Patent ID: 8320628

Claim:
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: α ⁡ ( x , y , 0 ) = ω _ ⁡ ( x , y , 0 ) - ( γ - ϕ ) 2 ⁢ ϕ n - 1 ; β ⁡ ( x , y , 0 ) = ϖ _ ⁡ ( x , y , 0 ) - ( θ - ϕ ) 2 ⁢ ϕ m - 1 ; wherein , ω _ = arctan ⁡ ( x y ) ⁢ ⁢ and ⁢ ⁢ ϖ _ = arctan ⁡ ( h x 2 + y 2 ) .