TW201934394A - Shared dynamic driving environment reconstruction switching early warning system and method in which a plurality of vehicle end assemblies are in information connection with each other and in online connection with a back stage end assembly for achieving assisted driving in a fully blind state - Google Patents
Shared dynamic driving environment reconstruction switching early warning system and method in which a plurality of vehicle end assemblies are in information connection with each other and in online connection with a back stage end assembly for achieving assisted driving in a fully blind state Download PDFInfo
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Abstract
Description
本發明是有關於一種行車輔助領域，且特別是有關於一種預判行車軌跡達到安全行車輔助目的之分享行車動態環境重建交換預警系統及方法。 The present invention relates to the field of driving assistance, and in particular, to a sharing driving dynamic environment reconstruction exchange early warning system and method for predicting driving trajectory to achieve the purpose of safe driving assistance.
行車輔助行統，是透過車輛上的感測器收集附近的資訊後回傳到車輛上的處理單元進行運算後，加以分析後以圖樣或聲音的方式給予駕駛建議，讓駕駛可以根據建議來提高警覺或改變駕駛策略，達到安全行車之目的。 Driving assistance system is to collect the nearby information through the sensors on the vehicle and return it to the processing unit on the vehicle for calculation. After analysis, it gives driving suggestions in the form of patterns or sounds, so that the driver can improve according to the suggestions. Be alert or change your driving strategy to achieve safe driving.
然而當前這類型的行車輔助行統，皆為獨立作業，也就是說每一台車輛都是各自判斷且自己分析的，就算是同系統之間也不是互通的，所以說就算是皆裝有行車輔助行統的兩車輛還是有可能發生碰撞。 However, the current types of driving assistance systems are independent operations, that is, each vehicle is judged and analyzed by itself, even if it is not interoperable with the system, so even if it is equipped with driving It is still possible that the two vehicles assisting the system will collide.
除了上述的問題外，每一個行車輔助行統所收集到的資料是不共通的，所以針對但一事件(例如前方的車禍)對於每一個行車輔助行統都是新的狀況，對於整體的行車來說，資訊的運用是沒有效率的。 In addition to the above problems, the data collected by each driving assistance system is not common. Therefore, for an incident (such as a car accident in front), it is a new situation for each driving assistance system, and for the overall driving In other words, the use of information is inefficient.
是以，要如何解決上述之問題與缺失，即為本案之創作人與從事此行業之相關廠商所亟欲研究改善之方向所在者。 Therefore, how to solve the above-mentioned problems and shortcomings, that is, the creators of this case and the relevant manufacturers engaged in this industry are eager to study the improvement direction.
本發明的目的在提出一種資訊共通達到安全行車輔助的分享行車動態環境重建交換預警系統及方法。 The purpose of the present invention is to provide a shared driving dynamic environment reconstruction exchange early warning system and method for information sharing to achieve safe driving assistance.
本發明的另一主要目的在提出一種記憶駕駛習慣來輔助駕駛的分享行車動態環境重建交換預警系統及方法。 Another main object of the present invention is to propose a sharing driving dynamic environment reconstruction exchange early warning system and method for memorizing driving habits to assist driving.
為達到上述目的，本發明提出一種分享行車動態環境重建交換預警系統，其包含：複數車輛端總成及一後台端總成，該等車輛端總成分別設置於一車輛上且在相互資訊連結，該等車輛端總成分別與該後台端總成資訊連結；所述車輛端總成包含：一感測單元模組，係設置於該車輛上並產生一行車軌跡資訊及一周圍環境資訊；一第一通訊模組，係與其他第一通訊模組建立一第一模式無線通訊，且接收該後台端總成的一判斷資訊，且與其他車輛端總成互相傳輸該行車軌跡資訊及周圍環境資訊；一車輛端處理單元，係接收其他車輛端總成傳來的行車軌跡資訊及周圍環境資訊產生一環境模型資訊；一資訊展示模組，係根據該判斷資訊發出一警示訊息及根據該環境模型資訊產生一環境模型畫面；所述後台端總成，其包含：一第二通訊模組，係與該第一通訊模組建立一第二模式無線通訊，並接收該等行車軌跡資訊及發出該判斷資訊；一後台端處理單元，係根據該行車軌跡資訊產生該判斷資訊。 In order to achieve the above object, the present invention proposes a shared traffic dynamic environment reconstruction exchange early warning system, which includes: a plurality of vehicle-side assemblies and a back-end assembly, and the vehicle-end assemblies are respectively arranged on a vehicle and are connected to each other by information. The vehicle-end assemblies are respectively connected with the background-end assembly information; the vehicle-end assembly includes: a sensing unit module, which is arranged on the vehicle and generates a line of vehicle trajectory information and a surrounding environment information; A first communication module establishes a first-mode wireless communication with other first communication modules, receives a judgment information of the back-end assembly, and transmits the driving track information and the surroundings with other vehicle-end assemblies. Environmental information; a vehicle-side processing unit that receives driving trajectory information and surrounding environment information from other vehicle-end assemblies to generate an environmental model information; an information display module that issues a warning message based on the judgment information and The environment model information generates an environment model picture; the back-end assembly includes: a second communication module connected to the first communication module Establish a second wireless communication mode, and receiving such information and issue the driving track information is determined; a back-side processing unit, to generate the system information is determined based on the travel locus information.
在一實施例中，該感測單元模組包含一第一感測器、一第二感測器、一第三感測器、一第四感測器及一中心感測器，該第一、二、三及四感測器分別設置於該車輛的四個邊角，該中心感測器設置於該車量的中心處。 In an embodiment, the sensing unit module includes a first sensor, a second sensor, a third sensor, a fourth sensor, and a center sensor. The first sensor The two, three, and four sensors are respectively disposed at the four corners of the vehicle, and the center sensor is disposed at the center of the vehicle volume.
在一實施例中，該資訊展示模組包含一顯示面板及一揚聲器。 In one embodiment, the information display module includes a display panel and a speaker.
在一實施例中，該車輛端總成更具有一資訊加密模組，該資訊加密模組係與該第一通訊模組連接將該周圍環境以外資訊加密。 In one embodiment, the vehicle-side assembly further has an information encryption module, and the information encryption module is connected to the first communication module to encrypt information outside the surrounding environment.
在一實施例中，該車輛端總成更包含一接觸式感應控制模組，係感測該車輛的方向盤轉向角度變化、油門大小變化、速度引擎馬力變化、方向燈號變化，該接觸式感應控制模組將根據上述變化產生一駕駛習慣資訊，所述駕駛習慣資訊透過該儲存模組加以保存。 In one embodiment, the vehicle end assembly further includes a contact-type induction control module, which senses changes in the steering angle of the steering wheel, changes in the size of the throttle, changes in the horsepower of the speed engine, and changes in the signal lights. The control module will generate driving habit information according to the above changes, and the driving habit information will be stored through the storage module.
在一實施例中，該處理端組成更具有一儲存模組，該儲存模組存取該行車軌跡資訊並產生一記憶資訊。 In one embodiment, the processing end is further composed of a storage module, and the storage module accesses the driving track information and generates a memory information.
本發明另外提供了一種行車預警輔助之辨識方法，其包含：S11、一後台端總成與複數車輛端總成建立一第二模式無線通訊；S12、該等車輛端總成之一感測單元模組產生一行車軌跡資訊；S13、該後台端總成接收該等行車軌跡資訊以產生對應的一預判行車路徑；S14、該後台端總成判斷該等預判行車路徑內是否有在一定時間內發生重疊；S15、該後台端總成發出一判斷資訊給該車輛端總成。 The present invention further provides a driving warning assistance identification method, which includes: S11, a back-end assembly and a plurality of vehicle end assemblies establish a second mode wireless communication; S12, a sensing unit of these vehicle end assemblies The module generates one-line driving track information; S13. The background assembly receives the driving track information to generate a corresponding pre-determined driving path; S14, the background assembly determines whether there are certain Overlap occurs within time; S15. The back-end assembly sends a judgment message to the vehicle-end assembly.
本發明另外提供了一種行車資訊共通之處理方法，其包含：S21、複數車輛端總成建立一第一模式無線通訊；S22、該等車輛端總成之一感測單元模組產生一周圍環境資訊；S23、該等車輛端總成相互接收其他的周圍環境資訊；S24、該等車輛端總成的一車輛端處理單元將所有的周圍環境資訊處理產生一環境模型資訊；S25、該等車輛端總成的一資訊展示模組根據該環境模型資訊產生一環境模型畫面。 The invention also provides a common method for processing driving information, which includes: S21, a plurality of vehicle end assemblies establish a first mode wireless communication; S22, a sensing unit module of one of the vehicle end assemblies generates a surrounding environment Information; S23, the vehicle end assemblies receive other surrounding environment information from each other; S24, a vehicle end processing unit of the vehicle end assemblies processes all surrounding environment information to generate an environmental model information; S25, the vehicles An information display module of the terminal assembly generates an environment model picture according to the environment model information.
為讓本發明上述和其他目的、特徵和優點能更明顯易懂，下文特舉較佳實施例，並配合所附圖式，作詳細說明如下。 In order to make the above and other objects, features, and advantages of the present invention more comprehensible, preferred embodiments are described below in detail with reference to the accompanying drawings, as follows.
1‧‧‧車輛端總成 1‧‧‧ vehicle side assembly
11‧‧‧感測單元模組 11‧‧‧ Sensing Unit Module
111‧‧‧第一感測器 111‧‧‧first sensor
112‧‧‧第二感測器 112‧‧‧Second sensor
113‧‧‧第三感測器 113‧‧‧Third sensor
114‧‧‧第四感測器 114‧‧‧Fourth sensor
115‧‧‧中心感測器 115‧‧‧ center sensor
12‧‧‧第一通訊模組 12‧‧‧The first communication module
13‧‧‧資訊展示模組 13‧‧‧Information Display Module
131‧‧‧顯示面板 131‧‧‧Display Panel
132‧‧‧揚聲器 132‧‧‧Speaker
14‧‧‧車輛端處理單元 14‧‧‧Vehicle-side processing unit
15‧‧‧資訊加密模組 15‧‧‧Information Encryption Module
2‧‧‧後台端總成 2‧‧‧Backstage assembly
21‧‧‧第二通訊模組 21‧‧‧Second communication module
22‧‧‧後台端處理單元 22‧‧‧Back-end processing unit
23‧‧‧儲存模組 23‧‧‧Storage Module
3‧‧‧車輛 3‧‧‧ Vehicle
4A、4B、4C‧‧‧未搭載車輛端總成的車輛 4A, 4B, 4C‧‧‧ Vehicles without vehicle end assembly
C‧‧‧行進廊道 C‧‧‧walk into the corridor
C1‧‧‧第一行進延伸線 C1‧‧‧First extension line
C2‧‧‧第二行進延伸線 C2‧‧‧Second marching extension line
S11~S16、S21~S2、S211‧‧‧步驟 S11 ~ S16, S21 ~ S2, S211‧‧‧ steps
第1圖為本發明系統架構示意圖；第2A圖為本發明第一實施例車輛端總成與後台端總成連線之互動示意圖；第2B圖為本發明第一實施例車輛端總成相互連線之互動示意圖；第2C圖為本發明車輛端總成設置於車輛上之示意圖；第3A圖為本發明車輛端總成所產生的水平方向廊道之示意圖；第3B圖為本發明車輛端總成所產生的垂直方向廊道之示意圖；第3C圖為裝設車輛端總成的車輛行進時產生行車軌跡資訊之示意圖(一)；第3C圖為裝設車輛端總成的車輛行進時產生行車軌跡資訊之示意圖(二)；第3D圖為裝設車輛端總成的車輛行進時產生行車軌跡資訊之示意圖(三)；第3E圖為裝設車輛端總成的車輛行進時周圍環境重建之示意圖(一)；第3F圖為裝設車輛端總成的車輛行進時周圍環境重建之示意圖(二)；第4圖為本發明第二實施例車輛端總成與後台端總成連線之互動示意圖；第5圖為本發明行車預警輔助之辨識方法流程圖；第6圖為本發明行車資訊共通之處理方法流程圖。 FIG. 1 is a schematic diagram of the system architecture of the present invention; FIG. 2A is a schematic diagram of the interaction between the vehicle-side assembly and the back-end assembly of the first embodiment of the present invention; and FIG. Connection interactive diagram; Figure 2C is a schematic diagram of the vehicle end assembly of the present invention installed on the vehicle; Figure 3A is a schematic diagram of the horizontal corridor generated by the vehicle end assembly of the present invention; Figure 3B is a vehicle of the present invention Schematic diagram of the vertical corridor generated by the end assembly; Figure 3C is a schematic diagram of the driving trajectory information generated by the vehicle with the vehicle end assembly (1); Figure 3C is the vehicle travel with the vehicle end assembly Schematic diagram of driving trajectory information generated at the time (II); Figure 3D is a schematic diagram of driving trajectory information generated when the vehicle with the vehicle-end assembly is traveling (III); Figure 3E is the surrounding area of the vehicle with the vehicle-end assembly when the vehicle is traveling Schematic diagram of environmental reconstruction (I); Figure 3F is a schematic diagram of the surrounding environment reconstruction when the vehicle with the vehicle-end assembly is traveling (II); and Figure 4 is the vehicle-end assembly and the back-end assembly of the second embodiment of the present invention Connected interaction diagram Driving the auxiliary warning fifth graph flowchart identification method of the present invention; sixth graph in common traffic information processing method according to the present invention, a flow chart.
在以下實施例中，相同或相似的元件符號代表相同或相似的元件。此外，以下實施例中所提到的方向用語，例如：上、下、左、右、前或後等，僅是參考附加圖式的方向，因此，使用的方向用語是用來說明的，而並非用來限制本發明。 In the following embodiments, the same or similar element symbols represent the same or similar elements. In addition, the directional terms mentioned in the following embodiments, such as: up, down, left, right, front, or back, are only directions referring to the attached drawings. Therefore, the directional terms used are used for illustration, and It is not intended to limit the invention.
請參閱第1圖，係為本發明系統架構示意圖，本發明主要分為多個車輛端總成1及一後台端總成2，每一車輛端總成1與該後台端總成2建立一第二模式無線通訊，而車輛端總成1則是需要靠近到一定程度後才會建立一第二模式無線通訊，上述的第一、二模式無線通訊可應用當前或未來發展的通訊技術任意替換，所述第二模式無線通訊的通訊距離係長於該第一模式無線通訊。 Please refer to FIG. 1, which is a schematic diagram of the system architecture of the present invention. The present invention is mainly divided into a plurality of vehicle-side assemblies 1 and a back-end assembly 2. Each vehicle-end assembly 1 and the back-end assembly 2 establish one. The second mode of wireless communication, and the vehicle end assembly 1 needs to be close to a certain degree before establishing a second mode of wireless communication. The above-mentioned first and second mode of wireless communication can be replaced arbitrarily by using current or future communication technologies. The communication distance of the second-mode wireless communication is longer than the first-mode wireless communication.
請參閱第2A~2C圖，為本發明第一實施例車輛端總成與後台端總成連線之互動示意圖、車輛端總成相互連線之互動示意圖及車輛端總成設置於車輛上之示意圖，並輔以參考第1圖，本發明主要的兩個部分，分別為車輛端總成1及後台端總成2，下述將分別進行說明。 Please refer to FIGS. 2A to 2C, which are schematic diagrams of the interaction between the vehicle-end assembly and the back-end assembly in the first embodiment of the present invention, the interactions between the vehicle-end assembly and the vehicle-end assembly on the vehicle. Schematic, supplemented by reference to Figure 1. The two main parts of the present invention are the vehicle end assembly 1 and the back end assembly 2, respectively, which will be described below.
該車輛端總成1係設置於一車輛3並包含一感測單元模組11、一第一通訊模組12、一資訊展示模組13及車輛端處理單元14，該感測單元模組11包含一第一感測器111、一第二感測器112、一第三感測器113、一第四感測器114及一中心感測器115，該第一、二、三、四感測器111、112、113、114例如但不限制為陀螺儀或加速度計或影像感測器或紅外線感測器或聲波感測器，該中心感測器115例如但不限制為GPS***，該第一、二、三、四感測器111、112、113、114分別設置在該車輛3的四個邊角，該中心感測器115設置在該車輛3的中心處，該第一、二、三、四感測器111、112、113、114根據該車輛3的物理性變化例如加減速或轉向的變化，產生一行車軌跡資訊及一周圍環境資訊，該第一通訊模組12及該資訊展示模組13及該車輛端處理單元14設置在車內，較佳的是設置在駕駛座附近，該資訊展示模組13包含一顯示面板 131及一揚聲器132，更可進一步的包含一抬頭顯示器以提供行車建議輔助資訊。 The vehicle end assembly 1 is disposed in a vehicle 3 and includes a sensing unit module 11, a first communication module 12, an information display module 13, and a vehicle end processing unit 14. The sensing unit module 11 Including a first sensor 111, a second sensor 112, a third sensor 113, a fourth sensor 114, and a center sensor 115, the first, second, third, and fourth sensors The sensors 111, 112, 113, 114 are, for example, but not limited to, gyroscopes or accelerometers or image sensors or infrared sensors or acoustic sensors. The center sensor 115 is, for example, but not limited to, a GPS locator. The first, second, third, and fourth sensors 111, 112, 113, and 114 are respectively disposed at the four corners of the vehicle 3, and the center sensor 115 is disposed at the center of the vehicle 3. The two, three, and four sensors 111, 112, 113, and 114 generate a line of vehicle trajectory information and a surrounding environment information according to the physical changes of the vehicle 3, such as acceleration or deceleration or steering changes. The first communication module 12 and The information display module 13 and the vehicle-side processing unit 14 are disposed in the vehicle, preferably near the driver's seat. Display module 13 comprises a display panel 131 and a speaker 132 can further include a head-up display to provide auxiliary information for driving advice.
該後台端總成2包含一第二通訊模組21及一後台端處理單元22，該第二通訊模組21與該第一通訊模組12建立無線通訊，該第二通訊模組21接收該第一通訊模組12所傳來的行車軌跡資訊，提供給該後台端處理單元22加以運算分析後產生一判斷資訊，再由該第二通訊模組21將該判斷資訊傳輸給該第一通訊模組12。 The back-end assembly 2 includes a second communication module 21 and a back-end processing unit 22, the second communication module 21 establishes wireless communication with the first communication module 12, and the second communication module 21 receives the The driving track information transmitted from the first communication module 12 is provided to the back-end processing unit 22 for calculation and analysis to generate judgment information, and then the second communication module 21 transmits the judgment information to the first communication Module 12.
該第一通訊模組12接收了其他鄰近車輛端總成1所傳來的周圍環境資訊，該車輛端處理單元14將所有的周圍環境資訊(包含自身及附近車輛端總成1)加以運算處理後產生一環境模型資訊，該環境模型資訊由該資訊展示模組13加以展示，例如以2維圖像或3維圖像的形式展示於該顯示面板131上供駕駛觀看。 The first communication module 12 receives the surrounding environment information from other nearby vehicle end assemblies 1. The vehicle end processing unit 14 calculates all the surrounding environment information (including itself and the nearby vehicle end assemblies 1) for processing. Then, an environmental model information is generated, and the environmental model information is displayed by the information display module 13, for example, it is displayed on the display panel 131 in the form of a two-dimensional image or a three-dimensional image for driving and viewing.
該第一通訊模組12接收了該第二通訊模組21所傳來的判斷資訊後，由該車輛端處理單元14加以運算後產生一驅動資訊，使該資訊展示模組13產生對應的動作例如顯示影像資訊(透過顯示面板131或抬頭顯示器)或發出警示音提醒(透過揚聲器132)，駕駛根據這些影像或聲音來進行是當的操作變化，讓開車的過程中安全性更高。 After the first communication module 12 receives the judgment information from the second communication module 21, it is calculated by the vehicle-side processing unit 14 to generate a driving information, so that the information display module 13 generates a corresponding action. For example, displaying image information (through the display panel 131 or a head-up display) or issuing a warning sound reminder (through the speaker 132), the driver performs proper operation changes based on these images or sounds, making the driving process safer.
請參閱第3A圖至第3G圖，為本發明車輛端總成所產生的水平方向廊道之示意圖、垂直方向廊道之示意圖、裝設車輛端總成的車輛行進時產生行車軌跡資訊之示意圖(一)、(二)、(三)及裝設車輛端總成的車輛行進時周圍環境重建之示意圖(一)、(二)，並輔以參閱第1圖及第2A~2C圖，透過上述的架 構，該車輛3在行進時所產生的行車軌跡資訊透過後台端總成2的後台端處理單元22運算處理後產生一行進廊道C，當該行進廊道C內出現障礙物時，該判斷資訊會將存在障礙物的訊息提供給車輛端總成1，透過資訊展示模組13以聲音或影像告知駕駛。 Please refer to FIGS. 3A to 3G, which are schematic diagrams of a horizontal corridor generated by the vehicle end assembly of the present invention, vertical corridors, and driving trajectory information generated when a vehicle equipped with the vehicle end assembly travels. (A), (b), (c) and schematic diagrams (a) and (b) of the reconstruction of the surrounding environment when the vehicle with the vehicle-end assembly is traveling, supplemented by referring to Figure 1 and Figures 2A-2C. The above frame Structure, the driving trajectory information generated by the vehicle 3 during travel is calculated and processed by the back-end processing unit 22 of the back-end assembly 2 to generate a line of corridor C. When an obstacle appears in the travel corridor C, the judgment is made The information will provide the information of obstacles to the vehicle end assembly 1 and inform the driver of the sound or image through the information display module 13.
請參考第3A圖，為車輛3直行時的行進廊道C的水平方向變化示意，當車速越快時，行進廊道C的距離也就越長，這是顧慮到車輛3的剎車及駕駛反映的時間，行進廊道C包含了第一行進延伸線C1、第二行進延伸線C2；第一行進延伸線C1為內側的虛線，第一行進延伸線C1即為車輛3一定會經過的路徑，所以在兩第一行進延伸線C1內範圍內所出現的障礙物必然會與車輛3發生碰撞，這時候資訊展示模組13會發出高警告性警示，例如在顯示面板131上出現刺激性較大的閃爍變化及揚聲器132發出急促的聲響；第二行進延伸線C2即為車輛3小幅度移動時可能會經過的路徑，所以在兩第二行進延伸線C2內範圍內所出現的障礙物有很高的可能會與車輛3發生碰撞，這時候資訊展示模組13會發出中警告性警示，例如在顯示面板131上出長亮的障礙物標示及揚聲器132發出一聲提醒。 Please refer to Figure 3A, which shows the change in the horizontal direction of the corridor C when the vehicle 3 goes straight. When the vehicle speed is faster, the distance of the corridor C is longer. This is because of the braking and driving response of vehicle 3 Time, the travel corridor C includes the first travel extension line C1, the second travel extension line C2; the first travel extension line C1 is the inner dashed line, and the first travel extension line C1 is the path that the vehicle 3 will definitely pass. Therefore, the obstacles appearing within the range of the two first travel extension lines C1 will inevitably collide with the vehicle 3. At this time, the information display module 13 will issue a high warning alert, for example, a large irritant appears on the display panel 131. The flashing change of the speaker and the rapid sound of the speaker 132; the second travel extension line C2 is the path that the vehicle 3 may take when moving in a small range, so the obstacles appearing within the range of the two second travel extension lines C2 are very A high possibility may collide with the vehicle 3. At this time, the information display module 13 will issue a medium warning alert, such as a long bright obstacle sign on the display panel 131 and a reminder issued by the speaker 132.
請參考第3B圖，為車輛3直行時的行進廊道C的變化示意垂直方向，除了上述考慮水平方向外，還需要進一步的考慮到垂直方向，可以理解的是，要判定是否會發生碰撞時，除了水平方向還要考慮到垂直方向，其應用稍後會進行說明。 Please refer to Figure 3B for the vertical direction of the change in the corridor C when the vehicle 3 goes straight. In addition to the horizontal direction described above, the vertical direction needs to be further considered. It can be understood that when determining whether a collision will occur , In addition to the horizontal direction should also consider the vertical direction, its application will be explained later.
請參考第3C圖，為車輛3轉彎時的行進廊道C的變化示意，當車速越快及方向盤轉動幅度越大時時，該行進廊道C就會越彎，其概念及應用如同上述第3A圖之說明，故在此不再贅述。 Please refer to Figure 3C, which shows the change of the traveling corridor C when the vehicle 3 turns. The faster the speed of the vehicle and the larger the steering wheel rotation, the more the corridor C turns. Its concept and application are the same as the above. The description of Figure 3A will not be repeated here.
請參考第3D圖，為兩車輛3行進時的行進廊道C的交疊示意，如同前述，本發明的應用於多台車輛行駛時的行進廊道C資訊共通及預警，當兩車輛3行進廊道C交疊時，就表示兩車輛3有極高的碰撞可能，此時後台端總成2會將這個預判可能碰撞的判斷資訊同時傳輸給兩車輛3，讓兩駕駛都有機會減速來避免這個碰撞的情況發生。 Please refer to FIG. 3D, which is an overlapping illustration of the traveling corridor C when two vehicles are traveling. As mentioned above, the present invention is applied to the information and warning of the traveling corridor C when the two vehicles are traveling. When the corridor C overlaps, it means that the two vehicles 3 have a high possibility of collision. At this time, the back-end assembly 2 will transmit the judgment information of the pre-judgment of the possible collision to the two vehicles 3 at the same time, so that both drivers can slow down. To avoid this collision situation.
請參考第3E圖，為兩車輛3行進在不同水平高度時的行進廊道C的示意，上述所提到的皆為在同一水平高度下的應用，該感測單元模組11中的第一、二、三、四感測器111、112、113、114負責感測車輛3的速度及方向，該中心感測器115感測當前車輛3所在地的高度，並透過地圖資料來判斷當前的水平高度，例如上面的車輛3由交流道入口開上了高架道路，下面的車輛3則是一路皆在平面道路上行駛，所以兩車輛3的行進廊道C並不會產生交錯，所以後台端總成2預判不可能碰撞，屬於安全的狀態。 Please refer to FIG. 3E, which is a schematic diagram of the traveling corridor C when two vehicles 3 travel at different levels. The above mentioned are all applications at the same level. The first in the sensing unit module 11 , Two, three, four sensors 111, 112, 113, 114 are responsible for sensing the speed and direction of vehicle 3, the center sensor 115 senses the current height of the vehicle 3 location, and uses the map data to determine the current level Height, for example, the upper vehicle 3 is on an elevated road from the entrance of the interchange, and the lower vehicle 3 is driving on a flat road all the way. Therefore, the corridor C of the two vehicles 3 will not be staggered, so the back end is always It is 2 to predict that collision is impossible and belongs to a safe state.
請參考第3F圖及第3G圖，在第3F圖中為多台車輛3行進時行車軌跡資訊共通的示意，如圖所示，本發明較佳的應用於多台車輛行駛時的行進廊道C資訊共通及預警，當第一台車輛3的行進廊道C感測到前方有障礙物例如車禍或掉落物時，第一台車輛3的行車軌跡資訊會將這個狀況分享給後面的車輛3有更加充裕的時間可以進行反應來修改路徑。 Please refer to FIG. 3F and FIG. 3G. In FIG. 3F, the common trajectory information of multiple vehicles when traveling 3 is shown. As shown in the figure, the present invention is preferably applied to the traveling corridor when multiple vehicles are traveling. C information is common and early warning. When the traveling corridor C of the first vehicle 3 detects an obstacle such as a car accident or a falling object in front, the driving trajectory information of the first vehicle 3 will share this situation with the following vehicles. 3There is more time to react to modify the path.
進一步的，第3G圖有未搭載車輛端總成的車輛4A、4B、4C，而每一車輛3(搭載本發明的車輛端總成1)透過互相的資訊分享，建立起周圍環境資訊，並產生環境模型資訊以圖像的方式告置附近的所有狀況(例如每一未搭載車輛端總成的車輛4A、4B、4C與自身車輛的相對關係)，藉此讓每一個駕駛都更能掌握附近所有的變化。 Further, FIG. 3G includes vehicles 4A, 4B, and 4C that are not equipped with a vehicle end assembly, and each vehicle 3 (a vehicle end assembly 1 equipped with the present invention) establishes surrounding environment information through mutual information sharing, and Generate environmental model information to report all conditions in the vicinity (such as the relative relationship between each vehicle 4A, 4B, 4C not equipped with the vehicle end assembly and its own vehicle), so that each driver can better understand All changes nearby.
另外本發明需要注意的地方是，第一、二、三、四感測器111、112、113、114可以明確地記錄車輛的每一個狀態(例如位置、轉向、角度、高度)，簡言之它可以根據各個感測器(例如影像感測器)搭配一接觸式感應控制模組(未圖示)，透過接觸式感應控制模組感測該車輛的方向盤轉向角度變化、油門大小變化、速度引擎馬力變化、方向燈號變化，再透過中心感測器115(例如GPS***)輔助，讓車輛即便偏離原本預定路線後也能用最短或最佳(時間最短)的方式回到預定路線，也就是說本發明克服了當前GPS定位有誤差的問題，在定位精準度上更優於GPS系統，藉此讓本發明的運作上更加準確便利。 In addition, the present invention needs to pay attention to that the first, second, third, and fourth sensors 111, 112, 113, and 114 can clearly record each state of the vehicle (such as position, steering, angle, and height). In short, According to each sensor (such as an image sensor) and a contact sensor control module (not shown), the sensor detects the steering wheel steering angle change, the throttle size change, and the speed through the contact sensor control module. The engine horsepower changes, the direction signal changes, and then assisted by the center sensor 115 (such as GPS locator), so that the vehicle can return to the scheduled route in the shortest or best way (even in the shortest time) even after it deviates from the originally planned route. That is to say, the present invention overcomes the current problem of GPS positioning errors, and is superior to GPS systems in positioning accuracy, thereby making the operation of the present invention more accurate and convenient.
請參閱第4圖，本發明第二實施例車輛端總成與後台端總成連線之互動示意圖，本實施例與第一實施例大致相同，故重複的部分將不在贅述，本實施例差異在於該車輛端總成1更具有一資訊加密模組15，該後台端總成2更具有一儲存模組23，該後台端總成2根據行車軌跡資訊產生一對應該駕駛的記憶資訊，該記憶資訊例如為行車路線、駕駛習慣、車輛型號等等資訊，這些資訊可以進一步的應用在自動駕駛上，該後台端總成2可學習駕駛者習慣，根據儲存模組23的內存資料比對後輔助駕駛行車安全，然而上述的這些資訊還有 個人資安問題，所以車輛端總成1透過資訊加密模組15將周圍環境以外的資訊加密，以防止第三者攔截這些個人資訊。 Please refer to FIG. 4, a schematic diagram of the interaction between the vehicle end assembly and the background end assembly in the second embodiment of the present invention. This embodiment is substantially the same as the first embodiment, so the duplicated parts will not be described in detail, and the differences in this embodiment The vehicle-side assembly 1 has an information encryption module 15 and the back-end assembly 2 has a storage module 23. The back-end assembly 2 generates a pair of memory information that should be driven according to the driving track information. The memory information is information such as driving directions, driving habits, vehicle models, etc. These information can be further applied to automatic driving. The back-end assembly 2 can learn the driver's habits. After comparing with the memory data of the storage module 23, Assisted driving safety, but the above information still has Personal information security issues, so the vehicle end assembly 1 encrypts information outside the surroundings through the information encryption module 15 to prevent third parties from intercepting these personal information.
請參閱第5圖，本發明行車預警輔助之辨識方法流程圖，請一併輔以參考第1圖及第2A圖，辨識方法包含：S11、一後台端總成與複數車輛端總成建立一第二模式無線通訊；S12、該等車輛端總成之一感測單元模組產生一行車軌跡資訊；S13、該後台端總成接收該等行車軌跡資訊以產生對應的一預判行車路徑；S14、該後台端總成判斷該等預判行車路徑內是否有在一定時間內發生重疊；S15、該後台端總成發出一判斷資訊給該車輛端總成。 Please refer to FIG. 5 for a flowchart of the identification method for driving warning assistance according to the present invention. Please refer to FIG. 1 and FIG. 2A together. The identification method includes: S11, a back-end assembly and a plurality of vehicle-end assemblies are established The second mode of wireless communication; S12, one of the sensing unit modules of the vehicle-end assembly generates a line of vehicle trajectory information; S13, the background-end assembly receives the driving path information to generate a corresponding pre-determined driving path; S14. The back-end assembly determines whether there is any overlap in the pre-determined driving paths within a certain time; S15. The back-end assembly sends a judgment message to the vehicle-end assembly.
S11、一後台端總成與複數車輛端總成建立一第二模式無線通訊；該車輛端總成1及該後台端總成2透過第一通訊模組12及第二通訊模組21建立第二模式無線通訊，例如透過網路通訊技術、區域網路或其他同等功效的技術加以應用，該車輛端總成1及該後台端總成2建立通訊的時間為該車輛3發動時即自動建立連線(由車輛3供電給該車輛端總成1)，當車輛3熄火時則自動切斷連線。 S11. A back-end assembly and a plurality of vehicle-end assemblies establish a second-mode wireless communication; the vehicle-end assembly 1 and the back-end assembly 2 establish a first communication module 12 through a first communication module 12 and a second communication module 21. Two-mode wireless communication, for example, is applied through network communication technology, local area network, or other equivalent technology. The vehicle-side assembly 1 and the back-end assembly 2 establish communication time when the vehicle 3 is started. Connection (powered by vehicle 3 to the vehicle end assembly 1), when vehicle 3 goes out, the connection is automatically cut off.
S12、該等車輛端總成之一感測單元模組產生一行車軌跡資訊；當該車輛3行進時，透過感測單元模組11內的各個感測器去感測車輛3的物理性變化例如直線速度變化、移動方向、橫向速度變化、震動等等，感測單元模組11將這些變化數值化以產生一行車軌跡資訊。 S12. A sensing unit module of one of the vehicle end assemblies generates a line of vehicle trajectory information; when the vehicle 3 travels, the physical changes of the vehicle 3 are sensed through various sensors in the sensing unit module 11 For example, changes in linear speed, movement direction, change in lateral speed, vibration, and the like, the sensing unit module 11 digitizes these changes to generate a line of vehicle trajectory information.
S13、該後台端總成接收該等行車軌跡資訊以產生對應的一預判行車路徑；後台端總成2透過上述建立的無線通訊接收該行車軌跡資訊，得知車輛3的行車狀況後，計算推得一預判行車路徑，並以圖性化的方式加以表示成一行進廊道C(請參考第3A圖至第3C圖)。 S13. The back-end assembly receives the driving trajectory information to generate a corresponding pre-determined driving path; the back-end assembly 2 receives the driving trajectory information through the wireless communication established above, calculates the driving status of vehicle 3, and calculates A pre-determined driving route is derived, and it is represented graphically as a line of corridors C (please refer to Figures 3A to 3C).
S14、該後台端總成判斷該等預判行車路徑內是否有在一定時間內發生重疊；該後台端總成2的後台端處理單元22判斷在一定時間內是否有行進廊道C重疊的狀況，所述時間跟廊道C重疊有發生重疊時就代表有極高的可能性發生交通意外(例如碰撞)，反之在一定時間內沒有發生重疊的情況下就代表安全。 S14. The back-end assembly determines whether there is any overlap in the pre-determined driving paths within a certain period of time; the back-end processing unit 22 of the back-end assembly 2 determines whether there is a situation where the traveling corridor C overlaps within a certain period of time. When the time overlaps with the corridor C, it means that there is a high possibility that a traffic accident (such as a collision) will occur. Otherwise, it means safety if there is no overlap in a certain period of time.
S15、該後台端總成發出一判斷資訊給該車輛端總成；將上述運算的計算結果透過之前建立的第二模式無線通訊提供給該車輛端總成1。 S15. The background-side assembly sends a judgment information to the vehicle-side assembly; and the calculation result of the above operation is provided to the vehicle-side assembly 1 through the previously established second mode wireless communication.
另外，針對本發明之第二實施例可以更進一步包含S16、該後台端總成之一儲存模組依據該行車軌跡資訊產生一記憶訊息並儲存；進一步的，這些資訊可以存於記憶單元23內加以保存，供駕駛後續使用(例如再次叫出同樣的路線規劃)。 In addition, the second embodiment of the present invention may further include S16, a storage module of the back-end assembly generates a memory message based on the driving track information and stores it; further, the information may be stored in the memory unit 23 Save it for later use by the driver (eg call out the same route plan again).
請參閱第6圖，本發明行車資訊共通之處理方法流程圖，請一併輔以參考第1圖及第2B圖，辨識方法包含：S21、複數車輛端總成建立一第一模式無線通訊；S22、該等車輛端總成之一感測單元模組產生一周圍環境資訊；S23、該等車輛端總成相互接收其他的周圍環境資訊； S24、該等車輛端總成的一車輛端處理單元將所有的周圍環境資訊處理產生一環境模型資訊；S25、該等車輛端總成的一資訊展示模組根據該環境模型資訊產生一環境模型畫面。 Please refer to FIG. 6 for a flowchart of a common processing method of driving information according to the present invention. Please refer to FIG. 1 and FIG. 2B together. The identification method includes: S21, a plurality of vehicle end assemblies establish a first mode wireless communication; S22. One of the sensing unit modules of the vehicle end assemblies generates a surrounding environment information; S23, the vehicle end assemblies receive other surrounding environment information from each other; S24. A vehicle-side processing unit of the vehicle-side assembly processes all surrounding environment information to generate an environmental model information; S25, an information display module of the vehicle-side assembly generates an environment model according to the environmental model information Screen.
S21、複數車輛端總成建立一第一模式無線通訊；當兩車輛相近到一定距離(例如50公尺)後，該等車輛端總成1會建立一第一模式無線通訊，例如透過網路通訊技術、區域網路或其他同等功效的技術加以應用，當車輛3超過一定距離時則自動切斷連線，該連線的距離可以自行設定。 S21. A plurality of vehicle-end assemblies establish a first-mode wireless communication; when two vehicles are close to a certain distance (for example, 50 meters), the vehicle-end assemblies 1 establish a first-mode wireless communication, such as via a network Communication technology, local area network, or other equivalent technology is applied. When the vehicle 3 exceeds a certain distance, the connection is automatically cut off. The distance of the connection can be set by itself.
S22、該等車輛端總成之一感測單元模組產生一周圍環境資訊；當該車輛3行進時，透過感測單元模組11內的各個感測器去感測車輛3附近的物理狀況例如障礙物、同行車輛、動物等等，感測單元模組11將這些物理狀況轉化以產生一周圍環境資訊。 S22. One of the sensing unit modules of the vehicle end assemblies generates a surrounding environment information; when the vehicle 3 travels, the physical conditions near the vehicle 3 are sensed through the sensors in the sensing unit module 11 For example, obstacles, traveling vehicles, animals, etc., the sensing unit module 11 converts these physical conditions to generate a surrounding environment information.
S23、該等車輛端總成相互接收其他的周圍環境資訊；透過上述的第一模式無線通訊互相傳輸周圍環境資訊。 S23. The vehicle end assemblies receive other surrounding environment information from each other; and the surrounding environment information is transmitted to each other through the above-mentioned first mode wireless communication.
S24、該等車輛端總成的一車輛端處理單元將所有的周圍環境資訊處理產生一環境模型資訊；車輛端處理單元14將收集到的所有周圍環境資訊加以運算處理後，產生一環境模型資訊。 S24. A vehicle-side processing unit of the vehicle-side assemblies processes all the surrounding environment information to generate an environmental model information; the vehicle-side processing unit 14 calculates and processes all the collected surrounding environment information to generate an environmental model information .
S25、該等車輛端總成的一資訊展示模組根據該環境模型資訊產生一環境模型畫面；該環境模型資訊將以2維或3維的圖像形式由資訊展示模組13的顯示面板131加以顯示。 S25. An information display module of the vehicle end assembly generates an environment model screen according to the environmental model information; the environmental model information will be displayed by the display panel 131 of the information display module 13 in a two-dimensional or three-dimensional image form. Display it.
另外，針對本發明之第二實施例可以更進一步包含S211、該車輛端總成之一資訊加密模組進行加密；另外為了避免資訊被加以盜用，在連線的同時將會加密，確保資訊安全性。 In addition, the second embodiment of the present invention may further include S211, an information encryption module of the vehicle end assembly for encryption; in addition, in order to prevent information from being misappropriated, it will be encrypted at the same time as the connection to ensure information security Sex.
綜上所述，本發明具有下述優點： In summary, the present invention has the following advantages:
1、一定距離內資訊共通。 1. Common information within a certain distance.
2、後台輔助行車安全。 2. Assisted driving safety in the background.
3、記憶駕駛習慣來輔助駕駛。 3. Memorize driving habits to assist driving.
雖然本發明已以較佳實施例揭露如上，然其並非用以限定本發明，任何本領域技術人員，在不脫離本發明的精神和範圍內，當可作些許更動與潤飾，因此本發明的保護範圍當視所附的申請專利範圍所界定者為準。 Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications and retouching without departing from the spirit and scope of the present invention. The scope of protection shall be determined by the scope of the attached patent application.
Claims (11)
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| TW107103655A TW201934394A (en) | 2018-02-01 | 2018-02-01 | Shared dynamic driving environment reconstruction switching early warning system and method in which a plurality of vehicle end assemblies are in information connection with each other and in online connection with a back stage end assembly for achieving assisted driving in a fully blind state |
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| TW107103655A TW201934394A (en) | 2018-02-01 | 2018-02-01 | Shared dynamic driving environment reconstruction switching early warning system and method in which a plurality of vehicle end assemblies are in information connection with each other and in online connection with a back stage end assembly for achieving assisted driving in a fully blind state |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111962415A (en) * | 2020-08-26 | 2020-11-20 | 杭州鸿晶自动化科技有限公司 | Auxiliary warning system of wisdom traffic |
| TWI737437B (en) * | 2020-08-07 | 2021-08-21 | 財團法人車輛研究測試中心 | Trajectory determination method |
| TWI828031B (en) * | 2021-11-29 | 2024-01-01 | 財團法人資訊工業策進會 | Method and system for inspecting and scoring of vehicle transportation |
-
2018
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI737437B (en) * | 2020-08-07 | 2021-08-21 | 財團法人車輛研究測試中心 | Trajectory determination method |
| CN111962415A (en) * | 2020-08-26 | 2020-11-20 | 杭州鸿晶自动化科技有限公司 | Auxiliary warning system of wisdom traffic |
| TWI828031B (en) * | 2021-11-29 | 2024-01-01 | 財團法人資訊工業策進會 | Method and system for inspecting and scoring of vehicle transportation |
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