TWI694017B - Anti-collision and warning funciton system, method, and electric vehicle using the same method - Google Patents

Anti-collision and warning funciton system, method, and electric vehicle using the same method Download PDF

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TWI694017B
TWI694017B TW107121673A TW107121673A TWI694017B TW I694017 B TWI694017 B TW I694017B TW 107121673 A TW107121673 A TW 107121673A TW 107121673 A TW107121673 A TW 107121673A TW I694017 B TWI694017 B TW I694017B
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warning
electric vehicle
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speed
setting
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TW202000514A (en
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蔡易潔
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蔡易潔
鼎泰豐電線電纜股份有限公司
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Abstract

The invention provides an anti-collision and warning function method for an electric vehicle, the method comprises: sensing a first track of an object around the electric vehicle; generating a first control signal based on the first track and first configuration(s); and sending out a first warning in response to the first control signal.

Description

防碰撞及警示功能系統、方法及使用該方法的電動載具Anti-collision and warning function system, method and electric vehicle using the method

本發明是有關於一種適用於電動載具的系統及方法，且特別是有關於一種防碰撞及警示功能系統與方法，及使用所述方法的非汽車的電動載具。The invention relates to a system and method suitable for electric vehicles, and in particular to a system and method for collision prevention and warning functions, and non-automobile electric vehicles using the method.

隨著環保意識高漲，近年來電動機車的普及率逐漸提高。電動機車以電能驅動，因此可以使用再生能源。此外，電動機車除可顯著地減少排碳量之外，還可以減少燃燒汽油產生的有害物質之排放量。不同於傳統的油耗式機車，電動機車不需要使用到內燃機以進行能量轉換，因此其發出的噪音遠小於油耗式機車。With the rising awareness of environmental protection, the popularity of electric locomotives has gradually increased in recent years. Electric locomotives are driven by electrical energy, so renewable energy can be used. In addition, electric locomotives can not only significantly reduce carbon emissions, but also reduce the emissions of harmful substances produced by burning gasoline. Unlike traditional fuel-efficient locomotives, electric locomotives do not need to use an internal combustion engine for energy conversion, so the noise they emit is much less than that of fuel-efficient locomotives.

然而，電動機車的低噪音特性可能會影響到駕駛人或是行人的安全。例如，當電動機車處於汽車駕駛的視線死角時，汽車駕駛無法藉由聲音確認電動機車的位置。此外，其餘車輛之駕駛或是行人時常未察覺到行駛中的電動機車，因而難以閃避電動機車，致使交通事故發生及人員傷亡。However, the low noise characteristics of electric locomotives may affect the safety of drivers or pedestrians. For example, when the electric locomotive is in the blind spot of the car driving, the car driver cannot confirm the position of the electric locomotive by sound. In addition, the driving or pedestrians of other vehicles are often unaware of the moving electric locomotive, so it is difficult to avoid the electric locomotive, resulting in traffic accidents and casualties.

因此，如何提高電動載具的安全性係為本領域人員致力研究的目標之一。Therefore, how to improve the safety of electric vehicles is one of the goals that people in the field are devoted to research.

本發明提供一種適用於電動載具的防碰撞及警示功能系統，其包括：第一感測器、處理器以及第一警示模組。第一感測器安裝於電動載具的前方，並且感測前方物體的第一行進軌跡。處理器耦接於第一感測器，所述處理器接收第一行進軌跡的資訊，並基於第一行進軌跡以及第一設定產生第一控制訊號。第一警示模組耦接於處理器，並且響應於接收第一控制訊號而發送第一警示。The invention provides an anti-collision and warning function system suitable for electric vehicles, which includes a first sensor, a processor and a first warning module. The first sensor is installed in front of the electric vehicle, and senses the first travel trajectory of the object in front. The processor is coupled to the first sensor. The processor receives information on the first travel path and generates a first control signal based on the first travel path and the first setting. The first warning module is coupled to the processor, and sends a first warning in response to receiving the first control signal.

本發明提供一種電動載具，其包括：第一感測器、處理器以及第一警示模組。第一感測器安裝於電動載具的前方，並且感測前方物體的第一行進軌跡。處理器耦接於第一感測器，所述處理器接收第一行進軌跡的資訊，並基於第一行進軌跡以及第一設定產生第一控制訊號。第一警示模組耦接於處理器，並且響應於接收第一控制訊號而發送第一警示。The invention provides an electric vehicle, which comprises: a first sensor, a processor and a first warning module. The first sensor is installed in front of the electric vehicle, and senses the first travel trajectory of the object in front. The processor is coupled to the first sensor. The processor receives information on the first travel trajectory and generates a first control signal based on the first travel trajectory and the first setting. The first warning module is coupled to the processor, and sends a first warning in response to receiving the first control signal.

本發明提供一種適用於電動載具的防碰撞及警示方法，其包括：感測電動載具的前方物體的第一行進軌跡。基於第一行進軌跡以及第一設定產生第一控制訊號。響應於第一控制訊號而發送第一警示。The invention provides an anti-collision and warning method suitable for an electric vehicle, which includes: sensing a first travel trajectory of an object in front of the electric vehicle. The first control signal is generated based on the first travel path and the first setting. The first warning is sent in response to the first control signal.

基於上述，本發明的系統可同時具有用以感測前方與後方物體之動向感測器（300MHz~300GHz），分別對應於不同的警示模組。第一警示模組可發出警示藉以提示行人或其他駕駛人注意行駛中的電動載具。第二警示模組可發出警示藉以提示電動載具的駕駛人注意後方來車。Based on the above, the system of the present invention can have a motion sensor (300MHz~300GHz) for sensing front and rear objects, corresponding to different warning modules. The first warning module can issue a warning to remind pedestrians or other drivers to pay attention to the electric vehicle in driving. The second warning module can issue a warning to remind the driver of the electric vehicle to pay attention to coming behind.

為讓本發明的上述特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。In order to make the above-mentioned features and advantages of the present invention more obvious and understandable, the embodiments are specifically described below in conjunction with the accompanying drawings for detailed description as follows.

為提高電動載具的安全性，本發明揭露適用於一種防碰撞及警示功能系統及方法。In order to improve the safety of electric vehicles, the present disclosure is applicable to a system and method for anti-collision and warning functions.

圖1是依照本發明的實施例繪示出一種防碰撞及警示功能系統100的方塊圖，在本揭露的實施例中，防碰撞及警示功能系統100被設置於電動載具10（如繪示於圖2中的電動載具10）之中，其中，電動載具10可例如是電動機車或電單車等可由電能驅動的載具。電動載具10配置了防碰撞及警示功能系統100。防碰撞及警示功能系統100包括但不限於：處理器110、第一感測器120以及第一警示模組130。1 is a block diagram illustrating a collision prevention and warning function system 100 according to an embodiment of the present invention. In the embodiment of the present disclosure, the collision prevention and warning function system 100 is disposed on an electric vehicle 10 (as shown) In the electric vehicle 10) in FIG. 2, the electric vehicle 10 may be a vehicle that can be driven by electric energy, such as an electric locomotive or a motorcycle. The electric vehicle 10 is equipped with an anti-collision and warning function system 100. The anti-collision and warning function system 100 includes but is not limited to: a processor 110, a first sensor 120, and a first warning module 130.

第一感測器120可例如安裝於電動載具10的前方，並且可例如是微波雷達（300MHz~300GHz）、光達、超音波感測器、攝影機等感測器，或是該些感測器的組合。第一感測器120可感測出物體的行進軌跡。在本實施例中，第一感測器120量測出電動載具10之前方物體與電動載具10之間的距離，並且量測出前方物體的速度與方位，從而幫助防碰撞及警示功能系統100預測出所述前方物體的第一行進軌跡。The first sensor 120 may be installed in front of the electric vehicle 10, and may be, for example, microwave radar (300MHz~300GHz), LiDAR, ultrasonic sensor, camera, or other sensors, or these sensors Combination of devices. The first sensor 120 can sense the traveling trajectory of the object. In this embodiment, the first sensor 120 measures the distance between the object in front of the electric vehicle 10 and the electric vehicle 10, and measures the speed and orientation of the object in front, thereby helping the collision prevention and warning functions The system 100 predicts the first travel trajectory of the object in front.

在一實施例中，第一感測器120可例如是使用千兆赫（GHz）等級的第一頻率（例如77GHz）的電磁波進行感測，且第一感測器120的感測角度可為±50度，並且可具有夾角為100度的扇形感測範圍，但本發明並不限於此。第一感測器120可基於前方物體的第一行進軌跡而調整（例如：透過處理器110調整）所使用以進行感測的第一頻率。例如，基於與前方物體的距離的不同，防碰撞及警示功能系統100可以改變第一感測器120的感測範圍，使得第一感測器120在前方物體的距離較長時使用較長距離的感測範圍，並且在前方物體的距離較短時使用較短距離的感測範圍。或者，基於電動載具10的速度的不同，防碰撞及警示功能系統100可以改變第一感測器120的感測範圍，使得第一感測器120在電動載具10的速度（或電動載具10與前方物體的相對速度）較快時使用較長距離的感測範圍，並且在電動載具10的速度（或電動載具10與前方物體的相對速度）較慢時使用較短距離的感測範圍。在此情況下，處理器110可控制第一感測器120改變所使用的第一頻率，即，降低第一頻率的頻率（例如：載波頻率）以進行長距離的感測，或提高第一頻率的頻率（例如：載波頻率）以進行短距離的感測。In an embodiment, the first sensor 120 may be, for example, a electromagnetic wave with a gigahertz (GHz) level first frequency (for example, 77 GHz) for sensing, and the sensing angle of the first sensor 120 may be ± 50 degrees, and may have a fan-shaped sensing range with an included angle of 100 degrees, but the invention is not limited thereto. The first sensor 120 may adjust the first frequency used for sensing based on the first travel trajectory of the object in front (for example, through the processor 110). For example, based on the difference in distance from the object in front, the collision prevention and warning function system 100 can change the sensing range of the first sensor 120 so that the first sensor 120 uses a longer distance when the distance of the object in front is longer Sensing range, and use a shorter sensing range when the distance of the object in front is shorter. Or, based on the difference in the speed of the electric vehicle 10, the collision prevention and warning function system 100 may change the sensing range of the first sensor 120 so that the first sensor 120 is at the speed of the electric vehicle 10 (or the electric vehicle Relative speed of the vehicle 10 and the object in front) uses a longer distance sensing range when it is fast, and uses a shorter distance when the speed of the electric vehicle 10 (or the relative speed of the electric vehicle 10 and the object in front) is slow Sensing range. In this case, the processor 110 can control the first sensor 120 to change the first frequency used, that is, reduce the frequency of the first frequency (eg, carrier frequency) for long-distance sensing, or increase the first frequency Frequency frequency (for example: carrier frequency) for short distance sensing.

另一方面，第一感測器120也可基於前方物體的第一行進軌跡而調整（例如：透過處理器110調整）所使用以進行感測的第一頻率的掃描頻率。例如，當第一感測器120為光達時，防碰撞及警示功能系統100可以基於與前方物體的距離的不同而改變第一感測器120的掃描頻率，使得第一感測器120在與前方物體之間的距離較長時降低第一頻率的頻率（例如：掃描頻率），並且在與前方物體之間的距離較短時提高第一頻率的頻率（例如：掃描頻率）。On the other hand, the first sensor 120 may also adjust the scan frequency of the first frequency used for sensing based on the first travel trajectory of the object in front (for example, through the processor 110). For example, when the first sensor 120 is Lida, the anti-collision and warning function system 100 may change the scanning frequency of the first sensor 120 based on the distance to the object in front, so that the first sensor 120 is at When the distance to the object in front is long, the frequency of the first frequency is reduced (for example: scanning frequency), and when the distance to the object in front is short, the frequency of the first frequency is increased (for example: scanning frequency).

在一實施例中，第一感測器120可以是具有多種感測器的複合式感測器。例如，第一感測器120可包括微波感測器、光達感測器、超音波感測器以及攝影機的至少其中之一種感測器種類，且可基於前方物體的第一行進軌跡而調整（例如：透過處理器110調整）所使用的感測器種類。舉例來說，當前方物體距離電動載具10較遠時，第一感測器120可切換（例如：透過處理器110切換）為使用較適合進行長距離偵側的光達感測器，並且將除了光達感測器的其餘種感測器關閉，藉以節省耗電量。當前方物體距離電動載具10稍近一些時，第一感測器120可切換（例如：透過處理器110切換）為使用較適合進行中距離偵側的微波感測器，並且將除了微波感測器的其餘種感測器關閉，藉以節省耗電量。當前方物體距離電動載具10更近一些時，第一感測器120可切換（例如：透過處理器110切換）為使用較適合進行短距離偵測的超音波感測器，並且將除了超音波感測器的其餘種感測器關閉，藉以節省耗電量。第一感測器120還可以是例如攝影機等具備影像擷取功能的裝置。攝影機可以擷取前方物體的影像，並且以任一種影像辨識演算法計算出前方物體的距離或速度等資訊。In an embodiment, the first sensor 120 may be a compound sensor with multiple sensors. For example, the first sensor 120 may include at least one sensor type of a microwave sensor, a light sensor, an ultrasonic sensor, and a camera, and may be adjusted based on a first travel trajectory of an object in front (For example: adjusted by the processor 110) The type of sensor used. For example, when the front object is far away from the electric vehicle 10, the first sensor 120 can be switched (for example, through the processor 110) to use a light sensor that is more suitable for long-distance detection, and Turn off all other sensors except the light sensor to save power consumption. When the front object is slightly closer to the electric vehicle 10, the first sensor 120 can be switched (for example, through the processor 110) to use a microwave sensor that is more suitable for mid-range detection, and the microwave sensor will be removed. The remaining sensors of the sensor are turned off to save power consumption. When the front object is closer to the electric vehicle 10, the first sensor 120 can be switched (for example, through the processor 110) to use an ultrasonic sensor that is more suitable for short-range detection, and The other sensors of the sonic sensor are turned off to save power consumption. The first sensor 120 may also be a device with an image capturing function such as a camera. The camera can capture the image of the object in front and use any image recognition algorithm to calculate the distance or speed of the object in front.

處理器110耦接於第一感測器120，並可以是中央處理單元（CPU），或是其他可程式化之一般用途或特殊用途的微處理器（Microprocessor）、數位信號處理器（DSP）、可程式化控制器、特殊應用積體電路（ASIC）或其他類似元件或上述元件的組合。在本實施例中，處理器110可自第一感測器120接收前方物體的第一行進軌跡的相關資訊（以下稱為：第一行進軌跡資訊（例如：速度、距離、方位）i1），並基於前方物體的第一行進軌跡以及第一設定產生第一控制訊號c1，其中第一設定可由使用者依其需求配置。第一設定的各種實施態樣將會於後續說明。The processor 110 is coupled to the first sensor 120, and may be a central processing unit (CPU), or other programmable general-purpose or special-purpose microprocessor (Microprocessor), digital signal processor (DSP) , Programmable controller, special application integrated circuit (ASIC) or other similar components or a combination of the above components. In this embodiment, the processor 110 may receive information about the first travel trajectory of the object in front from the first sensor 120 (hereinafter referred to as: first travel trajectory information (for example: speed, distance, bearing) i1), The first control signal c1 is generated based on the first travel path of the object in front and the first setting, where the first setting can be configured by the user according to his needs. Various implementation aspects of the first setting will be described later.

第一警示模組130耦接於處理器110，並且用以發出警示。在本實施例中，第一警示模組130響應於接收第一控制訊號c1，而向電動載具10的前方物體發送第一警示。發送第一警示可以提示電動載具10附近的行人或其他駕駛人電動載具10的存在，避免人們未察覺電動載具10而釀成事故。發出第一警示的實施方式可例如是由喇叭發出警示音或以警示燈號（可使用電動載具既有的燈具（例如：方向燈）或於車身額外安裝其他燈具來實施）的方式表現，本發明並不限於此。The first warning module 130 is coupled to the processor 110 and is used to issue a warning. In this embodiment, the first warning module 130 sends a first warning to an object in front of the electric vehicle 10 in response to receiving the first control signal c1. Sending the first warning can remind pedestrians or other drivers near the electric vehicle 10 of the presence of the electric vehicle 10 to avoid accidents caused by people not being aware of the electric vehicle 10. The embodiment of issuing the first warning can be, for example, a warning sound from a horn or a warning light signal (which can be implemented by using an existing lamp of the electric vehicle (such as a direction light) or installing other lamps on the vehicle body), The present invention is not limited to this.

須注意的是，上述內容雖以前方物體為例說明了向前方用路人發出第一警示的方法，但本發明並不限於此。例如，第一感測器120的感測範圍也可能包括電動載具10的其他方向（例如：左側或右側）或是被設置於電動載具10的其他方向，使得防碰撞及警示功能系統100也能感測其他方向的用路人並對其發出第一警示。It should be noted that although the foregoing describes the method of issuing the first warning to the passer-by in front of the object as an example, the present invention is not limited to this. For example, the sensing range of the first sensor 120 may also include other directions of the electric vehicle 10 (for example, left or right) or be disposed in other directions of the electric vehicle 10, so that the collision prevention and warning function system 100 It can also sense passersby in other directions and issue the first warning to them.

可選地，防碰撞及警示功能系統100更可以包括第二感測器140以及第二警示模組150。第二感測器140可例如安裝於電動載具10的後方，並且可以是一種微波雷達（300MHz~300GHz）。第二感測器140可利用微波感測出物體的行進軌跡。在本實施例中，第二感測器140量測出電動載具10之後方物體與電動載具10之間的距離，並且量測出後方物體的速度，從而幫助防碰撞及警示功能系統100預測出獲得所述後方物體的第二行進軌跡。處理器110可自第二感測器140接收後方物體的第二行進軌跡的相關資訊（以下稱為：第二行進軌跡資訊（例如：速度、距離、方位）i2），並基於後方物體的第二行進軌跡以及第二設定產生第二控制訊號c2，其中第二設定可由使用者依其需求配置。第二設定的各種實施態樣將會於後續說明。Optionally, the collision prevention and warning function system 100 may further include a second sensor 140 and a second warning module 150. The second sensor 140 may be installed behind the electric vehicle 10, for example, and may be a microwave radar (300MHz~300GHz). The second sensor 140 can sense the traveling trajectory of the object using microwaves. In this embodiment, the second sensor 140 measures the distance between the object behind the electric vehicle 10 and the electric vehicle 10, and measures the speed of the object behind, thereby helping the collision prevention and warning function system 100 It is predicted to obtain the second travel trajectory of the rear object. The processor 110 may receive information about the second travel trajectory of the rear object from the second sensor 140 (hereinafter referred to as: second travel trajectory information (for example: speed, distance, bearing) i2), and based on the The second travel path and the second setting generate a second control signal c2, where the second setting can be configured by the user according to his needs. Various implementation aspects of the second setting will be described later.

在一實施例中，第二感測器140可例如亦是可以使用千兆赫（GHz）等級的第二頻率（例如24GHz）的電磁波進行感測，且第二感測器140的感測角度可為±50度，並且可具有夾角為100度的扇形感測範圍，但本發明並不限於此。第二感測器140可基於後方物體的第二行進軌跡而調整所使用以進行感測的第二頻率。例如，基於與後方物體的距離的不同，防碰撞及警示功能系統100可以改變第二感測器140的感測範圍，使得第二感測器140在後方物體的距離較長時使用較長距離的感測範圍，並且在後方物體的距離較短時使用較短距離的感測範圍。或者，基於後方物體的速度的不同，防碰撞及警示功能系統100可以改變第二感測器140的感測範圍，使得第二感測器140在後方物體的速度（或後方物體與電動載具10的相對速度）較快時使用較長距離的感測範圍，並且在後方物體的速度（或後方物體與電動載具10的相對速度）較慢時使用較短距離的感測範圍。在上述的情況下，處理器110可控制第二感測器140改變所使用的第二頻率，即，降低第二頻率的頻率（例如：載波頻率）以進行長距離的感測，或提高第二頻率的頻率（例如：載波頻率）以進行短距離的感測。In an embodiment, the second sensor 140 may also use, for example, electromagnetic waves of a second frequency (for example, 24 GHz) in the gigahertz (GHz) level for sensing, and the sensing angle of the second sensor 140 may be It is ±50 degrees, and may have a fan-shaped sensing range with an included angle of 100 degrees, but the present invention is not limited thereto. The second sensor 140 may adjust the second frequency used for sensing based on the second travel trajectory of the object behind. For example, based on the difference in distance from the object behind, the collision prevention and warning function system 100 can change the sensing range of the second sensor 140 so that the second sensor 140 uses a longer distance when the distance of the object behind is longer Sensing range, and use a shorter sensing range when the distance of objects behind is shorter. Or, based on the difference in the speed of the rear object, the collision prevention and warning function system 100 can change the sensing range of the second sensor 140 so that the speed of the second sensor 140 at the rear object (or the rear object and the electric vehicle) (Relative speed of 10) uses a longer distance sensing range when it is faster, and uses a shorter distance sensing range when the speed of the rear object (or the relative speed of the rear object and the electric vehicle 10) is slower. In the above situation, the processor 110 may control the second sensor 140 to change the second frequency used, that is, reduce the frequency of the second frequency (for example: carrier frequency) for long-distance sensing, or increase the second frequency. Two-frequency frequency (for example: carrier frequency) for short-distance sensing.

另一方面，第二感測器140也可基於後方物體的第二行進軌跡而調整所使用以進行感測的第二頻率的掃描頻率。例如，當第二感測器140為光達時，防碰撞及警示功能系統100可以基於與後方物體的距離的不同而改變第二感測器140的掃描頻率，使得第二感測器140在與後方物體之間的距離較長時降低第二頻率的頻率（例如：掃描頻率），並且在與後方物體之間的距離較短時提高第二頻率的頻率（例如：掃描頻率）。On the other hand, the second sensor 140 may also adjust the scanning frequency of the second frequency used for sensing based on the second travel trajectory of the object behind. For example, when the second sensor 140 is Lida, the anti-collision and warning function system 100 may change the scanning frequency of the second sensor 140 based on the distance to the object behind, so that the second sensor 140 is at When the distance to the rear object is long, the frequency of the second frequency is reduced (for example: scanning frequency), and when the distance to the rear object is short, the frequency of the second frequency is increased (for example: scanning frequency).

第二警示模組150耦接於處理器110，並且用以發出第二警示。在本實施例中，第二警示模組150響應於接收第二控制訊號c2，而向電動載具10的駕駛人發送第二警示。發送第二警示可以提示駕駛人後方來車的動向，保障駕駛人的安全（即，防後車碰撞）。發出第二警示的實施方式可例如是由喇叭發出警示音、以燈號（例如：LED）的方式表現或在儀表板或面板上顯示警示的影像，本發明並不限於此。The second warning module 150 is coupled to the processor 110 and is used to issue a second warning. In this embodiment, the second warning module 150 sends a second warning to the driver of the electric vehicle 10 in response to receiving the second control signal c2. Sending a second warning can remind the driver of the direction of the car coming behind, to ensure the safety of the driver (that is, to prevent rear collisions). The embodiment for issuing the second warning may be, for example, a warning sound from a horn, a light signal (for example: LED), or an image of the warning displayed on the instrument panel or panel. The present invention is not limited to this.

在一實施例中，第二感測器140可以是具有多種感測器的複合式感測器。例如，第二感測器140可包括微波感測器、光達感測器、超音波感測器以及攝影機的至少其中之一種感測器種類，且可基於後方物體的第二行進軌跡而調整（例如：透過處理器110調整）所使用的感測器種類。舉例來說，當後方物體距離電動載具10較遠時，第二感測器140可切換（例如：透過處理器110切換）為使用較適合進行長距離偵側的光達感測器，並且將除了光達感測器的其餘種感測器關閉，藉以節省耗電量。當後方物體距離電動載具10稍近一些時，第二感測器140可切換（例如：透過處理器110切換）為使用較適合進行中距離偵側的微波感測器，並且將除了微波感測器的其餘種感測器關閉，藉以節省耗電量。當後方物體距離電動載具10更近一些時，第二感測器140可切換（例如：透過處理器110切換）為使用較適合進行短距離偵測的超音波感測器，並且將除了超音波感測器的其餘種感測器關閉，藉以節省耗電量。第二感測器140還可以是例如攝影機等具備影像擷取功能的裝置。攝影機可以擷取前方物體的影像，並且以任一種影像辨識演算法計算出後方物體的距離或速度等資訊。In an embodiment, the second sensor 140 may be a compound sensor with multiple sensors. For example, the second sensor 140 may include at least one sensor type of a microwave sensor, a light sensor, an ultrasonic sensor, and a camera, and may be adjusted based on a second travel trajectory of an object behind (For example: adjusted by the processor 110) The type of sensor used. For example, when the rear object is far away from the electric vehicle 10, the second sensor 140 may be switched (for example, through the processor 110) to use a light sensor that is more suitable for long-distance detection, and Turn off all other sensors except the light sensor to save power consumption. When the rear object is slightly closer to the electric vehicle 10, the second sensor 140 can be switched (for example, through the processor 110) to use a microwave sensor that is more suitable for mid-range detection, and the microwave sensor will be removed. The remaining sensors of the sensor are turned off to save power consumption. When the rear object is closer to the electric vehicle 10, the second sensor 140 can be switched (for example, through the processor 110) to use an ultrasonic sensor that is more suitable for short-range detection, and The other sensors of the sonic sensor are turned off to save power consumption. The second sensor 140 may also be a device with an image capturing function such as a camera. The camera can capture the image of the object in front, and use any image recognition algorithm to calculate the distance or speed of the object in the back.

須注意的是，上述內容雖以後方物體為例說明了向電動載具10之駕駛人發出第二警示以提示後方來車的方法，但本發明並不限於此。例如，第二感測器140的感測範圍也可能包括電動載具10的其他方向（例如：左側或右側）或是被設置於電動載具10的其他方向，使得防碰撞及警示功能系統100也能感測其他方向的來車，並向電動載具10的駕駛人發出第二警示。It should be noted that although the above content uses a rear object as an example to describe the method of issuing a second warning to the driver of the electric vehicle 10 to remind the vehicle to come behind, the present invention is not limited to this. For example, the sensing range of the second sensor 140 may also include other directions of the electric vehicle 10 (for example, left or right) or be disposed in other directions of the electric vehicle 10, so that the collision prevention and warning function system 100 It can also sense the arrival of vehicles in other directions and issue a second warning to the driver of the electric vehicle 10.

可選地，防碰撞及警示功能系統100更可以包括控制面板160，其可以設定用以產生第一控制訊號c1的第一設定以及用以產生第二控制訊號c2的第二設定。控制面板160可以具有人機介面（User Interface, UI）。在一實施例中，駕駛人可利用所述人機介面（UI）開啟/關閉發送第一警示及/或第二警示的功能。在另一實施例中，駕駛人可利用所述人機介面設定/修改第一設定以及第二設定。在一實施例中，當防碰撞及警示功能系統100發出第一警示或第二警示時，控制面板160上可透過影像或燈號提示駕駛人。Optionally, the anti-collision and warning function system 100 may further include a control panel 160, which may set a first setting for generating the first control signal c1 and a second setting for generating the second control signal c2. The control panel 160 may have a user interface (User Interface, UI). In an embodiment, the driver can use the human-machine interface (UI) to turn on/off the function of sending the first warning and/or the second warning. In another embodiment, the driver can use the HMI to set/modify the first setting and the second setting. In one embodiment, when the anti-collision and warning function system 100 issues the first warning or the second warning, the control panel 160 may prompt the driver through an image or a light signal.

在一實施例中，處理器110可由接收自第一感測器120的第一行進軌跡資訊i1獲得對應於前方物體的第一距離與第一速度。處理器110並可基於第一行進軌跡資訊i1與第一設定來產生控制第一警示模組130的第一控制訊號c1，使得第一警示模組130響應於接收第一控制訊號c1而向電動載具10的前方物體發送第一警示。所述第一設定的態樣可包括但不限於下列的至少一者：當第一距離短於第一距離閾值（threshold）時，發送第一警示；當電動載具10的速度與第一速度的速度差值大於第一速度閾值時，發送第一警示；當電動載具10轉彎時，發送第一警示；當電動載具10啟動後，持續發送第一警示直至電動載具10關閉；當電動載具10的速度與第一速度的速度差值小於第二速度閾值時，不發送第一警示；以及當電動載具10的速度小於第三速度閾值時，不發送第一警示。以下將就第一設定的各種態樣進行說明。In an embodiment, the processor 110 may obtain the first distance and the first speed corresponding to the object in front of the first travel trajectory information i1 received from the first sensor 120. The processor 110 may generate a first control signal c1 that controls the first warning module 130 based on the first travel path information i1 and the first setting, so that the first warning module 130 responds to the electric signal in response to receiving the first control signal c1 The object in front of the vehicle 10 sends a first warning. The aspect of the first setting may include but is not limited to at least one of the following: when the first distance is shorter than the first distance threshold, a first warning is sent; when the speed of the electric vehicle 10 is equal to the first speed When the speed difference is greater than the first speed threshold, the first warning is sent; when the electric vehicle 10 turns, the first warning is sent; when the electric vehicle 10 is started, the first warning is continuously sent until the electric vehicle 10 is turned off; when When the speed difference between the speed of the electric vehicle 10 and the first speed is less than the second speed threshold, the first warning is not sent; and when the speed of the electric vehicle 10 is less than the third speed threshold, the first warning is not sent. The various aspects of the first setting will be described below.

具體來說，參照圖2A、2B以及2C。圖2A、2B以及2C是依照本發明的實施例繪示出符合第一設定的行車情況的示意圖。第一設定可以為「當第一距離短於第一距離閾值時，發送第一警示」，其中第一距離可以是電動載具10與前方物體的距離，且第一距離閾值可由使用者依其需求而設定。在圖2A中，假設電動載具10具有第一距離閾值d1，在此情況下，當電動載具10與前方物體20的距離d2短於第一距離閾值d1時，防碰撞及警示功能系統100即會透過第一警示模組130發送第一警示給前方物體20，提示前方物體20注意電動載具10的動線。此外，防碰撞及警示功能系統100的處理器110還可以基於電動載具10的速度而設定第一距離閾值d1的大小。例如，當電動載具10的速度較快時，第一距離閾值d1可被設定為較長。如此可使前方物體20提早注意到行進中的電動載具10。Specifically, refer to FIGS. 2A, 2B, and 2C. 2A, 2B, and 2C are schematic diagrams illustrating a driving situation in accordance with the first setting according to an embodiment of the present invention. The first setting may be "send a first warning when the first distance is shorter than the first distance threshold", where the first distance may be the distance between the electric vehicle 10 and the object in front, and the first distance threshold may be determined by the user According to your needs. In FIG. 2A, it is assumed that the electric vehicle 10 has a first distance threshold d1. In this case, when the distance d2 of the electric vehicle 10 and the front object 20 is shorter than the first distance threshold d1, the collision prevention and warning function system 100 That is, the first warning module 130 sends a first warning to the front object 20 to remind the front object 20 to pay attention to the moving line of the electric vehicle 10. In addition, the processor 110 of the collision prevention and warning function system 100 can also set the size of the first distance threshold d1 based on the speed of the electric vehicle 10. For example, when the speed of the electric vehicle 10 is faster, the first distance threshold d1 may be set to be longer. In this way, the object 20 in front can notice the moving electric vehicle 10 early.

在圖2B中，第一設定可以為「當電動載具10的速度與第一速度的速度差值大於第一速度閾值時，發送第一警示」，其中第一速度可以是電動載具10之前方物體的速度。假設電動載具10的速度為v1且前方物體20的第一速度為v2，在此情況下，當前方物體20處於電動載具10的感測範圍30內，並且電動載具10的速度v1以及前方物體20的第一速度v2的差值（假設為+10公里/小時）大於第一速度閾值（假設為+5公里/小時）時，代表電動載具10不久後將有可能撞擊前方物體20。此時，防碰撞及警示功能系統100會透過第一警示模組130發送第一警示給前方物體20。在另一實施例中，假設第一速度閾值為0，此時若前方物體20處於電動載具10的感測範圍30內並且電動載具10的速度v1高於前方物體20的第一速度v2時，第一警示模組130即會發送第一警示。In FIG. 2B, the first setting may be "when the difference between the speed of the electric vehicle 10 and the first speed is greater than the first speed threshold, send a first warning", where the first speed may be before the electric vehicle 10 The speed of the square object. Suppose that the speed of the electric vehicle 10 is v1 and the first speed of the front object 20 is v2. In this case, the front object 20 is within the sensing range 30 of the electric vehicle 10, and the speed v1 of the electric vehicle 10 and When the difference of the first speed v2 of the forward object 20 (assumed to be +10 km/h) is greater than the first speed threshold (assumed to be +5 km/h), it means that the electric vehicle 10 will likely hit the forward object 20 in the near future . At this time, the collision prevention and warning function system 100 will send the first warning to the object 20 in front through the first warning module 130. In another embodiment, assuming that the first speed threshold is 0, if the front object 20 is within the sensing range 30 of the electric vehicle 10 and the speed v1 of the electric vehicle 10 is higher than the first speed v2 of the front object 20 At this time, the first warning module 130 will send the first warning.

在圖2B中，第一設定也可以為「當電動載具10的速度與第一速度的速度差值小於第二速度閾值時，不發送第一警示」。若電動載具10的速度v1以及前方物體20的第一速度v2的差值（即v1-v2，假設為+2公里/小時）小於第一速度閾值（假設為+5公里/小時），即代表電動載具10正以非常慢的速度接近前方物體20。在此情況下，電動載具10的駕駛人將擁有足夠的反應時間以應付突發的交通事件（例如：前方物體20突然停止），因此，第一警示模組130將不發送第一警示。In FIG. 2B, the first setting may also be "when the speed difference between the speed of the electric vehicle 10 and the first speed is less than the second speed threshold, the first warning is not sent." If the difference between the speed v1 of the electric vehicle 10 and the first speed v2 of the forward object 20 (ie, v1-v2, assuming +2 km/h) is less than the first speed threshold (assuming +5 km/h), that is It means that the electric vehicle 10 is approaching the front object 20 at a very slow speed. In this case, the driver of the electric vehicle 10 will have sufficient reaction time to cope with sudden traffic events (for example: the object 20 in front stops suddenly), therefore, the first warning module 130 will not send the first warning.

在圖2C中，第一設定可以為「當電動載具10轉彎時，發送第一警示」。在此情況下，當電動載具10進行轉彎時，電動載具10可透過感測範圍30偵測到物體40。防碰撞及警示功能系統100可響應於偵測到物體40而控制第一警示模組130發送第一警示。在另一實施例中，電動載具10只要進行任何轉彎動作，第一警示模組130均會發送第一警示，不論是否有偵測到任何電動載具10有可能會碰撞到的物體。In FIG. 2C, the first setting may be "send a first warning when the electric vehicle 10 turns." In this case, when the electric vehicle 10 makes a turn, the electric vehicle 10 can detect the object 40 through the sensing range 30. The anti-collision and warning function system 100 can control the first warning module 130 to send a first warning in response to detecting the object 40. In another embodiment, as long as the electric vehicle 10 performs any turning action, the first warning module 130 will send a first warning, regardless of whether any object that the electric vehicle 10 may collide with is detected.

在一實施例中，第一設定可以設定為「使電動載具10在啟動時即開始持續的發送第一警示，直至電動載具10關閉為止」，其中第一警示可例如是預先錄製的低沉引擎聲，用以模擬一般油耗式載具發出的聲音，但本發明並不限於此。在另一實施例中，第一設定可以設定為「當電動載具10的速度小於第三速度閾值時，不發送第一警示」。例如，當電動載具10處於怠速狀況時，其速度趨近於0公里/小時並且小於第三速度閾值（假設為+0.5公里/小時），第一警示模組130將不發送第一警示。如此，可避免電動載具10處於怠速狀況時仍持續發送第一警示，產生非必要的噪音。In an embodiment, the first setting may be set to "make the electric vehicle 10 continue to send the first warning when it is started until the electric vehicle 10 is turned off", where the first warning may be, for example, a pre-recorded low The engine sound is used to simulate the sound emitted by general fuel-consuming vehicles, but the invention is not limited thereto. In another embodiment, the first setting may be set as "when the speed of the electric vehicle 10 is less than the third speed threshold, the first warning is not sent". For example, when the electric vehicle 10 is in an idle state, its speed approaches 0 km/h and is less than the third speed threshold (assuming +0.5 km/h), the first warning module 130 will not send the first warning. In this way, it is possible to prevent the electric vehicle 10 from continuously sending the first warning when it is in the idling state, and generating unnecessary noise.

當第一設定包括多種設定時，第一設定中的各個設定分別具有與所述各個對應的優先度。當同時符合兩種或兩種以上設定的情形出現時，處理器110將會基於較高優先度的設定決定是否控制第一警示模組130發送第一警示，端視實際設計/使用情況而論。When the first setting includes multiple settings, each setting in the first setting has a priority corresponding to each. When two or more settings are met at the same time, the processor 110 will decide whether to control the first warning module 130 to send the first warning based on the higher priority setting, depending on the actual design/use situation .

另一方面，在一實施例中，處理器110可由接收自第二感測器140的第二行進軌跡資訊i2獲得對應於後方物體的第二距離與第二速度。處理器110並可基於第二行進軌跡資訊i2與第二設定來產生控制第二警示模組150的第二控制訊號c2，使得第二警示模組150響應於接收第二控制訊號c2而向電動載具10的駕駛人發送第二警示。所述第二設定的態樣可包括但不限於下列的至少一者：當第二距離短於第二距離閾值時，發送第二警示；當第二速度與電動載具10的速度的速度差值大於第四速度閾值時，發送所述第二警示；當第二速度與電動載具10的速度的速度差值小於第五速度閾值時，不發送所述第二警示；以及當後方物體位處於電動載具10的視線死角時，發送第二警示。以下將就第二設定的各種態樣進行說明。On the other hand, in an embodiment, the processor 110 may obtain the second distance and the second speed corresponding to the object behind from the second travel trajectory information i2 received from the second sensor 140. The processor 110 may generate a second control signal c2 that controls the second warning module 150 based on the second travel trajectory information i2 and the second setting, so that the second warning module 150 responds to the electric power in response to receiving the second control signal c2 The driver of the vehicle 10 sends a second warning. The second setting may include but is not limited to at least one of the following: when the second distance is shorter than the second distance threshold, a second warning is sent; when the speed difference between the second speed and the speed of the electric vehicle 10 When the value is greater than the fourth speed threshold, the second alert is sent; when the speed difference between the second speed and the speed of the electric vehicle 10 is less than the fifth speed threshold, the second alert is not sent; and when the rear object position When it is in the blind spot of the electric vehicle 10, the second warning is sent. The various aspects of the second setting will be described below.

具體來說，參照圖3A、3B以及3C。圖3A、3B以及3C是依照本發明的實施例繪示出符合第二設定的行車情況的示意圖。第二設定可以「為當第二距離短於第二距離閾值時，發送第二警示」，其中第二距離可以是電動載具10與後方物體的距離，且第二距離閾值可由使用者依其需求而設定。在圖3A中，假設電動載具10具有第二距離閾值D1，在此情況下，假設後方物體50與電動載具10的距離D2短於第二距離閾值D1時，防碰撞及警示功能系統100即會透過第二警示模組150發送第二警示給電動載具10的駕駛人，提示駕駛人注意後方物體50。此外，防碰撞及警示功能系統100的處理器110還可以基於電動載具10的速度而設定第二距離閾值D1的大小。例如，當電動載具10的速度較後方物體50快時，較不容易發生追撞事故，故第二距離閾值D1可被設定為較長。Specifically, refer to FIGS. 3A, 3B, and 3C. 3A, 3B, and 3C are schematic diagrams illustrating a driving situation in accordance with the second setting according to an embodiment of the present invention. The second setting can be "to send a second warning when the second distance is shorter than the second distance threshold", where the second distance can be the distance between the electric vehicle 10 and the object behind, and the second distance threshold can be determined by the user According to your needs. In FIG. 3A, it is assumed that the electric vehicle 10 has a second distance threshold D1. In this case, if the distance D2 between the rear object 50 and the electric vehicle 10 is shorter than the second distance threshold D1, the collision prevention and warning function system 100 That is, a second warning is sent to the driver of the electric vehicle 10 through the second warning module 150 to remind the driver to pay attention to the object 50 behind. In addition, the processor 110 of the collision prevention and warning function system 100 can also set the size of the second distance threshold D1 based on the speed of the electric vehicle 10. For example, when the speed of the electric vehicle 10 is faster than that of the rear object 50, collision accidents are less likely to occur, so the second distance threshold D1 may be set to be longer.

在圖3B中，第二設定可以為「當第二速度與電動載具10的速度的速度差值大於第四速度閾值時，發送所述第二警示」，其中第二速度可以是電動載具10之後方物體的速度。假設電動載具10的速度為v1且後方物體50的第二速度為v3，在此情況下，當後方物體50處於電動載具10的感測範圍32內，並且第二速度v3與電動載具10的速度v1的速度差值（假設為+10公里/小時）大於第四速度閾值（假設為+5公里/小時）時，代表後方物體50不久後將有可能撞擊電動載具10。此時，防碰撞及警示功能系統100會透過第二警示模組150發送第二警示給電動載具10的駕駛人。在另一實施例中，假設第四速度閾值為0，此時若後方物體50處於電動載具10的感測範圍32內並且電動載具10的速度v1小於後方物體50的第二速度v3時，第二警示模組150即會發送第二警示。In FIG. 3B, the second setting may be "when the speed difference between the second speed and the speed of the electric vehicle 10 is greater than the fourth speed threshold, send the second alert", where the second speed may be the electric vehicle The speed of the object after 10. Suppose that the speed of the electric vehicle 10 is v1 and the second speed of the rear object 50 is v3. In this case, when the rear object 50 is within the sensing range 32 of the electric vehicle 10, and the second speed v3 and the electric vehicle When the speed difference of speed v1 of 10 (assumed to be +10 km/h) is greater than the fourth speed threshold (assumed to be +5 km/h), it means that the rear object 50 will likely hit the electric vehicle 10 soon. At this time, the collision prevention and warning function system 100 will send a second warning to the driver of the electric vehicle 10 through the second warning module 150. In another embodiment, assuming that the fourth speed threshold is 0, if the rear object 50 is within the sensing range 32 of the electric vehicle 10 and the speed v1 of the electric vehicle 10 is less than the second speed v3 of the rear object 50 , The second warning module 150 will send a second warning.

在圖3B中，第二設定也可以為「當第二速度與電動載具10的速度的速度差值小於第五速度閾值時，不發送所述第二警示」。若後方物體50的第二速度v3與電動載具10的速度v1的速度差值（即v3-v1，假設為+2公里/小時）小於第五速度閾值（假設為+5公里/小時），即代表後方物體50正以非常慢速的速度接近電動載具10。在此情況下，電動載具10較不容易被後方物體50追撞，因此，第二警示模組150將不發送第二警示。In FIG. 3B, the second setting may also be "when the speed difference between the second speed and the speed of the electric vehicle 10 is less than the fifth speed threshold, the second warning is not sent." If the speed difference between the second speed v3 of the rear object 50 and the speed v1 of the electric vehicle 10 (ie, v3-v1, assuming +2 km/h) is less than the fifth speed threshold (assuming +5 km/h), This means that the rear object 50 is approaching the electric vehicle 10 at a very slow speed. In this case, the electric vehicle 10 is less likely to be chased by the object 50 behind, so the second warning module 150 will not send a second warning.

在圖3C中，第二設定可以為「當後方物體位處於電動載具10的視線死角時，發送第二警示」。如圖3C所示，防碰撞及警示功能系統100可在電動載具10的感測範圍32之中設定視線死角區域321（即盲區）。當後方物體50進入視線死角區域321時，電動載具10的駕駛人較不容易注意到後方物體50，故第二警示模組150將發送第二警示。本文中的「視線死角區域（或盲區）」指代駕駛人的可視範圍中較不容易注意到或看到的區域，「視線死角區域（或盲區）」並不限於圖3C所繪視線死角區域321。In FIG. 3C, the second setting may be "send a second warning when the rear object position is in the blind spot of the electric vehicle 10". As shown in FIG. 3C, the anti-collision and warning function system 100 can set a blind spot area 321 (ie, a blind spot) in the sensing range 32 of the electric vehicle 10. When the rear object 50 enters the blind spot area 321, the driver of the electric vehicle 10 is less likely to notice the rear object 50, so the second warning module 150 will send a second warning. The "line-of-sight dead zone (or blind zone)" in this article refers to the area of the driver's visual range that is less likely to be noticed or seen. 321.

相似地，當第二設定包括多種設定時，第二設定中的各個設定分別具有與所述各個對應的優先度。當同時符合兩種或兩種以上的情形出現時，處理器110將會基於較高優先度的設定決定是否控制第二警示模組150發送第二警示。Similarly, when the second setting includes multiple settings, each setting in the second setting has a priority corresponding to each. When two or more situations are met at the same time, the processor 110 will decide whether to control the second warning module 150 to send a second warning based on the setting with higher priority.

圖4是依照本發明的實施例繪示出一種適用於電動載具的防碰撞及警示方法400的流程圖，防碰撞及警示方法400可由前述的防碰撞及警示功能系統100或電動載具10實施。在步驟S410，感測電動載具的前方物體的第一行進軌跡。在步驟S430，基於第一行進軌跡以及第一設定產生第一控制訊號。在步驟S450，響應於第一控制訊號而發送第一警示。FIG. 4 is a flowchart illustrating a method 400 for collision prevention and warning applicable to electric vehicles according to an embodiment of the present invention. The collision prevention and warning method 400 may be implemented by the aforementioned collision prevention and warning function system 100 or the electric vehicle 10 Implementation. In step S410, the first travel trajectory of the object in front of the electric vehicle is sensed. In step S430, a first control signal is generated based on the first travel path and the first setting. In step S450, a first warning is sent in response to the first control signal.

圖5是依照本發明的實施例繪示出一種適用於電動載具的防碰撞及警示方法500的流程圖，防碰撞及警示方法500可由前述的防碰撞及警示功能系統100或電動載具10實施。在步驟S510，感測電動載具的後方物體的第二行進軌跡。在步驟S530，基於第二行進軌跡以及第二設定產生第二控制訊號。在步驟S550，響應於第二控制訊號而發送第二警示。FIG. 5 is a flowchart illustrating a method 500 for collision prevention and warning applicable to electric vehicles according to an embodiment of the present invention. The collision prevention and warning method 500 can be implemented by the aforementioned collision prevention and warning function system 100 or the electric vehicle 10 Implementation. In step S510, the second travel trajectory of the object behind the electric vehicle is sensed. In step S530, a second control signal is generated based on the second travel path and the second setting. In step S550, a second alert is sent in response to the second control signal.

綜上所述，本發明的系統可同時具有用以感測前方與後方物體之動向感測器，分別對應於不同的警示模組。第一警示模組可在電動載具行進時，基於一組特定的設定而發出警示，藉以提示行人或其他駕駛人注意行駛中的電動載具。第二警示模組可在電動載具行進時，基於另一組特定的設定而發出警示，藉以提示電動載具的駕駛人注意後方來車。此外，本發明可因應於不同的路況而自由地調整感測器的感測範圍，以使警示模組能在較適當的時機發送警示，避免在較不必要的情況下產生警示因而干擾電動載具之駕駛或電動載具附近的用路人。In summary, the system of the present invention can have motion sensors for sensing objects in front and behind, respectively, corresponding to different warning modules. The first warning module can issue a warning based on a specific set of settings when the electric vehicle is traveling, so as to remind pedestrians or other drivers to pay attention to the electric vehicle in motion. The second warning module can issue a warning based on another specific set of settings when the electric vehicle is traveling, so as to remind the driver of the electric vehicle to pay attention to coming behind the car. In addition, the present invention can freely adjust the sensing range of the sensor according to different road conditions, so that the warning module can send the warning at a more appropriate time, to avoid generating warnings in unnecessary situations and thus disturbing the electric load. Passersby driving or electric vehicles.

雖然本發明已以實施例揭露如上，然其並非用以限定本發明，任何所屬技術領域中具有通常知識者，在不脫離本發明的精神和範圍內，當可作些許的更動與潤飾，故本發明的保護範圍當視後附的申請專利範圍所界定者為準。Although the present invention has been disclosed as above with examples, it is not intended to limit the present invention. Any person with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be subject to the scope defined in the appended patent application.

10：電動載具 100：防碰撞及警示功能系統 110：處理器 120、140：感測器 130、150：警示模組 160：控制面板 20、40、50：物體 30、32：感測範圍 321：視線死角區域 c1、c2：控制訊號 d1、d2：距離閾值 i1、i2：行進軌跡資訊 v1、v2、v3：速度 400、500：防碰撞及警示方法 S410、S430、S450、S510、S530、S550：步驟10: Electric vehicle 100: Anti-collision and warning function system 110: Processor 120, 140: Sensor 130, 150: Warning module 160: Control panel 20, 40, 50: Object 30, 32: Sensing range 321 : Line-of-sight dead zone c1, c2: control signals d1, d2: distance thresholds i1, i2: travel path information v1, v2, v3: speed 400, 500: anti-collision and warning methods S410, S430, S450, S510, S530, S550 :step

圖1是依照本發明的實施例繪示出一種防碰撞及警示功能系統的方塊圖。 圖2A、2B以及2C是依照本發明的實施例繪示出符合第一設定的行車情況的示意圖。 圖3A、3B以及3C是依照本發明的實施例繪示出符合第二設定的行車情況的示意圖。 圖4是依照本發明的實施例繪示出一種適用於電動載具的防碰撞及警示方法的流程圖。 圖5是依照本發明的實施例繪示出一種適用於電動載具的防碰撞及警示方法的流程圖。FIG. 1 is a block diagram illustrating a collision prevention and warning function system according to an embodiment of the present invention. FIGS. 2A, 2B, and 2C are schematic diagrams illustrating driving conditions in accordance with the first setting according to embodiments of the present invention. 3A, 3B, and 3C are schematic diagrams illustrating driving conditions that conform to the second setting according to an embodiment of the present invention. FIG. 4 is a flowchart illustrating a collision prevention and warning method suitable for an electric vehicle according to an embodiment of the present invention. FIG. 5 is a flowchart illustrating a collision prevention and warning method suitable for an electric vehicle according to an embodiment of the present invention.

100：防碰撞及警示功能系統 110：處理器 120、140：感測器 130、150：警示模組 160：控制面板 c1、c2：控制訊號 i1、i2：行進軌跡資訊100: anti-collision and warning function system 110: processor 120, 140: sensor 130, 150: warning module 160: control panel c1, c2: control signal i1, i2: travel track information

Claims (14)

一種適用於電動載具的防碰撞及警示功能系統，所述防碰撞及警示功能系統包括：第一感測器，安裝於電動載具的前方，並且感測前方物體的第一行進軌跡；處理器，耦接於所述第一感測器，所述處理器接收所述第一行進軌跡的資訊，並基於所述第一行進軌跡以及第一設定產生第一控制訊號；第一警示模組，耦接於所述處理器，並且響應於接收所述第一控制訊號而發送第一警示；第二感測器，耦接於所述處理器，其中所述第二感測器安裝於所述電動載具的後方，並且感測後方物體的第二行進軌跡，其中所述處理器接收所述第二行進軌跡的資訊，並基於所述第二行進軌跡以及第二設定產生第二控制訊號；第二警示模組，耦接於所述處理器，並且響應於接收所述第二控制訊號而發送第二警示；以及控制面板，用以設定所述第一設定以及所述第二設定。 An anti-collision and warning function system suitable for electric vehicles. The anti-collision and warning function system includes: a first sensor, which is installed in front of the electric vehicle and senses the first travel trajectory of the object in front; processing Device, coupled to the first sensor, the processor receives the information of the first travel trajectory and generates a first control signal based on the first travel trajectory and the first setting; a first warning module , Coupled to the processor, and sends a first warning in response to receiving the first control signal; a second sensor, coupled to the processor, wherein the second sensor is installed on the The rear of the electric vehicle, and sensing the second travel trajectory of the object behind, wherein the processor receives the information of the second travel trajectory and generates a second control signal based on the second travel trajectory and the second setting A second warning module, coupled to the processor, and sends a second warning in response to receiving the second control signal; and a control panel to set the first setting and the second setting. 如申請專利範圍第1項所述的防碰撞及警示功能系統，其中所述第一行進軌跡的所述資訊包括第一距離以及第一速度，且所述第一設定包括下列至少一者：當所述第一距離短於第一距離閾值時，發送所述第一警示；當所述電動載具的速度與所述第一速度的速度差值大於第一 速度閾值時，發送所述第一警示；當所述電動載具轉彎時，發送所述第一警示；當所述電動載具啟動後，持續發送所述第一警示直至所述電動載具關閉；當所述電動載具的所述速度與所述第一速度的所述速度差值小於第二速度閾值時，不發送所述第一警示；以及當所述電動載具的所述速度小於第三速度閾值時，不發送所述第一警示。 The anti-collision and warning function system as described in item 1 of the patent scope, wherein the information of the first travel trajectory includes a first distance and a first speed, and the first setting includes at least one of the following: When the first distance is shorter than the first distance threshold, the first warning is sent; when the speed difference between the speed of the electric vehicle and the first speed is greater than the first When the speed threshold is reached, the first warning is sent; when the electric vehicle turns, the first warning is sent; when the electric vehicle is started, the first warning is continuously sent until the electric vehicle is turned off ; When the speed difference between the speed of the electric vehicle and the first speed is less than a second speed threshold, the first warning is not sent; and when the speed of the electric vehicle is less than At the third speed threshold, the first warning is not sent. 如申請專利範圍第2項所述的防碰撞及警示功能系統，其中所述處理器基於所述電動載具的所述速度而設定所述第一距離閾值的大小。 The anti-collision and warning function system according to item 2 of the patent application scope, wherein the processor sets the size of the first distance threshold based on the speed of the electric vehicle. 如申請專利範圍第2項所述的防碰撞及警示功能系統，其中所述處理器基於所述第一行進軌跡而調整所述第一感測器使用的第一頻率。 The anti-collision and warning function system according to item 2 of the patent application scope, wherein the processor adjusts the first frequency used by the first sensor based on the first travel trajectory. 如申請專利範圍第2項所述的防碰撞及警示功能系統，其中所述第一感測器包括微波感測器、光達感測器、超音波感測器以及攝影機的至少其中之一種感測器種類，且所述處理器基於所述第一行進軌跡而調整所述第一感測器使用的感測器種類。 The anti-collision and warning function system as described in item 2 of the patent application scope, wherein the first sensor includes at least one of a microwave sensor, a light sensor, an ultrasonic sensor and a camera Sensor type, and the processor adjusts the sensor type used by the first sensor based on the first travel trajectory. 如申請專利範圍第2項所述的防碰撞及警示功能系統，其中所述第一設定中的各個設定均具有對應於各所述設定的優先度。 The anti-collision and warning function system as described in item 2 of the patent application scope, wherein each setting in the first setting has a priority corresponding to each setting. 如申請專利範圍第1項所述的防碰撞及警示功能系統，其中所述第二行進軌跡的所述資訊包括第二距離以及第二速度，且所述第二設定包括下列至少一者：當所述第二距離短於第二距離閾值時，發送所述第二警示；當所述第二速度與所述電動載具的速度的速度差值大於第四速度閾值時，發送所述第二警示；當所述第二速度與所述電動載具的所述速度的所述速度差值小於第五速度閾值時，不發送所述第二警示；以及當所述後方物體位處於所述電動載具的視線死角時，發送所述第二警示。 The anti-collision and warning function system as described in item 1 of the patent application scope, wherein the information of the second travel trajectory includes a second distance and a second speed, and the second setting includes at least one of the following: When the second distance is shorter than the second distance threshold, the second warning is sent; when the speed difference between the second speed and the speed of the electric vehicle is greater than a fourth speed threshold, the second warning is sent Warning; when the speed difference between the second speed and the speed of the electric vehicle is less than a fifth speed threshold, the second warning is not sent; and when the rear object position is in the electric When the line of sight of the vehicle is dead, the second warning is sent. 如申請專利範圍第7項所述的防碰撞及警示功能系統，其中所述處理器基於所述電動載具的所述速度而設定所述第二距離閾值的大小。 The anti-collision and warning function system according to item 7 of the patent application scope, wherein the processor sets the size of the second distance threshold based on the speed of the electric vehicle. 如申請專利範圍第7項所述的防碰撞及警示功能系統，其中所述處理器基於所述第二行進軌跡而調整所述第二感測器使用的第二頻率。 The anti-collision and warning function system as described in item 7 of the patent application scope, wherein the processor adjusts the second frequency used by the second sensor based on the second travel trajectory. 如申請專利範圍第7項所述的防碰撞及警示功能系統，其中所述第二感測器包括微波感測器、光達感測器、超音波感測器以及攝影機的至少其中之一種感測器種類，且所述處理器基於所述第二行進軌跡而調整所述第二感測器使用的感測器種類。 The anti-collision and warning function system as described in item 7 of the patent application scope, wherein the second sensor includes at least one of a microwave sensor, a light sensor, an ultrasonic sensor and a camera Sensor type, and the processor adjusts the sensor type used by the second sensor based on the second travel trajectory. 如申請專利範圍第7項所述的防碰撞及警示功能系統，其中所述第二設定中的各個設定均具有對應於各所述設定的優先度。 The anti-collision and warning function system as described in item 7 of the patent application scope, wherein each setting in the second setting has a priority corresponding to each setting. 如申請專利範圍第1項所述的防碰撞及警示功能系統，其中所述第一警示模組向所述前方物體發送所述第一警示，且所述第二警示模組向所述電動載具的駕駛人發送所述第二警示。 The anti-collision and warning function system according to item 1 of the patent application scope, wherein the first warning module sends the first warning to the object in front, and the second warning module sends a warning to the electric The driver of the vehicle sends the second warning. 一種電動載具，包括：第一感測器，安裝於所述電動載具的前方，並且感測前方物體的第一行進軌跡；處理器，耦接於所述第一感測器，所述處理器接收所述第一行進軌跡的資訊，並基於所述第一行進軌跡以及第一設定產生第一控制訊號；第一警示模組，耦接於所述處理器，並且響應於接收所述第一控制訊號而發送第一警示；第二感測器，耦接於所述處理器，其中所述第二感測器安裝於所述電動載具的後方，並且感測後方物體的第二行進軌跡，其中所述處理器接收所述第二行進軌跡的資訊，並基於所述第二行進軌跡以及第二設定產生第二控制訊號；第二警示模組，耦接於所述處理器，並且響應於接收所述第二控制訊號而發送第二警示；以及控制面板，用以設定所述第一設定以及所述第二設定。 An electric vehicle includes: a first sensor installed in front of the electric vehicle and sensing a first travel trajectory of an object in front; a processor coupled to the first sensor, the The processor receives the information of the first travel path and generates a first control signal based on the first travel path and the first setting; a first warning module is coupled to the processor and is responsive to receiving the A first control signal to send a first warning; a second sensor, coupled to the processor, wherein the second sensor is installed behind the electric vehicle and senses the second object behind A traveling track, wherein the processor receives the information of the second traveling track and generates a second control signal based on the second traveling track and the second setting; a second warning module is coupled to the processor, And send a second warning in response to receiving the second control signal; and a control panel to set the first setting and the second setting. 一種適用於電動載具的防碰撞及警示方法，包括：感測電動載具的前方物體的第一行進軌跡；基於所述第一行進軌跡以及第一設定產生第一控制訊號；響應於所述第一控制訊號而發送第一警示；感測所述電動載具的後方物體的第二行進軌跡；基於所述第二行進軌跡以及第二設定產生第二控制訊號；響應於所述第二控制訊號而發送第二警示；以及通過控制面板設定所述第一設定以及所述第二設定。 An anti-collision and warning method suitable for electric vehicles includes: sensing a first travel trajectory of an object in front of the electric vehicle; generating a first control signal based on the first travel trajectory and first settings; and responding to the Send a first warning by a first control signal; sense a second travel trajectory of an object behind the electric vehicle; generate a second control signal based on the second travel trajectory and a second setting; in response to the second control Signal to send a second alert; and set the first setting and the second setting through the control panel.
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TWM424273U (en) * 2011-10-20 2012-03-11 Chao Long Electronic Corp Collision avoidance sensing device for vehicle
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