TWM562248U - A vehicle and system for managing a driver - Google Patents
A vehicle and system for managing a driver Download PDFInfo
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Abstract
在此揭示一種管理運輸工具駕駛的運輸工具及系統。所述運輸工具有 一速限裝置，用以控制運輸工具的速度。在不同的道路、交通或天候狀況上適用不同的速限。若一運輸工具行駛在本運輸工具前方，並且當撞擊時間小於一預設期間，啟動速限裝置以防止本運輸工具加速，或者是透過所述速限裝置使運輸工具減速。當天候狀況為雨天時，速限裝置限制所述運輸工具的行駛速度，使其低於當前路段或道路的允許限速。所述運輸工具亦包含一眼睛追蹤器，若駕駛的目光經眼睛追蹤器測定，顯示駕駛處於疲勞狀況，所述速限裝置防止加踏板運作，使運輸工具減速，並亮起運輸工具的危險訊號。 A vehicle and system for managing the driving of a vehicle is disclosed herein. The transportation vehicle has A speed limit device to control the speed of the vehicle. Different speed limits apply to different roads, traffic or weather conditions. If a vehicle is traveling in front of the vehicle and when the impact time is less than a predetermined period, the speed limit device is activated to prevent the vehicle from accelerating, or the vehicle is decelerated through the speed limit device. When the weather condition is rainy, the speed limit device limits the speed of the vehicle to be lower than the allowable speed limit of the current road section or road. The vehicle also includes an eye tracker that indicates that the driving is in a fatigue condition if the driving eye is measured by the eye tracker, the speed limit device prevents the pedal from being operated, the vehicle is decelerated, and the dangerous signal of the vehicle is illuminated. .
Description
本新型是有關於一種監控駕駛的運輸工具及系統，特別是關於監控和控制駕駛行駛運輸工具時的速度。 The present invention relates to a vehicle and system for monitoring driving, and more particularly to monitoring and controlling the speed of driving a vehicle.
許多車禍事故皆肇因於不良的駕駛習慣，且當駕駛專注力疲乏時，更容易發生。為了塑造安全駕駛的習慣，相關機構無不致力於駕駛的教育與培訓，更針對不良的駕駛建置一套懲罰機制。不幸的是，該懲罰機制僅能在事發後使用，駕駛在單獨且無人監視的情況下，仍得以做出危險的駕駛行為。大型計程車車隊或貨運公司的車隊管理人員，對於不良駕駛習慣特別擔憂，因為當意外發生時，會影響整個公司的形象和生意、加速運輸工具的磨損和耗損，更有可能傷及運輸工具中的貨品。 Many car accidents are caused by poor driving habits and are more likely to occur when driving concentration is exhausted. In order to shape the habit of safe driving, the relevant agencies are all committed to the education and training of driving, and a set of punishment mechanism for poor driving. Unfortunately, this penalty mechanism can only be used after the incident, and driving can still make dangerous driving behaviors in a single and unsupervised situation. Fleet managers of large taxi fleets or freight companies are particularly concerned about bad driving habits, because when an accident occurs, it affects the image and business of the entire company, accelerates the wear and tear of the vehicle, and is more likely to injure the vehicle. Goods.
市面上監控駕駛的相關設備包含高級輔助駕駛系統(Advanced Driver Assistance Systems ADAS)，「MobileyeTM」即為市售的ADAS系統。MobileyeTM是一個人工視覺科技，使用單一鏡頭來偵測運輸工具四周的道路狀況，並將該狀況警示駕駛，使駕駛得以即時反應。「MobileyeTM」可以提供的警示或預警功能包括車距警示功能(Forward Collision Warning，FCW)、人車防撞預警 (Pedestrian Collision Warning，PCW))、車道偏移警示(Lane Departure Warning，LDW)，及速限警示功能(Headway Monitor Warning，HMW)等。 The equipment related to surveillance driving on the market includes Advanced Driver Assistance Systems (ADAS), and "Mobileye TM " is a commercially available ADAS system. Mobileye TM is an artificial vision technology that uses a single lens to detect road conditions around the vehicle and alert the situation to driving, allowing the driver to react instantly. The warnings or warnings that Mobileye TM can provide include Forward Collision Warning (FCW), Pedestrian Collision Warning (PCW), and Lane Departure Warning (LDW). And Headway Monitor Warning (HMW).
然而，MobileyeTM只有在危險即將發生時才會警示駕駛，駕駛必須持續維持警惕狀態，才能夠感知該些警示。若駕駛因交通狀況或乘客而分心，對於警示的反應太緩慢，則可能無法即時做出反應以避免意外發生。 However, Mobileye TM only when danger is imminent will alert the driver, the driver must continue to maintain the alert status to be able to perceive that some warning. If the driver is distracted by traffic conditions or passengers and the response to the warning is too slow, it may not be possible to react immediately to avoid accidents.
有鑑於此，本領域亟需提供駕駛一種更積極主動的意外警示及輔助系統，幫助其能更快速的針對不同交通狀況作出反應。 In view of this, there is an urgent need in the art to provide a more proactive and unexpected warning and assistance system to help them respond more quickly to different traffic conditions.
新型內容旨在提供本揭示內容的簡化摘要，以使閱讀者對本揭示內容具備基本的理解。此新型內容並非本揭示內容的完整概述，且其用意並非在指出本新型實施例的重要/關鍵元件或界定本新型的範圍。 The novel content is intended to provide a simplified summary of the disclosure in order to provide a basic understanding of the disclosure. This Summary is not an extensive overview of the disclosure, and is not intended to identify key/critical elements of the novel embodiments or the scope of the invention.
本新型第一態樣是關於一種運輸工具，其包含一加速踏板制動裝置和一微控制器，所述微控制器能夠控制加速踏板制動裝置，以防止加速踏板運作。 A first aspect of the present invention is directed to a vehicle that includes an accelerator pedal brake device and a microcontroller that is capable of controlling the accelerator pedal brake device to prevent the accelerator pedal from operating.
防止加速踏板運作原則上是指制動加速踏板的功能，儘管踩踏加速踏板，亦能夠防止加速踏板將燃料引入至運輸工具的引擎中。或者是，若運輸工具是以計算機控制的運輸工具，防止加速踏板運作是指當踩踏加速踏板時，令運輸工具的計算機忽略該加速踏板所發出的訊號。 Preventing the accelerator pedal from operating in principle refers to the function of the brake accelerator pedal, although the accelerator pedal can be prevented from introducing fuel into the engine of the vehicle. Alternatively, if the vehicle is a computer-controlled vehicle, preventing the accelerator pedal from operating means that the vehicle's computer ignores the signal from the accelerator pedal when the accelerator pedal is stepped on.
在某些實施方式中，當運輸工具的行駛速度超過一預設速度時(例如，運輸工具行駛路段的法定速限)，所述微控制器可控制加速踏板制動裝置，以防止加速踏板運作。原則上，速度控制器(如，加速踏板制動裝置)並不接管運輸工具的控制，僅於加速踏板的常規操作中制動加速踏板。由於微 控制器能夠隨時動態地制動加速踏板的功能，因此能夠依據不同路段的規定，對運輸工具施以不同的速限。較佳的是微控制器可以根據路段狀況、磨損狀況和/或駕駛狀況，限制運輸工具以不同的行駛速度行駛。 In some embodiments, the microcontroller can control the accelerator pedal brake to prevent the accelerator pedal from operating when the vehicle's travel speed exceeds a predetermined speed (eg, a legal speed limit for the vehicle travel segment). In principle, the speed controller (eg, the accelerator pedal brake) does not take over the control of the vehicle and only brakes the accelerator pedal during normal operation of the accelerator pedal. Due to micro The controller can dynamically brake the function of the accelerator pedal at any time, so it is possible to apply different speed limits to the vehicle according to the regulations of different road sections. Preferably, the microcontroller can limit the vehicle to travel at different travel speeds depending on road conditions, wear conditions and/or driving conditions.
原則上，當運輸工具的行駛速度低於預設速度時，微控制器亦能用以控制加速踏板制動裝置，使加速踏板恢復正常運作。 In principle, when the driving speed of the vehicle is lower than the preset speed, the microcontroller can also be used to control the accelerator pedal braking device to restore the accelerator pedal to normal operation.
在本新型中，可設定一速限上限值，當到達該速限上限值時，微控制器會制動加速踏板正常操作，並且亦可設定速限下限值，當到達該速限下限值時，微控制器允許加速踏板恢復正常操作，由此一來本新型提供一運輸工具的行駛速度範圍。若行駛速度範圍較為狹窄，使得微控制器能夠導引駕駛實質上以定速行駛。 In the present invention, a speed limit upper limit value can be set. When the upper limit value is reached, the microcontroller will brake the accelerator pedal to operate normally, and the speed limit lower limit value may also be set, when the speed limit is reached. At the limit, the microcontroller allows the accelerator pedal to resume normal operation, thereby providing a range of travel speeds for a vehicle. If the range of travel speed is relatively narrow, the microcontroller can guide the driving to travel at a constant speed.
在較佳的實施方式中，所述微控制器可令運輸工具進入巡航模式(cruise-control mode)，使所述運輸工具以預設速度定速行駛。亦或以運輸工具的速度控制模式(speed-hold control)取代巡航控制(cruise control)。在巡航控制模式中，駕駛可以讓腳休息，鬆開加速踏板，並且運輸工具仍可在速限內定速前進。在速度控制模式中，駕駛仍持續踩踏加速踏板，確保運輸工具以定速前進，且當駕駛鬆開加速踏板時，將造成運輸工具減速。 In a preferred embodiment, the microcontroller can cause the vehicle to enter a cruise-control mode to cause the vehicle to travel at a predetermined speed. Or replace the cruise control with the speed-hold control of the vehicle. In the cruise control mode, the driver can rest the foot, release the accelerator pedal, and the vehicle can still advance at a constant speed within the speed limit. In the speed control mode, the driver continues to step on the accelerator pedal, ensuring that the vehicle advances at a constant speed, and when the driver releases the accelerator pedal, it will cause the vehicle to slow down.
在較佳的實施方式中，運輸工具更包含至少一偵測器，其中微控制器能夠接收由至少一偵測器傳遞的資訊，以及所述微控制器可基於所述資訊控制加速踏板制動裝置，防止加速踏板運作。本新型優勢之一在於當至少一偵測器偵測到路段狀況、磨損狀況或駕駛狀況需要使運輸工具減速時，藉由所述至少一偵測器協助駕駛減速。因此，即使駕駛未偵察到所述狀況，微控制器基於所偵測到的狀況反應，亦能使運輸工具減速。此一方式能夠降低遲鈍和無反應的駕駛發生意外的機率。 In a preferred embodiment, the transport tool further includes at least one detector, wherein the microcontroller is capable of receiving information transmitted by the at least one detector, and the microcontroller can control the accelerator pedal brake based on the information To prevent the accelerator pedal from operating. One of the advantages of the present invention is that when at least one of the detectors detects a road condition, a wear condition, or a driving condition that requires the vehicle to decelerate, the at least one detector assists in driving deceleration. Thus, even if the driver does not detect the condition, the microcontroller can slow down the vehicle based on the detected condition. This approach can reduce the chance of accidents in slow and unresponsive driving.
在可任選的實施方式中，所述至少一偵測器是一路標偵測器，其能夠用以讀取標示上所顯示的速限，當運輸工具的行駛速度超過所述速限時，所述微控制器用以控制加速踏板制動裝置，以防止加速踏板運作。此一優點使得在駕駛未注意到行駛路段相關速限標示時，能夠避免駕駛超速。 In an optional embodiment, the at least one detector is a road sign detector capable of reading a speed limit displayed on the indicator, when the traveling speed of the vehicle exceeds the speed limit, The microcontroller is used to control the accelerator pedal brake to prevent the accelerator pedal from operating. This advantage makes it possible to avoid driving overspeed when the driver does not notice the relevant speed limit indication of the driving section.
在可任選的實施方式中，所述至少一偵測器能夠用以偵測相同車道上的前方運輸工具，當運輸工具與前方運輸工具的撞擊時間小於一預設期間，所述微控制器用以控制加速踏板制動裝置，以防止加速踏板運作。當駕駛無法由視力判斷其尾隨前方運輸工具的距離是否太近時，此一方式能夠協助駕駛跟隨前方運輸工具，保持適當距離。在其他實施方式中，所述至少一偵測器能夠用以偵測相同車道上的前方運輸工具，當所述運輸工具到達前方運輸工具的當前位置所需的時間小於一預設期間，所述微控制器能夠用以控制加速踏板制動裝置，以防止加速踏板運作。 In an optional embodiment, the at least one detector can be used to detect a front vehicle on the same lane, and when the collision time of the vehicle with the front vehicle is less than a predetermined period, the microcontroller uses To control the accelerator pedal brake to prevent the accelerator pedal from operating. This method can assist the driver to follow the forward vehicle and maintain an appropriate distance when the driving cannot judge whether the distance of the trailing vehicle is too close. In other embodiments, the at least one detector can be used to detect a front vehicle on the same lane, and the time required for the vehicle to reach the current position of the preceding vehicle is less than a predetermined period. The microcontroller can be used to control the accelerator pedal brake to prevent the accelerator pedal from operating.
「撞擊時間(Time-to-collision)」不同於「到達時間(time-to-location)」。撞擊時間是指實際影響前方運輸工具的時間，此時間需考量所述運輸工具和前方運輸工具的位置和速度。前方運輸工具的位置總是與前方運輸工具移動。相對地，所述「到達時間」是指「車頭距(headway)」，或當前運輸工具到達前方運輸工具的「即時位置」的時間，其中所述運輸工具的即時位置是一固定位置，且所述前方運輸工具可能已遠離所述固定位置。 "Time-to-collision" is different from "time-to-location". The impact time is the time that actually affects the vehicle in front, which takes into account the position and speed of the vehicle and the forward vehicle. The position of the forward vehicle is always moving with the forward vehicle. In contrast, the "arrival time" refers to the "headway", or the time when the current transportation vehicle reaches the "instant position" of the preceding vehicle, wherein the instantaneous position of the vehicle is a fixed position, and The forward vehicle may have moved away from the fixed position.
在可任選的實施方式中，所述至少一偵測器是一眼睛追蹤器，其能夠追蹤運輸工具駕駛的至少一眼球，當眼睛追蹤器偵測到駕駛的眼睛已保持靜止經過一預設期間(例如，兩秒或兩秒以上)，所述微控制器可控制加速踏板制動裝置，以防止加速踏板運作。通常駕駛未察覺自己已進入疲勞狀態，當發現時為時已晚。眼睛追蹤是觀察駕駛是否疲勞的可靠方式。本新型的優點在 於，當眼睛運動顯示駕駛已經疲勞或無法集中精神，藉由防止加速踏板運作，令運輸工具自動減速，以降低發生意外的可能。當駕駛突然進入睡眠狀態、呆滯或分心時，令運輸工具減速能夠讓駕駛用較多的時間反應路況。 In an optional embodiment, the at least one detector is an eye tracker capable of tracking at least one eye driven by the vehicle, and when the eye tracker detects that the driving eye has remained stationary, a preset is passed. During the period (eg, two or more seconds), the microcontroller can control the accelerator pedal brake to prevent the accelerator pedal from operating. Usually driving is not aware that he has entered a state of fatigue, and it is too late when found. Eye tracking is a reliable way to see if your driving is fatigued. The advantages of this new type are Therefore, when the eye movement indicates that the driving has been fatigued or unable to concentrate, the vehicle is automatically decelerated by preventing the accelerator pedal from operating to reduce the possibility of accidents. When the driver suddenly goes to sleep, is sluggish or distracted, slowing down the vehicle allows the driver to spend more time reacting to the road.
在可任選的實施方式中，至少一偵測器是一雨天偵測器，若雨天偵測器測定到天候狀況為雨天，除非運輸工具以低於一當前路段的行駛速限行駛，否則所述微控制器可控制加速踏板制動裝置，以防止加速踏板運作。駕駛往往忽略道路濕滑造成的危險。本新型的雨天偵測器在雨天能夠限制運輸工具的速度，如，行駛速度低於平常晴天速限，以改善雨天用路安全。 In an optional embodiment, the at least one detector is a rain detector, and if the rain detector detects that the weather condition is rainy, unless the vehicle travels below a current speed limit of the current road section, The microcontroller controls the accelerator pedal brake to prevent the accelerator pedal from operating. Driving often ignores the dangers caused by slippery roads. The new rainy day detector can limit the speed of the vehicle in rainy days, for example, the driving speed is lower than the normal sunny speed limit to improve the safety of rainy roads.
在較佳的實施方式中，所述運輸工具包含一無線收發器，可將來自偵測器的資訊傳遞至一伺服器。此一方式能夠收集駕駛行為相關資訊。 In a preferred embodiment, the vehicle includes a wireless transceiver that transmits information from the detector to a server. This method can collect information about driving behavior.
儘管在先前技術中，在駕駛獨自駕車的情況下，不易監控駕駛行為，但利用本新型得到關於駕駛行為的數據，使得相關領域能夠進行研究，並將分析結果提供給駕訓學校和車隊管理人員，作為改善駕駛訓練的參考。如此一來，本新型亦能提供預先設想新進駕駛的不良駕駛習慣，並提出因應之道。 Although in the prior art, it is difficult to monitor driving behavior when driving alone, the data on driving behavior is obtained by using the present invention, so that relevant fields can conduct research and provide analysis results to driving school and fleet management personnel. As a reference for improving driving training. In this way, the new model can also provide a bad driving habit that presupposes new driving, and proposes the corresponding way.
在第二個態樣中，本新型提供一種觀察駕駛多種駕駛行為的系統，包含：複數個運輸工具，且每一運輸工具包括一加速踏板制動裝置，用以防止運輸工具加速、至少一偵測器、一微控制器，用以接收由至少一偵測器所傳送的資訊，回應所獲得的資訊和操縱加速踏板制動裝置，以及一無線收發器，用以將每一加速踏板制動裝置的操作登錄至一伺服器中。 In a second aspect, the present invention provides a system for observing driving a variety of driving behaviors, comprising: a plurality of vehicles, and each vehicle includes an accelerator pedal brake to prevent acceleration of the vehicle, at least one detection And a microcontroller for receiving information transmitted by the at least one detector, responding to the obtained information and operating the accelerator pedal braking device, and a wireless transceiver for operating each of the accelerator pedal braking devices Log in to a server.
本新型的第三態樣是關於一種管理運輸工具駕駛的方法，所述運輸工具包含一速限裝置和一微控制器，包含利用微控制器控制速限裝置，以防止運輸工具加速的步驟。如此一來，本新型能夠藉由微控制器驅動速限裝置。 所述微控制器可和不同的裝置及偵測器連接，以控制速限裝置，如此一來可基於偵測器或其他裝置所偵測的狀況，動態調整和控制運輸工具的速度。 A third aspect of the present invention is directed to a method of managing the driving of a vehicle, the vehicle including a speed limit device and a microcontroller including steps of controlling the speed limit device with a microcontroller to prevent acceleration of the vehicle. In this way, the present invention can drive the speed limit device by the microcontroller. The microcontroller can be coupled to different devices and detectors to control the speed limit device, such that the speed of the vehicle can be dynamically adjusted and controlled based on conditions detected by the detector or other device.
在可任選的實施方式中，本方法包含以下步驟：偵測一前方運輸工具；測定相對於前方運輸工具當前位置的時間；若所述運輸工具到達前方運輸工具的當前位置所需的時間經計算小於一預定時間，控制所述速限裝置，以防止運輸工具加速。 In an optional embodiment, the method comprises the steps of: detecting a forward vehicle; determining a time relative to a current position of the forward vehicle; and determining a time required for the vehicle to reach a current position of the preceding vehicle The calculation is performed for less than a predetermined time to prevent the vehicle from accelerating.
在可任選的實施方式中，所述方法更包含以下步驟：測定駕駛注意力不集中，若駕駛注意力不集中控制速限裝置，以防止運輸工具加速。通常當駕駛的眼睛保持靜止經一預設期間，則可推測出駕駛處於注意力不集中的狀態。預設期間的設定可基於最新的研究加以調整，以決定駕駛的眼睛保持靜止的時間的長度，以確定駕駛是在呆滯或注意力不集中的狀態。原則上所述預定期間為2秒。或者是可利用瞳孔非自然擴張的現象，加以判斷駕駛處於注意力不集中的狀態。 In an optional embodiment, the method further comprises the steps of: determining that the driver's attention is not concentrated, and if the driving attention is not concentrated, controlling the speed limit device to prevent the vehicle from accelerating. Usually, when the driving eyes remain stationary for a predetermined period of time, it can be inferred that the driving is in a state of inattention. The settings for the preset period can be adjusted based on the latest research to determine the length of time the driving eye remains stationary to determine whether the driving is in a state of sluggishness or inattention. In principle, the predetermined period is 2 seconds. Or it is possible to use the phenomenon of unnatural expansion of the pupil to judge that the driving is in a state of inattention.
在可任選的實施方式中，所述方法包含以下步驟：測定駕駛的眼睛閉合經一預設期間；若駕駛的眼睛已閉合經過所述預設期間，控制速限裝置，以防止運輸工具加速。預設時間的設定可基於最新的研究加以調整，以決定駕駛的眼睛閉合時間的長度，以確定駕駛進入睡眠狀態。然而所述預設期間通常為2秒。 In an optional embodiment, the method comprises the steps of: determining that the eye of the driving is closed for a predetermined period of time; if the driving eye has closed for the preset period, controlling the speed limiting device to prevent the vehicle from accelerating . The preset time setting can be adjusted based on the latest research to determine the length of the eye closing time of the driving to determine that the driving goes to sleep. However, the preset period is usually 2 seconds.
在可任選的實施方式中，所述方法包含測定天候狀況為雨天，若天候狀況為雨天，控制速限裝置防止運輸工具加速。 In an optional embodiment, the method includes determining that the weather condition is rainy, and if the weather condition is rainy, controlling the speed limit device to prevent the vehicle from accelerating.
在較佳的實施方式中，本新型的方法更包含利用微控制器控制速限裝置，以防止運輸工具行駛速度超過速限。在本新型所提供的技術內容中， 所述速限裝置非以一預設最大速限限制運輸工具，且所述速限可依據運輸工具的位置或路段，或者是特定道路或天氣狀況規定，動態地設定或調整速限。 In a preferred embodiment, the method of the present invention further includes controlling the speed limit device with a microcontroller to prevent the vehicle from traveling faster than the speed limit. In the technical content provided by the novel, The speed limit device does not limit the vehicle at a predetermined maximum speed limit, and the speed limit may dynamically set or adjust the speed limit depending on the position or section of the vehicle or a specific road or weather condition.
在參閱下文實施方式後，本新型所屬技術領域中具有通常知識者當可輕易瞭解本新型之基本精神及其他新型目的，以及本新型所採用之技術手段與實施態樣。 The basic spirit and other novel objects of the present invention, as well as the technical means and implementations of the present invention, can be readily understood by those of ordinary skill in the art.
100、211、213、400‧‧‧運輸工具 100, 211, 213, 400‧‧‧Transportation tools
101‧‧‧速限裝置 101‧‧‧speed limit device
103‧‧‧微控制器 103‧‧‧Microcontroller
105‧‧‧偵測器 105‧‧‧Detector
107‧‧‧雨天偵測器 107‧‧‧Rainy Sky Detector
109‧‧‧眼睛追蹤器 109‧‧‧ Eye Tracker
111‧‧‧攝影機 111‧‧‧ camera
113‧‧‧ADAS 113‧‧‧ADAS
115‧‧‧伺服器 115‧‧‧Server
117‧‧‧引擎節流閥 117‧‧‧Engine throttle valve
201‧‧‧驅動器 201‧‧‧ drive
203‧‧‧機械延伸件 203‧‧‧Mechanical extensions
204‧‧‧捲曲件 204‧‧‧Curling pieces
205‧‧‧牽引系統 205‧‧‧ traction system
207‧‧‧加速踏板 207‧‧‧Accelerator pedal
300‧‧‧標示板 300‧‧‧Marking board
301-309、401-415‧‧‧步驟 301-309, 401-415‧‧ steps
為能更方便地進一步描述本新型，附圖說明本新型可能的配置，其中以相同或相似的元件符號來指稱相似的元件/部件。本新型可能有其他配置方式，因此在此所示附圖僅為例示，非用以限定本新型。 For a more convenient description of the present invention, the drawings illustrate the possible configurations of the present invention, in which like elements or components are referred to by the same or similar elements. The present invention may have other configurations, and thus the drawings shown herein are merely illustrative and are not intended to limit the present invention.
圖1是依據本新型一實施方式所示各組件的示意圖；圖2a為圖1所示速限裝置於一實施方式中的作動示意圖；圖2b為圖1所示速限裝置於另一實施方式中的作動示意圖；圖2c為圖1於一實施方式所示之本新型技術特徵的示意圖；圖3為圖1於另實施方式所示本新型於偵測速限標示的示意圖；圖3a繪示相對於圖3的流程圖；圖4為進一步繪示圖1所示實施方式的本新型運輸工具與前方運輸工具車距過近的示意圖；圖5又進一步繪示圖1所示實施方式的本新型運輸工具與前方運輸工具車距過近的示意圖；圖6為相對於圖4和圖5的流程圖；圖7繪示圖1所示實施方式於雨天狀況的示意圖；圖8亦繪示圖1所示實施方式於雨天狀況的示意圖； 圖9顯示利用圖1所示實施方式所得到的數據；圖10顯示利用圖1所示實施方式所得到的數據；以及圖11顯示利用圖1所示實施方式所得到的數據。 1 is a schematic view of each component according to an embodiment of the present invention; FIG. 2a is a schematic diagram of the operation of the speed limiting device of FIG. 1 in one embodiment; FIG. 2b is a schematic diagram of the speed limiting device of FIG. FIG. 2 is a schematic diagram of the novel technical features shown in FIG. 1 in an embodiment; FIG. 3 is a schematic diagram of the novel detection speed limit indicator shown in FIG. 1 in another embodiment; FIG. FIG. 4 is a schematic diagram further showing the distance between the new transportation tool and the front transportation vehicle of the embodiment shown in FIG. 1; FIG. 5 further illustrates the embodiment of the embodiment shown in FIG. FIG. 6 is a schematic view of the embodiment shown in FIG. 1 in a rainy day; FIG. 8 is also a schematic view of the embodiment of the present invention in a rainy day; FIG. Schematic diagram of the embodiment shown in the rainy day; Figure 9 shows data obtained using the embodiment shown in Figure 1; Figure 10 shows data obtained using the embodiment shown in Figure 1; and Figure 11 shows data obtained using the embodiment shown in Figure 1.
根據慣常的作業方式，圖中各種特徵與元件並未依比例繪製，其繪製方式是為了以最佳的方式呈現與本新型相關的具體特徵與元件。此外，在不同圖式間，以相同或相似的元件符號來指稱相似的元件/部件。 The various features and elements in the figures are not drawn to scale, and are in the In addition, similar elements/components are referred to by the same or similar element symbols throughout the different drawings.
為了使本揭示內容的敘述更加詳盡與完備，搭配本新型所提供的圖式能下文針對了本新型的實施態樣與具體實施例提出了說明性的描述；但這並非實施或運用本新型具體實施例的唯一形式。實施方式中涵蓋了多個具體實施例的特徵以及用以建構與操作這些具體實施例的方法步驟與其順序。然而，亦可利用其他具體實施例來達成相同或均等的功能與步驟順序。 In order to make the description of the present disclosure more detailed and complete, the drawings provided by the present invention can be illustratively described below with respect to the embodiments of the present invention and specific embodiments; however, this is not the implementation or application of the present invention. The only form of embodiment. The features of various specific embodiments, as well as the method steps and sequences thereof, are constructed and manipulated in the embodiments. However, other specific embodiments may be utilized to achieve the same or equivalent function and sequence of steps.
圖1為依據一實施方式所示的示意圖。運輸工具100(如，貨車)裝載有一速限裝置101(如，加速踏板制動裝置)和一微控制器103。所述速限裝置101可藉由微控制器103操縱。微控制器103能夠接收由複數個偵測器105所傳送的資訊，並且微控制器103能夠基於所述資訊控操縱速限裝置101，以限制運輸工具100的行駛速度。 Figure 1 is a schematic illustration of an embodiment. The vehicle 100 (e.g., a truck) is loaded with a speed limit device 101 (e.g., an accelerator pedal brake) and a microcontroller 103. The speed limit device 101 can be manipulated by the microcontroller 103. The microcontroller 103 is capable of receiving information transmitted by the plurality of detectors 105, and the microcontroller 103 is capable of operating the speed limit device 101 based on the information to limit the travel speed of the vehicle 100.
如圖2a所示，通常所述速限裝置101包含一驅動器201，其用以控制運輸工具的引擎節流閥(engine throttle valve)117。驅動器201與機械延伸件203連接，其中機械延伸件203具一捲曲件204連接至運輸工具的牽引系統205，且所述牽引系統205與運輸工具的引擎節流閥117相接。當驅動器201未被啟動的狀態，所述引擎節流閥117不受機械延伸件203干擾。當驅動器201被啟動以進行限 速時(如圖2b所示)，會帶動機械延伸件203使其將捲曲件204和引擎節流閥117推進至過度拉伸位置(over-extended position)。駕駛踩在加速踏板207上所產生的拉力無論如何都不足以補償上述過度拉伸位置，故無法將引擎節流閥117移動到能讓燃料進入引擎的位置。基於此，加速踏板207對於引擎節流閥117無法產生作用；如此一來可利用此方式制動加速踏板207的常規運作。因此，即使駕駛踩踏加速踏板207，速限裝置101也能夠防止運輸工具100加速。 As shown in Figure 2a, the speed limit device 101 generally includes a driver 201 for controlling an engine throttle valve 117 of the vehicle. The drive 201 is coupled to a mechanical extension 203 having a crimp 204 coupled to the traction system 205 of the vehicle and the traction system 205 is coupled to the engine throttle 117 of the vehicle. The engine throttle valve 117 is not interfered with by the mechanical extension 203 when the drive 201 is not activated. When the drive 201 is activated to limit The speed (as shown in Figure 2b) will drive the mechanical extension 203 to advance the crimp 204 and the engine throttle 117 to an over-extended position. The pulling force generated by driving on the accelerator pedal 207 is not sufficient to compensate for the above-described excessive stretching position, so that the engine throttle valve 117 cannot be moved to a position where fuel can enter the engine. Based on this, the accelerator pedal 207 does not act on the engine throttle valve 117; thus, the normal operation of the accelerator pedal 207 can be braked in this manner. Therefore, even if the accelerator pedal 207 is stepped on, the speed limit device 101 can prevent the vehicle 100 from being accelerated.
可由市面上購得不同類型的速限裝置101類型。例如，GroeneveldTM速限裝置。然而，其他類型的速限裝置101亦可用於本新型，例如，該些裝置可以是利用電子訊號干擾運輸工具100的計算機，以控制引擎節流閥117。所述技術領域中具有通常知識者可利用其通常經驗安裝所述速限裝置，在此不另贅述。 Different types of speed limit device 101 types are commercially available. For example, Groeneveld TM speed limit means. However, other types of speed limiting devices 101 can also be used with the present invention. For example, the devices can be computers that utilize electronic signals to interfere with the vehicle 100 to control the engine throttle valve 117. Those skilled in the art can use the usual experience to install the speed limit device, which will not be further described herein.
本實施方式提供二種不同的速限功能，以不同的方式應用和操作速限裝置。第一速限功能稱為SLF1(速限裝置101功能一)，此一功能是以速限裝置101令運輸工具100以一恆定速度前進。通常是利用微控制器切換運輸工具的巡航控制所達成。當啟動運輸工具的巡航控制，駕駛不需要持續踩踏於加速踏板上，以一恆定速度行駛運輸工具；讓駕駛能夠將腳離開加速踏稍作休息。在SLF1中，每當運輸工具100的行駛速度高於微控制器所設定的速限時，啟動驅動器201，而當行駛速限低於所述速限時關閉驅動器201。如此一來，當運輸工具行駛速度低於速限時，可持續供應燃料，而當運輸工具的行駛速度高於所述速限時，中斷燃料的供應。駕駛不需要踩踏加速踏板上，運輸工具也可依據速限行駛。 This embodiment provides two different speed limit functions, applying and operating the speed limit device in different ways. The first speed limit function is called SLF1 (speed limit device 101 function one), and this function is to cause the vehicle 100 to advance at a constant speed by the speed limit device 101. This is usually achieved by using the microcontroller to switch the cruise control of the vehicle. When starting the cruise control of the vehicle, the driver does not need to continuously step on the accelerator pedal to drive the vehicle at a constant speed; let the driver take the foot off the acceleration pedal and take a rest. In the SLF 1, the driver 201 is activated whenever the traveling speed of the vehicle 100 is higher than the speed limit set by the microcontroller, and the driver 201 is turned off when the traveling speed limit is lower than the speed limit. In this way, when the traveling speed of the vehicle is lower than the speed limit, the fuel is continuously supplied, and when the traveling speed of the vehicle is higher than the speed limit, the supply of the fuel is interrupted. The driver does not need to step on the accelerator pedal, and the vehicle can also travel according to the speed limit.
若路況良好且交通順暢，較佳的速限是運輸工具行駛路段所允許的速限上限值。 If the road conditions are good and the traffic is smooth, the preferred speed limit is the upper limit of the speed limit allowed by the vehicle's driving section.
第二功能稱為SLF2(速限裝置101功能二)，此功能是啟動驅動器201不再供應燃料至引擎節流閥117，迫使運輸工具100減速，無論運輸工具100的速度是否已到達微控制器所設下的速限，皆會減速。即使運輸工具的行駛速度已低於速限，運輸工具仍被迫減速。此功能有助於防止或降低運輸工具衝撞其他物件的衝擊。因此，在SLF2中，驅動器201不會在啟動位置和未啟動位置間移動，且無法使運輸工具以一定速行駛。 The second function, referred to as SLF2 (Function Limiter 101 Function 2), is that the starter drive 201 no longer supplies fuel to the engine throttle valve 117, forcing the vehicle 100 to decelerate, regardless of whether the speed of the vehicle 100 has reached the microcontroller. The set speed limit will slow down. Even if the speed of the vehicle has been below the speed limit, the vehicle is forced to slow down. This feature helps prevent or reduce the impact of the vehicle colliding with other objects. Therefore, in the SLF 2, the drive 201 does not move between the activated position and the unactivated position, and the vehicle cannot be driven at a constant speed.
本實施方式的偵測器105可包含雨天偵測器107、駕駛眼睛追蹤器、速限裝置101和進階駕駛輔助系統(Advanced Driver Assistance System,ADAS)113和攝影機111。上述的偵測器皆可透過CAN BUS通訊協定與微控制器103連接。 The detector 105 of the present embodiment may include a rain detector 107, a driving eye tracker, a speed limit device 101, an Advanced Driver Assistance System (ADAS) 113, and a camera 111. The above detectors can be connected to the microcontroller 103 via the CAN BUS protocol.
所屬技術領域中具有通常知識者應當可以理解CAN BUS為一種運輸工具標準通訊協定，主要是使微控制器與電子裝置通訊連接。CAN有部份版本經國際標準化組織(International Organization for Standardization,ISO)標準化成為國際標準。CAN BUS技術為本技術領域具有通常知識者熟知的通訊技術，在此不另贅述。 Those of ordinary skill in the art should be able to understand that CAN BUS is a standard communication protocol for transportation vehicles, primarily to enable the microcontroller to communicate with electronic devices. Some versions of CAN have been standardized by the International Organization for Standardization (ISO) to become an international standard. The CAN BUS technology is a communication technology well known to those skilled in the art and will not be further described herein.
本新型利用雨天偵測器107偵測雨天，且將天候狀況為雨天的資訊傳送給微控制器103。已知有許多技術能夠用來偵測雨天，其中任一技術皆可應用於本新型中。舉例而言，所述雨天偵測器107是利用全內反射(total internal reflection)技術偵測雨天。雨天偵測器107中的紅外線從運輸工具100的內部以45度角投射到運輸工具的擋風玻璃上。在擋風玻璃為乾燥的情況下，紅外線的入射光線折射回傳至雨天偵測器107中的紅外線偵測器。在擋風玻璃為潮濕的情況下，擋風玻璃的折射特性改變，較少的光線折射回傳至紅外線偵測器中，如此一來雨天偵測器107測定出所述天候狀況為雨天。 The present invention uses the rainy day detector 107 to detect rainy days, and transmits information that the weather condition is rainy day to the microcontroller 103. A number of techniques are known for detecting rainy days, and any of these techniques can be applied to the present invention. For example, the rainy day detector 107 detects rainy days using a total internal reflection technique. The infrared rays in the rain detector 107 are projected from the inside of the vehicle 100 at a 45 degree angle onto the windshield of the vehicle. In the case where the windshield is dry, the incident light of the infrared ray is refracted back to the infrared detector in the rain detector 107. In the case where the windshield is wet, the refractive characteristics of the windshield change, and less light is refracted back into the infrared detector, so that the rain detector 107 determines that the weather condition is rainy.
本實施方式較佳的眼睛追蹤器109是錄像眼睛追蹤器109，然而本新型亦可採用其他類型的眼睛追蹤器。一般而言，錄像眼睛追蹤的步驟可包含測量駕駛瞳孔尺寸和直徑，以及利用攝影機111和適當的影像處理軟體監控眼球運動。若駕駛經追蹤的眼球注視的方向已遠離前方道路經過一預測期間，所述眼睛追蹤器109通知微控制器103。在其他實例中，若駕駛眼睛的瞳孔已過度擴散，眼睛追蹤器109測定所述使用者已失去專注力，並通知所述微控制器103。 The preferred eye tracker 109 of the present embodiment is a video eye tracker 109, although other types of eye trackers may be employed with the present invention. In general, the step of video eye tracking can include measuring the size and diameter of the driving pupil, and monitoring the eye movement using the camera 111 and appropriate image processing software. The eye tracker 109 notifies the microcontroller 103 if the direction in which the tracked eyeball is gazing has passed a predicted period away from the road ahead. In other examples, if the pupil of the driving eye has been excessively diffused, the eye tracker 109 determines that the user has lost focus and notifies the microcontroller 103.
一般而言，可從第三方製造者或供應者購得ADAS。部份ADAS採用裝載有運動偵測演算法的光學視覺系統，或者是ADAS採用視覺偵測、雷達和雷射掃瞄技術，以監控運輸工具周圍的交通狀況等合併技術。第三方所提供的ADAS可能沒有本新型較佳實施方式中所需的所有功能，因此，可利用二個或二以上來自其他第三方所提供ADAS，以彌補此一不足。 In general, ADAS can be purchased from a third-party manufacturer or supplier. Some ADASs use optical vision systems loaded with motion detection algorithms, or ADAS uses vision detection, radar and laser scanning techniques to monitor traffic conditions around the vehicle. The ADAS provided by a third party may not have all the functions required in the preferred embodiment of the present invention. Therefore, two or more ADASs provided by other third parties may be utilized to make up for this deficiency.
在本實施方式中較佳的ADAS113是市售的MobileyeTM。MobileyeTM是利用安裝在後視鏡中的單一攝影機111進行運輸工具的偵測，且具有一視覺車距警示功能系統(vision-only forward collision warning system)。MobileyeTM所發出的警報或警告包括車距警示功能(FCW)、人車防撞預警(PCW)、車道偏移警示(LDW)、車道監控警示(HMW)、道路速限標示(SPW)監測。 In the present preferred embodiment is commercially available ADAS113 Mobileye TM. Mobileye TM 111 using a single camera mounted in the rearview mirror of the vehicle performed the detection, and having a vision system, vehicle distance warning function (vision-only forward collision warning system ). Alarms or warnings issued by Mobileye TM include Vehicle Distance Warning (FCW), Human Vehicle Collision Warning (PCW), Lane Offset Warning (LDW), Lane Monitoring Alert (HMW), and Road Speed Limit (SPW) monitoring.
A.車距警示功能(FCW) A. Distance warning function (FCW)
發出FCW是發生在同一車道上本運輸工具100(裝載有MobileyeTM的運輸工具)正在以一高近距離率(high close-in rate)接近前方的運輸工具。本運輸工具行駛速度比相較於前方運輸工具的狀即時間要來得快，例如，3秒、2秒甚至更低。發出FCW警告駕駛有潛在的危險狀況，並且能夠避免事故發生。 FCW issue occurs in the same lane of the present vehicle 100 (vehicle loaded with the Mobileye TM) is close to a high rate (high close-in rate) near the front of the vehicle. The speed of the vehicle travels faster than the time of the preceding vehicle, for example, 3 seconds, 2 seconds or even lower. Issue a FCW warning to drive a potentially hazardous situation and to avoid an accident.
動態眼演算法(Mobileye’s algorithm)用以考量特定的情況，測定是否發出FCW。例如： The Mobileye’s algorithm is used to determine the specific situation and determine whether to issue FCW. E.g:
．若前方運輸工具是靜止的，當撞擊時間僅剩三秒或以下，發出FCW。 . If the forward vehicle is stationary, FCW is issued when there is only three seconds or less of impact time.
．若前方運輸工具啟動煞車，其中MobileyeTM藉由偵測前方運輸工具的煞車燈，於撞擊前7秒或以下發出FCW。 . If the front of the vehicle starts to brake and wherein Mobileye TM by detecting the front of the vehicle brake lights, FCW issued before impact 7 seconds or less.
．一般而言，即使本運輸工具的駕駛已經踩煞車，因駕駛可能未注意到其所駕駛的運輸工具仍緩慢地向前方運輸工具漂移，此時MobileyeTM仍會發出FCW。 . In general, even if the driver of this vehicle has brakes, the driver may not notice it because the driver of the vehicle is still slowly toward the front of the vehicle drift, this time Mobileye TM continues to give FCW.
B.人車防撞預警(PCW) B. Vehicle anti-collision warning (PCW)
PCW是基於MobileyeTM中的影像處理軟體所發出的警示，其中所述軟體能夠鑑別移動並且穿越本運輸工具100路徑的物體(例如，行人)。若駕駛未作出反應且撞擊為不可避免的，則MobileyeTM作出煞車決定。 The PCW is based on an alert issued by the image processing software in Mobileye (TM) , which is capable of identifying objects (e.g., pedestrians) that move and traverse the path of the vehicle 100. If the driver is not made and the reaction is unavoidable collision, the brake Mobileye TM make decisions.
C.車道偏移警示(LDW) C. Lane Offset Warning (LDW)
LDW的警示發生在MobileyeTM運輸工具於車道上發生偏移的情況。具體而言，LDW系統測定運輸工具100在接下來的十分之一秒內是否將要進入相鄰車道，若為是，在此情況下駕駛如果沒有即使啟動正確的方向燈發出訊號表示其意圖變換車道，此可能代表駕駛無意中偏移至另一車道，在此情況下發出LDW警示。 LDW warning occurs in the case where the vehicle deviates Mobileye TM in the driveway. Specifically, the LDW system determines whether the vehicle 100 is about to enter an adjacent lane within the next tenth of a second, and if so, driving in this case, if there is no signal even if the correct direction is activated, the intention is changed. Lane, this may mean that the drive inadvertently shifts to another lane, in which case an LDW alert is issued.
D.速限警示功能(HMW) D. Speed limit warning function (HMW)
速限警示功能(HMW)與車距警示功能(FCW)相似。速限警示功能(HMW)是藉由MobileyeTM鑑別相同車道上的前方運輸工具。FCW的警示是發生於當一運輸工具與前方運輸工具的撞擊時間小於一閾值期間(即，預設閾值)， 而HMW的警示是發生在當一運輸工具到達所述前方運輸工具的即時位置小於一閾值期間。「撞擊時間(time-to-collision)」不同於「到達時間(time-to-location)」。撞擊時間是指撞擊時間是指實際影響前方運輸工具的時間，此時間需考量所述運輸工具和前方運輸工具的位置和速度。相對地，「到達時間」是指「車頭距(headway)」，或當前運輸工具到達前方運輸工具的「即時位置」的時間。在大多數的情況下，本運輸工具到達上述位置後，前方運輸工具已移動至新位置，除非前方運輸工具是靜止的。本運輸工具與前方運輸工具的車頭距離是以相對於前方運輸工具的距離除以本運輸工具的速度而得。如果到達時間小於預設時間，例如3秒，則發出HMW。 The speed limit warning function (HMW) is similar to the distance warning function (FCW). Speed limit warning function (HMW) is ahead on the same lane by Mobileye TM Identification of means of transport. The warning of the FCW occurs when the collision time of a vehicle with the forward vehicle is less than a threshold period (ie, a preset threshold), and the warning of the HMW occurs when the instantaneous position of a vehicle arrives at the preceding vehicle is less than A threshold period. "Time-to-collision" is different from "time-to-location". Impact time means that the impact time refers to the time that actually affects the vehicle in front, which takes into account the position and speed of the vehicle and the forward vehicle. In contrast, "arrival time" refers to the "headway" or the time when the current vehicle arrives at the "instant position" of the preceding vehicle. In most cases, after the vehicle reaches the above position, the forward vehicle has moved to the new position unless the forward vehicle is stationary. The headway distance between the vehicle and the forward vehicle is the distance from the forward vehicle divided by the speed of the vehicle. If the arrival time is less than the preset time, for example 3 seconds, the HMW is issued.
圖2c進一步顯示撞擊時間和到達時間的不同。撞擊時間請參見圖2c上排所繪示的運輸工具。變量x表示本運輸工具211在前方運輸工具向前移動的情況下所需的時間，其需要同時考慮到本運輸工具211的位置和速度，以及前方運輸工具213的位置和速度。 Figure 2c further shows the difference in impact time and arrival time. See the transport shown in the row on Figure 2c for the impact time. The variable x represents the time required for the present transporter 211 to move forward in the forward transport, which requires consideration of both the position and speed of the present transport 211, as well as the position and speed of the forward transport 213.
座落位時間請參見圖2c下排所繪示的運輸工具。變量y表示本運輸工具211到達前方運輸工具213當前位置所需的時間。意即，當時間y已過，並且本運輸工具211已經到達當前位置時，前一車輛可能已經從當前位置移開。 For the seating time, please refer to the transportation vehicle shown in the lower row of Figure 2c. The variable y represents the time required for the present vehicle 211 to reach the current position of the forward vehicle 213. That is, when time y has elapsed and the vehicle 211 has reached the current position, the previous vehicle may have moved away from the current position.
E.道路速限警示(SPW) E. Road speed limit warning (SPW)
SPW警示是利用MobileyeTM所發出，其中當MobileyeTM的攝影機捕捉到路標的影像，並且利用MobileyeTM的軟體鑑別路標上所顯示的速限。如此一來，SPW警告駕駛當前路段或道路的法定速限。在較佳的實施方式中，微控制器103亦連接至運輸工具100，以便獲得關於駕駛和運輸工具100的下列訊息： SPW warning is issued using Mobileye TM, wherein when the camera images captured Mobileye TM landmarks, and the use of software on the speed limit signs identify the displayed Mobileye TM. As a result, the SPW warns of the legal speed limit for driving the current road segment or road. In the preferred embodiment, the microcontroller 103 is also coupled to the vehicle 100 to obtain the following information regarding the driver and vehicle 100:
．當駕駛切換左轉訊號(Left Turning Signal，LTS)。 . When driving, switch Left Turning Signal (LTS).
．當駕駛切換右轉訊號(Right Turning Signal，RTS)。 . When driving, switch the Right Turning Signal (RTS).
．當駕駛踩踏煞車觸發煞車訊號(Brake Signal，BKS)。 . When driving on a pedal, the Brake Signal (BKS) is triggered.
．當駕駛啟動雨刷觸發雨刷訊號(Wiper Signal,WPS)。 . When driving, start the wiper to trigger Wiper Signal (WPS).
．當駕駛切換遠光燈訊號(High Beam Signal，HBS)。 . When driving, switch the High Beam Signal (HBS).
圖1亦繪示所述微控制器103與伺服器115無線通訊連接。如此一來本新型能夠將運輸工具100的駕駛歷程登錄和記錄至伺服器115中。再者，可利用GPS(Global Positioning System)監控運輸工具100的位置，並且即時記錄至伺服器115中。因此，前述的記錄讓伺服器115能夠分析運輸工具行駛的狀況。 FIG. 1 also illustrates the microcontroller 103 being in wireless communication with the server 115. In this way, the present invention is capable of registering and recording the driving history of the transportation vehicle 100 into the server 115. Furthermore, the position of the transportation vehicle 100 can be monitored by GPS (Global Positioning System) and recorded in the server 115 in real time. Therefore, the aforementioned recording allows the server 115 to analyze the condition in which the vehicle is traveling.
圖3顯示在本實施方式中當運輸工具100的攝影機111偵測到速限標示板300能夠控制運輸工具的速限。圖3a是相對應的流程圖。如圖所示，本運輸工具100一開始以時速70公里(即，70km/h)的速度行駛。攝影機111偵測到道路旁(或者是設置高架道路上)所設置的標示板300，其中所述攝影機111是MobileyeTM的一部份，並且MobileyeTM中的軟體能夠讀取標示板300上的數字(步驟301)。在此實施方式中，所讀取的數字為「50」，其表示法定限速為每小時50公里(即，50km/h)。MobileyeTM饋送法定速限至微控制器103。微控制器103接著檢查與記錄運輸工具100行駛的時速為70公里(步驟303)。 3 shows that in the present embodiment, the camera 111 of the vehicle 100 detects that the speed limit sign 300 can control the speed limit of the vehicle. Figure 3a is a corresponding flow chart. As shown, the vehicle 100 initially travels at a speed of 70 kilometers per hour (i.e., 70 km/h). Detected roadside camera 111 (or viaduct provided on) the indication plate 300 is provided, wherein the camera is a part of Mobileye TM 111, and Mobileye TM software can read the numbers on the indication plate 300 (Step 301). In this embodiment, the number read is "50", which means that the legal speed limit is 50 kilometers per hour (ie, 50 km/h). Mobileye TM feeding statutory speed limits to the microcontroller 103. The microcontroller 103 then checks and records the speed of travel of the transport vehicle 100 to 70 kilometers (step 303).
若微控制器偵測到運輸工具的行駛速度低於法定速限(步驟304)，則不制動加速踏板的功能(步驟303a)，並且駕駛能夠於任何時候踩踏加速踏板，使運輸工具加速。然而，若微控制器偵測到運輸工具的行駛速度與該路段上的速限相同(步驟306)，所述微控制器103令速限裝置101啟動SLF1(步驟305)。 If the microcontroller detects that the traveling speed of the vehicle is below the legal speed limit (step 304), the function of the accelerator pedal is not braked (step 303a), and the driving can step on the accelerator pedal at any time to accelerate the vehicle. However, if the microcontroller detects that the traveling speed of the vehicle is the same as the speed limit on the road segment (step 306), the microcontroller 103 causes the speed limiting device 101 to activate SLF1 (step 305).
如上所述，SLF1較佳是微控制器驅動運輸工具的巡航控制模式。在巡航控制中，駕駛不需要踩踏加速踏板207維持定速(通常是當前路段的法定速限)。在此情況下，運輸工具不會減速亦不會加速。巡航控制下將持續維持 定速，直到偵測到另一顯示不同的法定速限的路標，或者是直到駕駛將巡航控制模式更改為手動模式。 As mentioned above, the SLF 1 is preferably a cruise control mode for the microcontroller to drive the vehicle. In cruise control, the driver does not need to step on the accelerator pedal 207 to maintain a constant speed (usually the legal speed limit of the current road segment). In this case, the vehicle will not slow down or accelerate. Will continue to be maintained under cruise control The speed is fixed until another road sign showing a different legal speed limit is detected, or until the driving changes the cruise control mode to the manual mode.
然而，若微控制器偵測到運輸工具行駛速度低於速限(步驟308)，微控制器啟動SLF2。在SLF2中，制動加速踏板的功能(步驟307)，使得駕駛踩踏於加速踏板時無任何反應。如圖3所示，令運輸工具100減速，從時速70公里(即，70km/h)、60公里(即，60km/h)降至50公里(即，50km/h)。 However, if the microcontroller detects that the vehicle travels below the speed limit (step 308), the microcontroller activates SLF2. In the SLF 2, the function of the accelerator pedal is braked (step 307), so that there is no reaction when the driver steps on the accelerator pedal. As shown in Figure 3, the vehicle 100 is decelerated from a speed of 70 kilometers (i.e., 70 km/h), 60 kilometers (i.e., 60 km/h) to 50 kilometers (i.e., 50 km/h).
若未偵測到新的速度標示，重複上述步驟，並且當運輸工具的速度和法定速限相等時，將速限功能設定成SLF1(步驟305)，並且當運輸工具的行駛速度低於法定速限，恢復加速踏板的功能(步驟303a)。 If the new speed indicator is not detected, repeat the above steps, and when the speed of the vehicle is equal to the legal speed limit, set the speed limit function to SLF1 (step 305), and when the speed of the vehicle is lower than the legal speed The function of the accelerator pedal is restored (step 303a).
只要MobileyeTM未偵測到其他路標，微控制器103則持續監控運輸工具的行駛速度，以確保運輸工具行駛速度在所觀測到的當前速限內(步驟303)。然而，若MobileyeTM偵測到其他路標(步驟309)，並且讀取到其他路標所顯示的速限(步驟301)，微控制器將偵測運輸工具速度，以確保運輸工具的行駛速度在所觀測到的新速限內(步驟303)。 As long as MobileyeT M other signs not detected, the microcontroller 103 continuously monitors the vehicle traveling speed, the vehicle traveling speed to ensure that the observed within the current speed limit (step 303). However, if other signs Mobileye TM detected (step 309), and reads the speed limit (step 301) other landmarks are displayed, the microcontroller will detect the vehicle speed, to ensure that the traveling speed of the vehicle Within the new speed limit observed (step 303).
圖4和圖5顯示顯示本實施方式所揭示於同車道上本運輸工具100和前方運輸工具400之間如何保持安全距離。圖6為相對應的流程圖。首先，MobileyeTM偵測到前方有運輸工具(步驟401)。接著，微控制器基於本運輸工具100的速度和前方運輸工具的速度計算撞擊時間(步驟403)。若MobileyeTM偵到本運輸工具與前方運輸工具的距離越來越近，且可能在1.0秒內發生撞擊(步驟411)，MobileyeTM對微控制器103發出警示。微控制器103啟動限速功能SLF2(步驟413)，使運輸工具100減速。此一實施方式的優勢在於在SL2模式下，令運輸工具100自動減速，能夠降低駕駛突然踩踏煞車時突然搖晃的強度。若撞擊時間大於1.0秒但小於1.5秒(步驟407)，MobileyeTM對於微控制器103發出警示。微控 制器103使速限裝置101進入SLF1模式(步驟409)。意即運輸工具100允許以當前速度繼續行駛，但禁止進一步加速。在此情況下，微控制器非允許運輸工具在SLF1模式下依道路依法定速限行駛。取而代之的是微控制器將運輸工具的當前速度作為速限，並且確保運輸工具以此速度繼續行駛。若MobileyeTM偵測到本運輸工具100與前方運輸工具的距離充足，且撞擊時間少於1.5秒(步驟407)，MobileyeTM通知微控制器103，使其不再制動加速踏板的正常操作(步驟415)。 4 and 5 show how the safe distance between the present vehicle 100 and the forward vehicle 400 is maintained on the same lane as disclosed in the present embodiment. Figure 6 is a corresponding flow chart. First, Mobileye TM detected in front of the vehicle (step 401). Next, the microcontroller calculates the impact time based on the speed of the vehicle 100 and the speed of the forward vehicle (step 403). If Mobileye TM to the present investigation of the vehicle and the vehicle in front getting closer and striking (step 411) may occur within 1.0 seconds, Mobileye TM alert the microcontroller 103. The microcontroller 103 activates the speed limit function SLF2 (step 413) to decelerate the vehicle 100. An advantage of this embodiment is that in the SL2 mode, the vehicle 100 is automatically decelerated, which can reduce the intensity of sudden shaking when driving a sudden pedaling. If the impact time is greater than 1.0 second but less than 1.5 seconds (step 407), the MobileyeTM M alerts the microcontroller 103. The microcontroller 103 causes the speed limit device 101 to enter the SLF1 mode (step 409). That is, the vehicle 100 allows to continue driving at the current speed, but further acceleration is prohibited. In this case, the microcontroller does not allow the vehicle to travel in the SLF1 mode according to the legal speed limit. Instead, the microcontroller uses the current speed of the vehicle as a speed limit and ensures that the vehicle continues to travel at this speed. If Mobileye TM detects the present vehicle 100 and the vehicle ahead a distance sufficient, and the impact time less than 1.5 seconds (step 407), Mobileye TM notifies the microcontroller 103, it is no longer a normal brake operation of the accelerator pedal (step 415).
圖7繪示在道路濕滑的情況下如何利用速限裝置101控制運輸工具100的行駛速度。如圖所示，當開始下雨時，運輸工具100最初的行駛速度為每小時70公里(即，70km/h)。雨天偵測器107偵測到下雨，並將該資訊饋送至微控制器103。微控制器103設定速限裝置101，以將行駛速度限制在當前路段法定時速再降時速5公里(即，5km/h)(即，所偵測到路標所顯示的該路段的法定速限)。舉例而言，若路段的速限為時速50公里(即，50km/h)，為因應雨天路面濕滑的狀況，微控制器103則設定速限為時速45公里(即，45km/h)。此一技術特徵能夠確保運輸工具駕駛在濕滑路段時，降低駕駛速度和提升安全性，彌補駕駛未能注意之處。 FIG. 7 illustrates how the speed limit device 101 is used to control the traveling speed of the vehicle 100 in the case where the road is slippery. As shown, when it starts to rain, the vehicle 100 initially travels at 70 kilometers per hour (i.e., 70 km/h). Rainy weather detector 107 detects rain and feeds this information to microcontroller 103. The microcontroller 103 sets the speed limit device 101 to limit the travel speed to the current road segment legal speed and then reduce the speed by 5 kilometers (ie, 5 km/h) (ie, the legal speed limit of the road segment displayed by the detected road sign) . For example, if the speed limit of the road section is 50 km/h (ie, 50 km/h), the microcontroller 103 sets the speed limit to 45 km/h (ie, 45 km/h) in response to the wet road surface. This technical feature ensures that when the vehicle is driving on a slippery road, it reduces driving speed and improves safety, making up for the lack of attention in driving.
圖8更進一步繪示於雨天如何自動化重新設定預設安全距離。雨天時，原第4圖所示驅動SLF1模式的撞擊時間容限值為1.5秒增加至1.6秒。再者，驅動SLF2的撞擊時間容限值為1.0秒增加至1.2秒。因此，本實施方式能夠基於道路溼滑與天候狀況，以調整運輸工具100並及於駕駛的安全需求。 Figure 8 further illustrates how to automatically reset the preset safety distance on a rainy day. On rainy days, the impact time tolerance of the drive SLF1 mode shown in Figure 4 was increased from 1.5 seconds to 1.6 seconds. Furthermore, the impact time tolerance for driving SLF2 is increased from 1.0 second to 1.2 seconds. Therefore, the present embodiment can adjust the transportation tool 100 and the safety requirements of driving based on road slippage and weather conditions.
除了道路狀況外，本實施方式亦測定駕駛狀況。若眼睛追蹤器109偵測駕駛未經常注視前方運輸工具，或者是駕駛的眼睛已經閉合的時間超過於一預設秒數，眼睛追蹤器對微控制器發出警示，接著微控制器將速限模式 切換至SLF2模式。運輸工具100將緩慢減速至靜止狀態，除非駕駛干預微控制器103的運作。 In addition to road conditions, the present embodiment also measures driving conditions. If the eye tracker 109 detects that the driving vehicle does not frequently look at the preceding vehicle, or the driving eye has been closed for more than a predetermined number of seconds, the eye tracker alerts the microcontroller, and then the microcontroller will select the speed limit mode. Switch to SLF2 mode. The vehicle 100 will slowly decelerate to a standstill unless the driver interferes with the operation of the microcontroller 103.
微控制器103能夠記錄運輸工具性能，並將其登錄至伺服器115中。運輸工具性能可以是速限裝置101啟動干預駕駛駕車和調整運輸工具的行駛速度使其減速的次數，以及駕駛違規未行駛於限速內的次數。當一群駕駛的駕駛行為隨著時間而記錄時，可以分析駕駛行為並提供給車隊管理人員參考。此資料可應用於車隊駕駛的訓練和教育，例如，計程車、急救用運輸工具、搬家業者、快遞或運輸業者。在較佳的實施方式中，數據是即時上傳至伺服器，且車隊管理人員能夠監控即時監控每一駕駛的駕車行為。如此一來，車隊管理人員能夠查看駕車過程中正被微控制器干預的駕駛。在可任選的實施方式中，每一駕駛能夠觀看自己的駕駛行為歷程，其係作為記錄儲存於伺服器115中。 The microcontroller 103 is capable of recording vehicle performance and logging it into the server 115. The vehicle performance may be the number of times the speed limit device 101 initiates an intervention to drive and adjust the speed of the vehicle to slow it down, and the number of times the driving violation is not within the speed limit. When a group of driving behaviors are recorded over time, the driving behavior can be analyzed and provided to the fleet manager for reference. This information can be used for training and education in fleet driving, such as taxis, first-aid vehicles, movers, express delivery or transport operators. In a preferred embodiment, the data is instantly uploaded to the server, and the fleet manager can monitor and monitor the driving behavior of each driving in real time. As a result, fleet managers can view driving that is being intervened by the microcontroller during driving. In an alternative embodiment, each driver can view his or her own driving behavior history, which is stored as a record in the server 115.
圖9依據一實施例所示從車隊中每一運輸工具所觀察到的駕駛習慣所得到的數據。圖9中所觀察的駕駛習慣為駕駛急煞或危煞。所述數據是藉由伺服器115所接收的每一運輸工具速度改變的記錄而得。所述數據可依照月份和位置呈現，舉例而言，如此一來使得車隊管理人員能夠觀看城市或郊區特定區域中，哪些月份對於駕駛人員是難以安全地進行駕駛(如，可能是假期季造成交通量增加等)。根據不同的位置鑑別駕駛行為的趨勢，使車隊管理人員能夠警告或訓練新駕駛在該些位置駕車時需更加謹慎。以前述主動積極教育駕駛該些危險駕駛的區域，比先前技術中在意外幾乎要發生時，以簡易方式警示駕駛來得佳。 Figure 9 is a graph of data obtained from driving habits observed by each vehicle in the fleet, in accordance with an embodiment. The driving habits observed in Figure 9 are driving impatience or danger. The data is obtained by recording a change in the speed of each vehicle received by the server 115. The data may be presented in terms of month and location, for example, such that the fleet manager can view a particular area of the city or suburb, which months are difficult for the driver to drive safely (eg, may be the holiday season causing traffic) The amount is increased, etc.). Identify trends in driving behavior based on different locations, allowing fleet managers to warn or train new drivers to be more cautious when driving in these locations. Driving the dangerous driving areas with the aforementioned proactive education is better than simply warning the driving in the simple way when accidents occur in the prior art.
圖10依據一實施例所示觀察駕駛快速加速的駕駛習慣所得到的數據。所述數據可依照年齡呈現，因此車隊管理人員能夠對於特定駕駛年齡層提出道路安全需要加強訓練的建議。 Figure 10 shows data obtained by driving a fast-accelerating driving habit as shown in an embodiment. The data can be presented in terms of age, so that fleet managers can suggest that road safety needs to be enhanced for specific driving age groups.
圖11依據一實施例所示觀察每一運輸工具駕駛受速限裝置101控制速度的次數之駕駛習慣所得到的數據。數據可依照年齡呈現，如，駕駛的資歷。 Figure 11 shows data obtained by observing the driving habits of the number of times each vehicle is driven by the speed limit device 101 to control the speed, in accordance with an embodiment. Data can be presented by age, such as the qualifications of driving.
通常而言，得知不同駕駛的駕車細心程度或技巧，並不一定代表車隊管理人員得以解僱較差的駕駛。車隊管理人員可簡單地分配較細心的駕駛負責駕車運送易脆物品等。 In general, knowing the driving level or skill of driving differently does not necessarily mean that the team manager can dismiss the poor driving. Fleet managers can simply assign more careful driving to drive crunchy items.
原則上，每一運輸工具100中的微控制器103即時饋送其當前位置至伺服器115。因此車隊管理人員能夠檢視地圖上顯示的車隊中所有運輸工具的位置。若車隊管理人員管理的是計程車(Taxi)車隊；舉例而言，車隊管理人員能夠基於所述資訊通知車隊，在某一位置上聚集過多的運輸工具100，在其他位置的運輸工具10數量不足。 In principle, the microcontroller 103 in each vehicle 100 immediately feeds its current location to the server 115. The fleet manager is therefore able to view the location of all the vehicles in the fleet displayed on the map. If the fleet manager manages a Taxi fleet; for example, the fleet manager can inform the fleet based on the information, gathering too many vehicles 100 at one location, and the number of vehicles 10 at other locations is insufficient.
在較佳的實施方式中，在微控制器103須令速限裝置101依據SLF1或SLF2模式控制運輸工具100速度的情況下，同時啟動攝影機111即時傳送攝影機所錄製的影像記錄至伺服器115。速限裝置101總是在可能發生撞擊前被啟動，影像記錄有助於觀察意外發生的原因及過程。在可任選的實施方式中，本新型可更設有一按鈕，供駕駛欲手動啟動影像記錄並將其上傳至伺服器115時按壓使用。 In a preferred embodiment, in the case where the microcontroller 103 is required to cause the speed limit device 101 to control the speed of the vehicle 100 in accordance with the SLF1 or SLF2 mode, the camera 111 is simultaneously activated to immediately transmit the image recorded by the camera to the server 115. The speed limit device 101 is always activated before an impact may occur, and the image recording helps to observe the cause and process of the accident. In an optional embodiment, the present invention may further be provided with a button for pressing when the driver wants to manually initiate image recording and upload it to the server 115.
本新型在此所示的實施方式能夠基於道路狀況、環境狀況和/或駕駛狀況控制速限裝置。速限裝置的設置通常是用以控制運輸工具，防止其行駛速度超過預設速度。然而，在不同的道路、天候或駕駛狀況下，可視需要應用不同的速限。因此，本實施方式繪示本新型各構件的作動方式，利用微控制器103，其能夠制動加速，本新型亦提供偵測器，使微控制器103能夠獲得週遭的資訊(如，路段上的速限標示)、天候狀況(如，雨天)、交通狀況(如，與前方運 輸工具的撞擊時間)和駕駛狀況(如，駕駛的專注程度)，所述速限能夠被動態的調整和設定。 The embodiments shown herein can control the speed limit device based on road conditions, environmental conditions, and/or driving conditions. The setting of the speed limit device is usually used to control the transport to prevent it from traveling faster than the preset speed. However, different speed limits may be applied as needed on different roads, weather or driving conditions. Therefore, the present embodiment shows the operation mode of each component of the present invention, and the microcontroller 103 can be used for braking acceleration. The present invention also provides a detector, so that the microcontroller 103 can obtain surrounding information (for example, on the road section). Speed limit indication), weather conditions (eg, rainy days), traffic conditions (eg, with forward traffic) The impact time of the power tool and the driving condition (eg, the degree of concentration of the driving) can be dynamically adjusted and set.
在某些實施方式中，利用ADAS、雨天偵測器和/或路標偵測器所偵測到的資訊，能夠以投射影像的方式呈現，並顯示於運輸工具的擋風板上。 In some embodiments, the information detected by the ADAS, the rain detector, and/or the road sign detector can be presented as a projected image and displayed on the windshield of the vehicle.
在某些實施方式中，若微控制器測定到駕駛可能進入睡眠狀態，啟動SLF2使運輸工具減速。所述駕駛的眼睛是閉合的，且無法偵測到眼睛的瞳孔，或者是能夠偵測到瞳孔但其非自然的靜止不動經一段期間。在較佳的實施方式中，若微控制器測定到駕駛已經進入睡眠狀態，微控制器將啟動運輸工具的危險訊號。 In some embodiments, if the microcontroller determines that the driving may go to sleep, the SLF2 is activated to decelerate the vehicle. The driving eye is closed and the pupil of the eye cannot be detected, or the pupil can be detected but it is unnaturally stationary for a period of time. In a preferred embodiment, if the microcontroller determines that the drive has gone to sleep, the microcontroller will initiate a hazard signal to the vehicle.
雖然上文實施方式中揭露了本新型的具體實施例，然其並非用以限定本新型，本新型所屬技術領域中具有通常知識者，在不悖離本新型之原理與精神的情形下，當可對其進行各種更動與修飾，因此本新型之保護範圍當以附隨申請專利範圍所界定者為準。 The specific embodiments of the present invention are disclosed in the above embodiments, and are not intended to limit the present invention. Those of ordinary skill in the art to which the present invention pertains, without departing from the spirit and scope of the present invention, Various changes and modifications may be made thereto, and the scope of protection of the present invention is defined by the scope of the accompanying claims.
舉例而言，依據其它實施方式，運輸工具行駛速度的控制可利用巡航航控制取代SLF1模式。在巡航控制中，如前述駕駛的腳能夠放鬆，不用踩踏在加速踏板上，而運輸工具仍可以在速限內定速前進。在速度控制模式中，即使行駛速度為定速的狀況下，駕駛仍需要持續踩踏加速踏板，以確保運輸工具前進，且若駕駛的腳離開踏板則造成運輸工具減速。速度控制模式和巡航控制模式的機制相同，請參見圖2a和圖2b。速度控制模式和巡航控制模式不同之處在於控制燃料的供應。在速度控制模式下，駕駛的腳需持續踩在加速踏板上，當行駛速度低於速限時啟動驅動器201，而當行駛速度高於碩速限時停用所述驅動器201。然而，當腳離開加速踏板時，停用驅動器201，但運輸工具反而在減速。 For example, according to other embodiments, the control of the speed of the vehicle can be used to replace the SLF1 mode with cruise control. In the cruise control, the foot can be relaxed as described above without stepping on the accelerator pedal, and the vehicle can still advance at a constant speed within the speed limit. In the speed control mode, even if the driving speed is at a constant speed, the driving still needs to continuously step on the accelerator pedal to ensure that the vehicle advances, and if the driving foot leaves the pedal, the vehicle is decelerated. The mechanism of the speed control mode and the cruise control mode are the same, see Figures 2a and 2b. The difference between the speed control mode and the cruise control mode is to control the supply of fuel. In the speed control mode, the driving foot needs to continuously step on the accelerator pedal, the drive 201 is activated when the running speed is lower than the speed limit, and the drive 201 is deactivated when the running speed is higher than the speed limit. However, when the foot leaves the accelerator pedal, the drive 201 is deactivated, but the vehicle is decelerating instead.
雖然本新型揭示了所述微控制器，但其它類型的控制器、計算機或計算裝置皆可應用於本新型，以從偵測器中得到返饋。 Although the present invention discloses the microcontroller, other types of controllers, computers or computing devices can be applied to the present invention to obtain feedback from the detector.
在多種不同的應用中，眼睛追蹤器109可用來監控駕駛的眼睛注視的方向是否從相同於駕駛行駛方向漂移。若控制器偵測到駕駛向右轉動方向盤，而駕駛的眼睛，則發出相應的警報至微控制器，向駕駛發出警鈴警報。同時，微控制器制動加速踏板防止駕駛轉彎，除非駕駛注是轉彎的方向。 In a variety of different applications, the eye tracker 109 can be used to monitor whether the direction of eye gaze of the drive drifts from the same driving direction. If the controller detects the driving of the steering wheel to the right and the driver's eyes, a corresponding alarm is issued to the microcontroller to alert the driver. At the same time, the microcontroller brakes the accelerator pedal to prevent driving from turning, unless the driving note is in the direction of the turn.
在又一實施方式中，可提供可變化的警報，以表示運輸工具以不同速度行駛。舉例而言，若當前運輸工具是行駛時速為30至50公里，接著在與前方運輸工具撞擊時間為1秒的狀態下，意即與前方運輸工具距離為8.3至13.9公尺時，發出聲響警報。若當前運輸工具行駛時速為50至80公里，接著將動態地調整警爆發出的條件，在此情況下，與前方運輸工具撞擊時間為1.6秒的狀態下，意即與前方運輸工具距離為22.2至35.6公尺時，發出聲響警報。先前技術中的管控中，僅在撞擊前一預設時間發出警報，例如，2秒，其無法動態地調整發出警報的時間。在此實施方式中在低速區域適時的發出警報(即，限速每小時30至50公里)。換句話說，在香港之類的擁擠城市中，運輸工具的平均行駛速度相對較低於其他城市，因此，適合在撞擊前較短的時間內發出警報，例如，1秒。而在郊區運輸工具行駛速度較高，可在發生撞擊前2秒發出警報(此可提供與前方運輸工具的建議安全車距)。在某些實施例中，前述的撞擊時間概念可以被到達時間所取代。 In yet another embodiment, a variable alarm can be provided to indicate that the vehicle is traveling at a different speed. For example, if the current vehicle is traveling at a speed of 30 to 50 kilometers per hour, and then the collision time with the preceding vehicle is 1 second, that is, when the distance to the front vehicle is 8.3 to 13.9 meters, an audible alarm is issued. . If the current vehicle travels at a speed of 50 to 80 kilometers per hour, then the condition of the police burst will be dynamically adjusted. In this case, the collision time with the front vehicle is 1.6 seconds, which means that the distance to the front vehicle is 22.2. An audible alarm is issued up to 35.6 meters. In the prior art control, an alarm is issued only for a predetermined time before the impact, for example, 2 seconds, which cannot dynamically adjust the time when the alarm is issued. In this embodiment, an alarm is issued in a timely manner in a low speed region (i.e., a speed limit of 30 to 50 kilometers per hour). In other words, in crowded cities like Hong Kong, the average speed of transport is relatively lower than in other cities, so it is appropriate to issue an alarm within a short time before the impact, for example, 1 second. In the suburbs, the vehicle travels at a higher speed and can be alerted 2 seconds before the impact (this provides a recommended safe distance to the forward vehicle). In some embodiments, the aforementioned concept of impact time can be replaced by time of arrival.
雖然上文實施方式中揭露了本新型的具體實施例，然其並非用以限定本新型，本新型所屬技術領域中具有通常知識者，在不悖離本新型之原理與精神的情形下，當可對其進行各種更動與修飾，因此本新型之保護範圍當以附隨申請專利範圍所界定者為準。 The specific embodiments of the present invention are disclosed in the above embodiments, and are not intended to limit the present invention. Those of ordinary skill in the art to which the present invention pertains, without departing from the spirit and scope of the present invention, Various changes and modifications may be made thereto, and the scope of protection of the present invention is defined by the scope of the accompanying claims.
Claims (23)
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| HK16111494 | 2016-10-01 | ||
| HK16111494.0 | 2016-10-01 |
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| TWM562248U true TWM562248U (en) | 2018-06-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI684085B (en) * | 2019-04-24 | 2020-02-01 | 揚昇育樂事業股份有限公司 | Self-driving travel path central controlling device of self-driving car |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI684085B (en) * | 2019-04-24 | 2020-02-01 | 揚昇育樂事業股份有限公司 | Self-driving travel path central controlling device of self-driving car |
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