Vehicle display device with direction warning function and driving assistance system composed of vehicle display device
By setting warning lights and light guide strips around the vehicle display device, combined with the image processing and warning judgment of the driving assistance system, the problem of drivers having difficulty paying attention to the front and the surrounding environment at the same time is solved, realizing directional warning under peripheral vision and reducing the risk of accidents.
Patent Information
- Application Number
- CN202410780316.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-18
- Publication Date
- 2025-12-19
AI Technical Summary
When existing driver assistance systems address the blind spot problem of large vehicles, drivers often find it difficult to simultaneously pay attention to the road ahead and the surrounding environment, leading to frequent accidents.
Design a vehicle display device that provides directional warnings in the peripheral vision by setting a directional warning module around the display screen, using light-emitting units and light guide strips to emit warning lights, and combining the image processing and warning judgment module of the driving assistance system.
It reduces the burden on drivers to shift their gaze, improves their ability to react to the surrounding environment, and lowers the probability of accidents.
Smart Images
Figure CN121157787A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to a vehicle display device, in particular, a vehicle display device with orientation warning function and a driving assistance system using the same. BACKGROUND
[0002] With the development of technology, there are many AVM (Around View Monitor) systems suitable for vehicles on the market, and further composed of ADAS (Advanced Driver Assistance System) to assist the driver in observing the visual blind spot when driving, and even automatically judge and warn the driver to pay attention or be alert, so as to reduce the probability of accidents.
[0003] However, in reality, traffic accidents caused by visual blind spots still occur frequently, especially large vehicles such as buses, trucks, sand trucks, even container trucks, and articulated trucks. Not only do they have high driver seats, long bodies, resulting in more dead angles on the sides and rear, and long wheelbase, large turning radius, and other factors, but also modern drivers need to observe the monitoring screen of many visual dead angles while driving, even the status of passengers in the car and the load status of the car itself (such as cold chain, special, dangerous goods), which is too busy and easy to ignore changes around the car, resulting in no extra time and ability to notice the approach of other objects to dodge, slow down or stop. This is also an important reason why accidents still occur despite the regulations requiring the installation of cameras or active detection devices.
[0004] Therefore, the present application has been made in view of the above problems, and it is an object of the present application to provide a vehicle display device with orientation warning function. SUMMARY
[0005] The main purpose of the present application is to provide a vehicle display device with orientation warning function, which can form an effect of warning the approaching direction of the object through the warning light emitted by the screen periphery, so that the driver can know which direction the warning object is approaching through the peripheral vision, without causing the burden of driving (without completely transferring the attention to the road conditions to the display screen), so that the driver can have a more sufficient response to the warning situation and reduce the occurrence of accidents.
[0006] To achieve the above objectives and effects, the present invention provides a vehicle display device with directional warning function, mainly applied to a driving assistance system. It includes a main body, and the main body has a display screen on its front side that can display images or information in conjunction with the driving assistance system. The technical means and structural features of the vehicle display device are as follows: the main body further includes a directional warning module arranged around the display screen to emit warning lights at appropriate locations around the display screen. The directional warning module includes at least a plurality of light-emitting units, which are spaced apart and arranged around the display screen. The driving assistance system can identify objects approaching the vehicle, and the display screen can display images or information of the approaching object in conjunction with the driving assistance system. The directional warning module can emit warning lights from the one or more light-emitting units at corresponding locations around the display screen according to the orientation of the approaching object relative to the vehicle.
[0007] According to the above structure, the main body also includes a circuit board and a front shell located on the front side of the circuit board. The display screen and the plurality of light-emitting units are assembled on the circuit board. The front shell has a cutout portion and a plurality of cutout guide grooves at the positions corresponding to the display screen and the plurality of light-emitting units. The cutout portion can accommodate the display screen and expose it on the front side of the main body. The plurality of guide grooves are arranged around the cutout portion at intervals so that the warning lights of the plurality of light-emitting units can be emitted forward along each corresponding guide groove.
[0008] According to the above structure, the main body also includes a rear shell located behind the circuit board. The rear shell can be combined with the front shell, and a reflective part is provided on the inner side corresponding to the position of the plurality of light-emitting units, so that the warning lights of the plurality of light-emitting units can be concentrated and emitted towards the front.
[0009] According to the above structure, the directional warning module also includes a plurality of light guide strips arranged around the display screen, which are respectively assembled in each of the guide slots of the front shell and cover the other side of each guide slot opposite to the plurality of light-emitting units, so as to receive the light from each guide slot and guide it into a warning light that can emit light in a range or area around the display screen.
[0010] According to the above structure, the directional warning module has at least one light guide strip on the top, bottom, left and right sides of the display screen, and each light guide strip has at least one guide groove and at least one light-emitting unit to emit warning lights when an object approaches the front, rear, left and right sides of the vehicle body.
[0011] According to the above structure, the body further comprises a loudspeaker between the circuit board and the rear shell and electrically connected to the circuit board, for emitting warning sound when the orientation warning module emits warning light; and the rear shell is provided with a plurality of sound source holes corresponding to the loudspeaker.
[0012] According to the above structure, the rear shell is further provided with a support hole for assembling a support assembly.
[0013] In an embodiment, the display screen can be designed in a long and narrow shape similar to the vehicle body, and the light guide strips above or below the display screen and the corresponding guide grooves can also be designed in an arc shape to form a smooth overall shape; and the warning light emitted by the plurality of light emitting units can be configured as red light, yellow light or blue light to easily remind the driver, and the warning sound emitted by the loudspeaker can be configured as multi-section beeping sound (such as beep beep beep, beep beep, beep).
[0014] Further, the present application also provides a driving assistance system with orientation warning function, which is mainly applied to a vehicle and is provided with the vehicle display device as described above to form a driving assistance system that can help the driver to judge without increasing the burden. The main technical means and system architecture include the vehicle display device, a plurality of camera units and a processing unit; wherein the vehicle display device is used for providing the driver with observation, which is mainly composed as described above and will not be repeated here; the plurality of camera units are arranged on the vehicle body of the vehicle to obtain real scene images around the vehicle body; the processing unit is electrically connected to the plurality of camera units and the vehicle display device, and can receive the real scene images obtained by the plurality of camera units to process, judge and control the vehicle display device.
[0015] In the driving assistance system of the present application, the processing unit at least includes an image processing module capable of processing images, an object recognition module capable of recognizing objects from images, a pre-warning judgment module capable of pre-warning according to the distance of objects, and a display control module capable of cooperating with pre-warning to control the display screen; wherein the pre-warning judgment module can pre-warn when the distance between the object and the vehicle body is less than a preset warning distance, and can drive the vehicle display device to emit warning light from the or the plurality of light emitting units in the corresponding orientation around the display screen when pre-warning; and the display control module can control the image or information displayed on the display screen of the vehicle display device, so that the display screen can display real scene images containing the object in the corresponding orientation, magnify the real scene images of the object in the corresponding local part, or display an electronic icon representing the object when pre-warning.
[0016] According to the system architecture, the processing unit further comprises a trajectory prediction module capable of tracking the moving path of the object based on the image data of the object in the past, and estimating the moving trajectory of the object in a predetermined time in the future according to the moving path; and the early warning judgment module is further capable of performing early warning judgment by using the moving trajectory of the object, and performing early warning when the distance between the moving trajectory of the object and the vehicle body is less than the warning distance.
[0017] Further, the image processing module is capable of performing image splicing, projection and distortion conversion processing on the plurality of real scene images, and at least capable of splicing and converting a bird's-eye view vehicle body panoramic image; the object recognition module is capable of recognizing the objects around the vehicle body from the plurality of real scene images or the vehicle body panoramic image; and the display control module is capable of driving the display screen to display the vehicle body panoramic image when there is no early warning.
[0018] Preferably, in the driving assistance system, the warning distance preset by the early warning judgment module can increase or decrease with the vehicle speed, so as to provide appropriate early warning effect according to the driving condition of the driver, and to cope with emergency situations; in addition, the predetermined time preset by the trajectory prediction module is preferably set to about 2 seconds, so as to form a prediction with relatively high accuracy and early warning effect.
[0019] In order to make the above-mentioned purposes, features and functional effects of the present application more specific, the preferred embodiments of the present application are described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS
[0020] Figure 1 It is a schematic diagram of the three-dimensional appearance of the vehicle display device of the preferred embodiment of the present application.
[0021] Figure 2 It is a schematic diagram of the element disassembly of the vehicle display device of the preferred embodiment of the present application.
[0022] Figure 3 It is a schematic diagram of the system architecture of the driving assistance system of the preferred embodiment of the present application.
[0023] Figure 4 It is a schematic diagram of the use state of the vehicle display device of the preferred embodiment of the present application when early warning.
[0024] Figure 5 It is a schematic diagram of the moving trajectory prediction of the driving assistance system of the preferred embodiment of the present application.
[0025] Figure 6 It is a schematic diagram of the use state of the vehicle display device of the preferred embodiment of the present application when early warning.
[0026] Figure 7 It is a schematic diagram of the moving trajectory prediction of the driving assistance system of the preferred embodiment of the present application.
[0027] Figure 8 Fig. 4 is a schematic diagram of a use state of the vehicle display device in another pre-warning state according to a preferred embodiment of the present application.
[0028] Reference signs: 1 - vehicle display device; 10 - body; 11 - front shell; 111 - hollow part; 112 - guide groove; 12 - display screen; 121 - TP glass; 13 - orientation warning module; 131 - light emitting unit; 132 - light guide edge; 14 - circuit substrate; 15 - horn; 16 - memory card assembly; 161 - memory card fixing cover; 17 - wire buckle; 171 - wire harness; 18 - rear shell; 181 - reflecting part; 182 - sound source hole; 183 - support connecting hole; 20 - support assembly; 3 - driving assistance system; 30 - processing unit; 31 - image processing module; 32 - object recognition module; 33 - trajectory prediction module; 34 - pre-warning judgment module; 35 - display control module; 40 - photographing unit; 50 - sensing unit; 60 - vehicle body; A, B - electronic image; C - moving path; D - moving trajectory. DETAILED DESCRIPTION
[0029] Please refer to Figures 1 to 3 The main technical content of the present application is a vehicle display device 1 with an orientation warning function and a driving assistance system 3 with the vehicle display device 1. The driving assistance system 3 is mainly applied to a vehicle, and at least includes a processing unit 30 electrically connected to the vehicle display device 1 and a plurality of photographing units 40 arranged on the vehicle body 60 of the vehicle to obtain real scene images around the vehicle body 60. The vehicle display device 1 is mainly arranged at a position on the front side or oblique front side of the driver's seat of the vehicle, which can be reached by the driver's peripheral vision when driving, so as to be observed by the driver using the peripheral vision.
[0030] Among them, the vehicle display device 1 has a body 10 which can be connected to a support assembly 20, so that it can be supported at a proper position in the vehicle. The body 10 includes a front shell 11 and a rear shell 18 which can be connected to each other, and forms a space between them which can accommodate other elements.
[0031] In the embodiment, the body 10 is provided with a circuit board 14 between the front shell 11 and the rear shell 18, and includes a display screen 12 and an orientation warning module 13 arranged on the circuit board 14. The display screen 12 is used to display appropriate images or information in cooperation with the driving assistance system 3, is arranged on the front side of the circuit board 14, and can be accommodated in a hollow part 111 opened in the front shell 11 to be exposed on the front side of the body 10. The orientation warning module 13 is arranged around the display screen 12, and is mainly used to emit warning light at appropriate orientations around the display screen 12 according to the indication of the driving assistance system 3. The orientation warning module 13 includes a plurality of light emitting units 131, and the plurality of light emitting units 131 are arranged around the display screen 12 at intervals.
[0032] The processing unit 30 of the driving assistance system 3 is usually a vehicle-specific microcontroller ECU (Eletronic Control Unit) electrically connected with the plurality of camera units 40 and the vehicle display device 1, so as to receive the real scene images acquired by the plurality of camera units 40 to perform relevant image processing, analysis and operation, and determine according to a preset condition, and then output a signal capable of controlling the vehicle display device 1. The processing unit 30 can be provided with a plurality of functional modules according to actual needs, and in the embodiment, it can be generally defined as an image processing module 31, an object recognition module 32, a trajectory prediction module 33, a pre-warning judgment module 34 and a display control module 35.
[0033] The image processing module 31 can perform image processing actions such as image stitching, projection, distortion conversion, etc. on the plurality of real scene images, and at least can stitch and convert a bird's-eye view of the vehicle surrounding image. The object recognition module 32 can recognize objects (such as pedestrians, vehicles, bicycles, small animals, etc.) around the vehicle 60 from the plurality of real scene images or the images processed by the image processing module 31. The trajectory prediction module 33 can track the past image data of the object to obtain its past moving path C, and estimate the moving trajectory D of the object in a predetermined future time according to the moving path C (which can be combined with reference to FIG. 2). Figure 5 or Figure 7), simply speaking, the next possible direction is predicted by using the moving change of each frame image, and the trajectory is formed by checking it. The early warning judgment module 34 can judge whether to give an early warning according to the distance of the object. When the distance between the object and the vehicle body 60 is less than a preset warning distance, an early warning is given, and when the early warning is given, the vehicle display device 1 can drive the or the plurality of light emitting units 131 in the corresponding position around the display screen 12 to emit warning light according to the position of the object relative to the vehicle body 60. The display control module 35 can cooperate with the early warning to control the image or information displayed on the display screen 12 of the vehicle display device 1, so that the display screen 12 can display some images or information that are easy for the driver to identify when the early warning is given, such as the real scene image of the corresponding position containing the object, or the real scene image of the object in the corresponding position is enlarged, or the electronic image (icon) representing the object.
[0034] Through the cooperation of the processing unit 30 and the vehicle display device 1 in the driving assistance system 3 described above, the driving assistance system 3 can identify the object approaching the vehicle body 60, and then track and judge to give an early warning. When the early warning is given, the display screen 12 of the vehicle display device 1 can be driven by a signal to cooperate with the display of the image or information of the approaching object. The position warning module 13 can emit warning light from the or the plurality of light emitting units 131 in the corresponding position around the display screen 12 according to the position of the approaching object relative to the vehicle body 60.
[0035] In a feasible embodiment, the driving assistance system 3 can also include a plurality of sensing units 50 arranged on the vehicle body 60 to sense the objects around the vehicle body 60. The processing unit 30 can receive the sensing signals of the plurality of sensing units 50 to compare and correct the identified objects, so that the driving assistance system 3 can more accurately identify or track the objects around the vehicle body 60.
[0036] In the present embodiment, the plurality of light emitting units 131 are arranged on the circuit board 14 and surround the display screen 12. The front shell 11 is provided with a plurality of hollow guide grooves 112 corresponding to the plurality of light emitting units 131. The plurality of guide grooves 112 are arranged around the hollow part 111 at intervals, so that the warning light emitted by the plurality of light emitting units 131 can be emitted forward along each corresponding guide groove 112. Preferably, the warning light emitted by the plurality of light emitting units 131 is red light, yellow light or blue light.
[0037] Further, the orientation warning module 13 of the present embodiment further comprises a plurality of light guide strips 132 arranged around the display screen 12, which are respectively arranged in each of the guide grooves 112 of the front shell 11 and cover the other side of each of the guide grooves 112 relative to the plurality of light emitting units 131, so as to receive the light of each of the guide grooves 112 and guide the light to the warning light capable of range or area lighting on the side of the display screen 12, so as to form the warning light which does not directly shine into the eyes of the driver and is more convenient for the driver to determine the orientation of the approaching object by the peripheral vision.
[0038] Further, the rear shell 18 is provided with a reflecting part 181 at the position facing the plurality of light emitting units 131 on the inner side, which is approximately annular in the present embodiment and matched with the shape of the arrangement of the plurality of light emitting units 131, so as to make the warning light of the plurality of light emitting units 131 concentratedly emit to the front side, so as to make the warning light brighter and more noticeable during the pre-warning.
[0039] In addition, the front side of the body 10 of the present embodiment is further provided with a TP glass for protecting the display screen 12; the body 10 is further provided with a loudspeaker 15, a memory card assembly 16, a wire buckle 17 and other components; the loudspeaker 15 and the memory card assembly 16 are electrically connected to the rear side of the circuit substrate 14 and are between the circuit substrate 14 and the rear shell 18, the loudspeaker 15 is used to emit the warning sound through the plurality of sound source holes 182 opened at the relative position of the rear shell 18 during the pre-warning (the orientation warning module 13 emits the warning light), and the memory card assembly 16 can form the slot capable of attaching the memory card in cooperation with the memory card fixing cover 161 arranged at the corresponding position of the rear shell; the wire buckle 17 is used to fix the electrical wire harness 171 of the circuit substrate 14. In addition, the central position of the rear shell 18 can be provided with a support connecting hole 183 capable of assembling the support assembly 20.
[0040] In the feasible embodiment, the orientation warning module 13 is provided with a proper number of light guide strips 132 and a proper number of light emitting units 131 arranged around at the proper position according to the requirements of the vehicle type; in the present embodiment, the orientation warning module 13 is provided with one light guide strip 132 above, below, left and right of the display screen 12, so as to pre-warn the front side, the rear side, the left side and the right side of the vehicle body 60 (emit the warning light when the object approaches the corresponding side).
[0041] In the actual application of the present embodiment, the above description can be referred to Figures 4 to 8When the vehicle body 60 is approached by an object, the driving assistance system 3 can recognize the object through the object recognition module 32, predict its future moving trajectory D through the trajectory prediction module 33 using the past moving path C, and track and judge whether the object or its moving trajectory D needs to be warned through the warning judgment module 34. When it is judged to be warned, the driving assistance system 3 can drive the vehicle display device 1 to perform relevant actions, i.e., displaying the image or information of the approaching object on the display screen 12, and emitting warning light from the or the plurality of light emitting units 131 corresponding to the position of the approaching object relative to the vehicle body 60 on the corresponding position around the display screen 12, so that the light guide edge strip 132 corresponding to the position is brightened to form a clear warning light block.
[0042] As shown in Figure 4 and Figure 5 , when the warning judgment module 34 judges that the distance of the pedestrian or its moving trajectory D in the front position of the vehicle body 60 is less than the warning distance, it can instruct the vehicle display device 1 to perform relevant actions for warning together with the display control module 35. At this time, the image or data of the object (in this example, an electronic image A showing the walking of a pedestrian is displayed on the display screen 12, so that the driver can know the type of the object with peripheral vision) can be displayed on the display screen 12, and warning light can be emitted from the plurality of light emitting units 131 above the display screen 12, and the light guide edge strip 132 above the display screen 12 can be brightened (as shown in Figure 4 ), to form a clear warning light block that is brightened, so that the driver can easily judge that there is an object approaching in the front position of the vehicle body 60 with peripheral vision, achieving the effect of providing position warning.
[0043] As shown in Figure 6 and Figure 7 , when the warning judgment module 34 judges that the distance of the pedestrian or its moving trajectory D in the right position of the vehicle body 60 is less than the warning distance, it can instruct the vehicle display device 1 to perform relevant actions for warning together with the display control module 35. In this example, the image or data of the object (in this example, an electronic image A showing the walking of a pedestrian is displayed on the display screen 12, so that the driver can know the type of the object with peripheral vision) can also be displayed on the display screen 12, and the part of position warning can be that warning light is emitted from the plurality of light emitting units 131 on the right side of the display screen 12, and the light guide edge strip 132 on the right side of the display screen 12 is brightened (as shown in Figure 6 ), to form a clear warning light block that is brightened, so that the driver can easily judge that there is an object approaching in the right position of the vehicle body 60 with peripheral vision, achieving the effect of providing position warning.
[0044] In other feasible embodiments, the display screen 12 can also be used for more image display. For example, when there is no warning, the display control module 35 can control the display screen 12 to display a bird's-eye view of the vehicle's surroundings, and when a warning is issued, it can switch the display of object images or information in conjunction with the warning lights. These could be images cropped from real-world images, such as real-world images containing the object in the corresponding location, or real-world images of the object magnified in the corresponding location, or other electronic image (icon) information that can represent the object, such as... Figure 4 or Figure 6 The electronic image A showing pedestrian movement, or as shown in Figure A, is a representation of a pedestrian walking movement. Figure 8 The left side shows an electronic image B of an approaching vehicle, which, in conjunction with the clearly bright warning lights around the display screen 12, allows the driver to easily and quickly determine the location and type of the approaching object using peripheral vision. This enables the driver to better respond to warning situations and reduce the occurrence of accidents.
[0045] In summary, the vehicle display device with directional warning function and the driving assistance system composed thereof provided by the present invention can create an effect that allows the driver to easily identify the warning location with their peripheral vision through the clearly bright warning lights around the display screen 12, which can indeed reduce the burden on the driver to switch eyes and thus reduce the occurrence of accidents. However, the above description is only a description of the preferred embodiment of the present invention. All variations, modifications, alterations or equivalent substitutions that extend from the technical means and scope of the present invention should fall within the scope of the claims of the present invention.
Claims
1. A vehicle display device with orientation warning function, which is applied to a driving assistance system and comprises a body, and the body is provided with a display screen on the front side, which can display images or information in cooperation with the driving assistance system; characterized in that: the body further comprises an orientation warning module arranged around the display screen, which is used to emit warning light at appropriate orientation around the display screen, and the orientation warning module at least comprises a plurality of light emitting units, and the plurality of light emitting units are arranged around the display screen at intervals; wherein the driving assistance system can identify objects approaching the vehicle body, the display screen can display images or information of the approaching objects in cooperation with the driving assistance system, and the orientation warning module can emit warning light from the or the plurality of light emitting units at the corresponding orientation around the display screen according to the orientation of the approaching objects relative to the vehicle body. The body further comprises a circuit board and a front shell located on the front side of the circuit board, the display screen and the plurality of light emitting units are arranged on the circuit board, and the front shell is provided with a hollow part and a plurality of hollow guide grooves at positions corresponding to the display screen and the plurality of light emitting units, respectively, the hollow part can accommodate the display screen and expose it on the front side of the body, and the plurality of guide grooves are arranged around the hollow part at intervals to allow the warning light of the plurality of light emitting units to be emitted forward along each corresponding guide groove.
2. The display device for vehicle according to claim 1, wherein The body further comprises a rear shell located on the rear side of the circuit board, the rear shell can be combined with the front shell, and is provided with a reflecting part on the inner side at a position corresponding to the plurality of light emitting units, so that the warning light of the plurality of light emitting units can be concentrated and emitted forward.
3. The display device for vehicle according to claim 2, wherein The orientation warning module further comprises a plurality of light guide strips arranged around the display screen, which are arranged in each guide groove of the front shell and cover the other side of each guide groove relative to the plurality of light emitting units, to receive light from each guide groove and guide it to warning light that can emit in a range or area around the display screen.
4. The display device for vehicle according to claim 3, wherein The orientation warning module is provided with at least one light guide strip above, below, left and right of the display screen, and each light guide strip corresponds to at least one guide groove and at least one light emitting unit, to emit warning light when objects approach the front, rear, left and right of the vehicle body.
5. The display device for vehicle according to claim 4, wherein The light guide strips above or below the display screen and their corresponding guide grooves are arc-shaped.
6. The display device for vehicle according to claim 5, wherein It comprises:
7. A driving assistance system with orientation warning function, applied to a vehicle, characterized in that, a vehicle display device as claimed in any one of claims 1 to 6, for providing observation for the driver; a plurality of camera units arranged on the vehicle body of the vehicle, for obtaining real scene images around the vehicle body; and a processing unit electrically connected with the plurality of camera units and the vehicle display device, capable of receiving and processing the real scene images obtained by the plurality of camera units, judging and controlling the vehicle display device; wherein the processing unit at least comprises an image processing module capable of processing images, an object recognition module capable of recognizing objects from images, a pre-warning judgment module capable of pre-warning according to the distance of objects, and a display control module capable of controlling the display screen in cooperation with pre-warning. The warning judgment module is capable of giving a warning when the distance between the object and the vehicle body is less than a preset warning distance, and is capable of driving the vehicle display device to emit warning light from the or the plurality of light emitting units at the corresponding position around the display screen according to the position of the object relative to the vehicle body when giving the warning; and the display control module is capable of controlling the image or information displayed on the display screen of the vehicle display device, so that the display screen is capable of displaying a real scene image containing the object at the corresponding position, a real scene image of the object magnified locally at the corresponding position, or an electronic image capable of representing the object when giving the warning.
8. The driving assist system according to claim 7, characterized by, The processing unit further comprises a trajectory prediction module capable of tracking the moving path of the object from the past image data and estimating the moving trajectory of the object at a predetermined time in the future according to the moving path; and the warning judgment module is further capable of giving a warning according to the moving trajectory of the object, when the distance between the moving trajectory of the object and the vehicle body is less than the warning distance.
9. The driving assist system according to claim 8, characterized by, The image processing module is capable of performing image stitching, projection, and distortion conversion processing on the plurality of real scene images, and is capable of at least stitching and converting a bird's-eye view vehicle body panoramic image; the object recognition module is capable of recognizing the object around the vehicle body from the plurality of real scene images or the vehicle body panoramic image; and the display control module is capable of driving the display screen to display the vehicle body panoramic image when no warning is given.
10. The driving assist system according to claim 9, characterized in that, The warning distance can increase or decrease with the speed of the vehicle, and the predetermined time is about 2 seconds.