046] Next, in step S430, the second processor 210 is further used to set the first perspective area STA1 corresponding to the front vehicle in the second image IMG2 according to the front vehicle object A. More specifically, the second processor 210 sets the first perspective area corresponding to the front vehicle in the second image according to at least one of the following conditions: the image area of ​​the front vehicle object and the object outline of the front vehicle object. In other words, in order to achieve the effect of perspective viewing of the front vehicle, the range of the first perspective area STA1 can be set to cover the entire outline of the front vehicle, or be slightly smaller than the entire outline of the front vehicle (to retain some features of the front vehicle such as tires, etc., so that the rear vehicle can know the existence of the front vehicle), and the present invention is not limited to this.

[0047] Next, in step S440 , the first processor 110 is further configured to transmit the first image IMG1 to the subsequent vehicle terminal 200 via the vehicle-to-vehicle connection NC.

[0048] Then, in step S450, the second processor 210 is also used to identify the first area image in the first image according to the first relative position of the front vehicle and the rear vehicle, and stitch the first area image to the first perspective area in the displayed second image to cover the image originally displayed in the first perspective area.

[0049] Specifically, the second processor 210 obtains the area and shape of the first area image in the first image through a projection algorithm based on the first relative position and the area and shape of the first perspective area; the second processor 210 stitches the obtained first area image to the first perspective area in the second image.

[0050] See also Figure 4A , after determining the first perspective area A O After that, the second processor 210 can use a projection algorithm to refer to the first perspective area A. O The field of view determines the first image A I The first area A O '. Among them, C I Can be regarded as the front car VI The position of the first camera 150, and C f Can be regarded as the rear car V f Next, the first area A O The image in the first region (i.e., the first region image) is stitched to the first perspective region A of the second image. O .

[0051] The overall perspective effect of image stitching can be seen in Figure 4B In this example, the image captured by the camera of the front vehicle through the perspective of the front vehicle is IMG41. The image IMG42 captured by the camera of the rear vehicle through the perspective of the rear vehicle can see the object of the front vehicle. Image IMG41 is transmitted to the rear vehicle. As shown in image IMG43, the rear vehicle terminal determines the position, area and shape of the first perspective area according to the object of the front vehicle, and determines the first area image in the first image according to the first perspective area (projection calculation). Finally, the rear vehicle terminal stitches the first area image to the first perspective area in the image IMG42 extracted by the rear vehicle to form image IMG45 (image stitching). It can be seen that the image of the object of the front vehicle located in the first perspective area in the original second image IMG42 will be overwritten and replaced by the first area image.

[0052] Please come back Figure 3B Then, in step S460, the first processor 110 is further used to determine whether there is one or more first risk objects among the one or more first objects. Specifically, the first processor 110 determines whether the first object is the risk object according to at least one of the following conditions: the moving speed of the first object (for example, the moving speed of the first object exceeds the speed threshold); the object type of the first object (for example, the object type of the first object is human); the moving direction of the first object (for example, the moving direction of the first object intersects the moving direction of the preceding vehicle); the predicted motion path of the first object (for example, the probability of the motion path predicted by the moving direction and speed of the first object colliding with the preceding vehicle is higher than a collision probability threshold); and the relative position of the first object (for example, the distance between the first object and the preceding vehicle is less than the distance threshold).

[0053] Next, in step S470, in response to determining that the one or more first objects include the one or more first risk objects, the first processor 110 is further configured to generate first risk object information corresponding to the one or more first risk objects, and transmit the first risk object information to the following vehicle terminal 200 via the vehicle-to-vehicle connection NC. In one embodiment, after the leading vehicle identifies the first risk object, it also marks the first risk object. For example, Fig. 9 The risk labels N1 to N3 corresponding to the risk objects C1 to C3 in FIG. Fig. 9 As shown, the object images IMG1_R1 - IMG1_R3 corresponding to the risk objects C1 - C3 are packaged into the first risk object information. It should be noted that the risk mark may include an arrow mark (eg, arrow mark N3A) for indicating the moving direction A7 of the risk object.

[0054] Specifically, after identifying the risk objects (first risk objects) in the first objects, the first processor 110 packages the identifier, location information and corresponding object image (also called first risk object image) of each risk object into first risk object information, and transmits it to the rear vehicle terminal 200. In other words, the second processor 210 can obtain the location and image of each risk object identified by the front vehicle according to the received first risk object information.

[0055] Next, in step S480, the second processor 210 is further used to determine whether the one or more first risk objects belong to the one or more second objects according to the first risk object information. Specifically, the second processor 210 can compare the object image of each risk object in the first risk object information with the object image of the second object to determine whether the first risk object determined by the front vehicle terminal 100 belongs to the multiple second objects in the second image IMG2 seen by the rear vehicle terminal 200.

[0056] Next, in step S490, in response to determining that one or more first target objects among the one or more first risk objects do not belong to the one or more second objects, the second processor 210 is further used to mark the one or more first target objects in the displayed second image according to the first risk object information to warn of risks that are not visible in the second field of view of the following vehicle.

[0057] Specifically, the second processor 210 determines, based on the first risk object information, that the one or more first target objects are each mapped to a first position of the displayed second image, and displays one or more first marks corresponding to the one or more first target objects in the displayed second image based on the first position.

[0058] Please refer to Figure 6B , 9 , 10A. Assume that the first risk objects to be determined are C1-C3, and the second objects are objects A, C2, C4 and BD1. Fig. 10AAs shown, for the first target objects C1 and C3 in the first risk objects that do not originally exist in the second image, the second processor 210 displays the corresponding risk marks N1 and N3 at the first positions of the determined corresponding target objects C1 and C3 in the second image IMG2. In other words, for the risk objects (i.e., the first target objects) that are not identified in the second image IMG2, the method provided by the present invention can effectively mark the first target objects in the second image IMG2 to remind the user viewing the second image IMG2, thereby ensuring driving safety. In addition, for vehicles using automatic driving, the method provided by the present invention can also be used to allow the automatic driving system of the following vehicle to effectively identify the risk objects that the following vehicle cannot see / perceive, and include them as one of the consideration factors for subsequent automatic driving.

[0059] It is worth mentioning that see Fig. 10B In one embodiment, the second processor 210 further determines whether the one or more first target objects are within the first perspective area. Fig. 10B As shown, in response to determining that the second target object C3 among the one or more first target objects is not within the first perspective area STA1, the second processor 210 sets a second perspective area STA2 corresponding to the second target object C3 in the second image IMG2 according to the position information of the second target object C3, wherein the second processor 210 stitches the second target object image IMG1_R3 to the second perspective area STA2 in the displayed second image IMG2 according to the position information of the second target object and the second target object image IMG1_R3, so as to cover the image originally displayed in the second perspective area STA2 (e.g., the image of the portion of the object BD1 originally displayed in the second perspective area STA2).

[0060] That is to say, through the example of the above-mentioned embodiment, the risk object C3 that was originally invisible through the first perspective area STA1 can be set with an additional second perspective area, so that the image of the risk object C3 determined by the leading vehicle can penetrate the obstacle seen by the rear vehicle without being blocked by its image, and can be known by the rear vehicle terminal of the rear vehicle and displayed in the second image IMG2 displayed by the rear vehicle, thereby further assisting the driver / passenger or the automatic driving system of the rear vehicle to make corresponding judgments.

[0061] The following use Figures 5 to 10C The following is used as an example to comprehensively explain the vehicle communication perspective warning system and the vehicle communication perspective warning method used in the present invention.

[0062] Please refer to Figure 5, assuming that there are vehicles C1, A, and B moving in the first direction (towards the top of the screen) on a two-way road; vehicles C2 and C4 moving in the second direction; and vehicle C3 moving in the third direction near the intersection in the fork in the road ahead. There is a building BD1 on the right side of vehicle A. Vehicle A is the front vehicle in this embodiment, and its first camera extracts the first image via the first field of view FOV1 (S411); vehicle B is the rear vehicle in this embodiment, and its second camera extracts the second image via the second field of view FOV2 (S412).

[0063] Please refer to Fig. 6A , 6B In this example, the first image IMG1 extracted by the front vehicle terminal is as follows: Fig. 6A As shown in FIG. 1 , from the first image IMG1, a vehicle C1 can be seen in front of the same lane, a vehicle C2 can be seen driving in the opposite lane, and a vehicle C3 driving in the fork road ahead is approaching the intersection ahead. Figure 6B As shown, from the second image IMG2, there can be a vehicle A ahead in the same lane, vehicles C4 and C2 in the opposite lane driving successively, and a building BD1 on the right.

[0064] In this embodiment, the front vehicle terminal 100 identifies the first objects C1, C2, and C3 (S421); the rear vehicle terminal 200 identifies the second objects A, C2, C4, and BD1 (S422), wherein the second object A is the front vehicle object.

[0065] Please refer to Fig. 7A The rear vehicle terminal 200 sets the first perspective area STA1 according to the front vehicle object A (S430). The front vehicle terminal 100 transmits the first image IMG1 to the rear vehicle terminal 200 (S440).

[0066] Please refer to Figure 7B Then, the rear vehicle terminal 200 calculates the first area PA1 (eg Figure 5 As shown, the third field of view FOV3) set by the projection of the first perspective area STA1 and the first area image IMG1_1 included therein. Figure 8 , the rear vehicle terminal 200 stitches the first region image IMG1_1 to the first perspective region STA1 ( S450 ).

[0067] Please refer to Fig. 9After identifying the first objects C1, C2, and C3, the front vehicle terminal 100 also performs risk judgment, determines that the first objects C1, C2, and C3 are all first risk objects, and generates corresponding first risk information, wherein the first risk information includes the respective position information of the first risk objects C1, C2, and C3 and the object images IMG1_R1, IMG1_R2, and IMG1_R3, and the first risk information is transmitted by the front vehicle terminal 100 to the rear vehicle terminal 200 (S470). In one embodiment, the front vehicle terminal 100 can directly use the risk marks N1, N2, and N3 to mark the first risk objects C1, C2, and C3.

[0068] Next, please refer to Fig. 10A , after receiving the first risk information, the rear vehicle terminal 200 will determine whether the first risk objects C1, C2, C3 are each one of the second objects C1, C2, C4, BD1 (S480). In this example, the rear vehicle terminal 200 determines that among the first risk objects C1, C2, C3, only the target objects C1 and C3 are not the second objects, and generates corresponding risk marks N1 and N3 according to the first risk information to mark the target objects C1 and C3 in the second image IMG2 (S490). The risk mark may include an arrow mark (such as an arrow mark N3A) to indicate the direction of travel of the risk object. In this way, even if the building BD1 blocks the field of view of the rear vehicle, the rear vehicle terminal 200 can still know that there is a risk object C3 behind the building BD1 that is moving towards the rear vehicle's travel section. The user / driver of the following vehicle can also know, through the risk marks N3 and N3A displayed in the second image IMG2, that there is a risk object behind the building BD1 that is moving towards the road section where the following vehicle is traveling.

[0069] For a clearer understanding of the risk, please refer to Fig. 10B In one embodiment, in response to the risk object C3 not being within the first perspective area STA1, the rear vehicle terminal 200 may further display the image IMG1_R3 corresponding to the risk object C3 in the second perspective area STA2 set in the second image IMG2, so that the image of the risk object C3 has a penetrating effect, that is, the user / driver can see through the currently displayed second image IMG2 (breaking through the obstruction of the image of the building BD1) to the risk object C3.

[0070] Please refer to Fig. 10C In one embodiment, the following vehicle terminal 200 may also determine whether the one or more second objects A, C2, C4 contain one or more second risk objects, and mark the one or more second risk objects in the displayed second image IMG2 (e.g., risk marks NA, N2, N4).

[0071] Based on the above, the vehicle communication perspective warning system and the vehicle communication perspective warning method provided by the present invention can transmit the first image extracted by the front vehicle and the possible risk object information through the vehicle communication between the front vehicle and the rear vehicle, so that the rear vehicle can stitch one or more partial images in the first image to the second image extracted by the rear vehicle accordingly, so as to achieve the perspective effect, and at the same time, the risk object can be marked and displayed in the second image extracted by the rear vehicle. In this way, the second image of the rear vehicle finally displayed can significantly remind and display the existence of the risk object, so as to enhance the rear vehicle's grasp of the driving environment, ensure driving safety, and thus improve driving efficiency.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle communication perspective warning system, characterized in that: include: A front vehicle terminal is configured on the front vehicle, wherein the front vehicle terminal includes a first processor, a first camera and a first communication circuit unit; as well as The rear vehicle terminal is configured on the rear vehicle, wherein the front vehicle terminal includes a second processor, a second camera and a display, The first camera is used to capture a first image, the second camera is used to capture a second image, and the display is used to display the second image. In response to determining that one or more first risk objects are included in the one or more first objects, the first processor is further configured to generate first risk object information corresponding to the one or more first risk objects, and transmit the first risk object information to the rear vehicle terminal via a vehicle-to-vehicle connection between the front vehicle terminal and the rear vehicle terminal. In response to determining that one or more first target objects among the one or more first risk objects do not belong to one or more second objects in the second image, the second processor is further used to mark the one or more first target objects in the displayed second image according to the first risk object information to warn of risks that are not visible in the field of view of the following vehicle.

2. The vehicle communication perspective warning system according to claim 1, characterized in that: wherein the first processor is used to perform a first object recognition operation on the first image to identify the one or more first objects in the first image, The second processor further performs a second object recognition operation on the second image to identify the one or more second objects in the second image, wherein one of the one or more second objects is a preceding vehicle object corresponding to the preceding vehicle. The second processor further sets a first perspective area corresponding to the front vehicle in the second image according to the front vehicle object. The first processor is further used to transmit the first image to the rear vehicle terminal via the workshop connection. The second processor is further used to identify a first area image in the first image according to a first relative position of the front vehicle and the rear vehicle, and to stitch the first area image to the first perspective area in the displayed second image to cover the image originally displayed in the first perspective area.

3. The vehicle communication perspective warning system according to claim 2, characterized in that: in The second processor determines whether the one or more second objects include one or more second risk objects. The second processor marks the one or more second risk objects in the displayed second image.

4. The vehicle communication perspective warning system according to claim 2, characterized in that: The first risk object information includes: location information corresponding to the one or more first risk objects respectively; and The first risk object images respectively correspond to the one or more first risk objects.

5. The vehicle communication perspective warning system according to claim 4, characterized in that: In the operation of marking the one or more first target objects in the displayed second image according to the first risk object information, The second processor determines, based on the first risk object information, that the one or more first target objects are each mapped to a first position of the displayed second image, and displays one or more first marks corresponding to the one or more first target objects in the displayed second image based on the first position.

6. The vehicle communication perspective warning system according to claim 5, characterized in that: In response to determining that a second target object among the one or more first target objects is not within the first perspective area, The second processor sets a second perspective area corresponding to the second target object in the second image according to the position information of the second target object. The second processor stitches the second target object image to the second perspective area in the displayed second image according to the position information of the second target object and the second target object image, so as to cover the image originally displayed in the second perspective area.

7. The vehicle communication perspective warning system according to claim 2, characterized in that: The second processor sets the first perspective area corresponding to the front vehicle in the second image according to at least one of the following conditions: The image area of ​​the preceding vehicle object; and The object profile of the preceding object.

8. The vehicle communication perspective warning system according to claim 2, characterized in that: wherein in the operation of identifying the first region image in the first image according to the first relative position of the front vehicle and the rear vehicle, and stitching the first region image to the first perspective region in the displayed second image, The second processor obtains the area and shape of the first region image in the first image through a projection algorithm according to the first relative position and the area and shape of the first perspective region; as well as The second processor stitches the obtained first area image to the first perspective area in the second image.

9. The vehicle communication perspective warning system according to claim 2, characterized in that: In the operation of determining whether one or more first objects are one or more first risk objects, the first processor determines whether the first object is the risk object according to at least one of the following conditions: The movement speed of the first object; the object type of the first object; the direction of travel of the first object; A predicted motion path of the first object; as well as The relative position of the first object.

10. A vehicle communication perspective warning method, applicable to a vehicle communication perspective warning system, wherein the system comprises a front vehicle terminal configured on a front vehicle and a rear vehicle terminal configured on a rear vehicle, characterized in that: The method comprises: Extracting a first image via the front vehicle terminal, extracting a second image via the rear vehicle terminal, and displaying the second image; In response to determining that one or more first risk objects are included in the one or more first objects, generating first risk object information corresponding to the one or more first risk objects via the leading vehicle terminal, and transmitting the first risk object information to the trailing vehicle terminal via a vehicle-to-vehicle connection between the leading vehicle terminal and the trailing vehicle terminal; and In response to determining that one or more first target objects among the one or more first risk objects do not belong to one or more second objects in the second image, the one or more first target objects are marked in the displayed second image via the following vehicle terminal according to the first risk object information to warn of risks that are not visible in the field of view of the following vehicle.

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