TW202404845A - Intelligent riding assisting system and motorcycle and bicycle using the system including a control host, a front-end fusion camera, a left rearview mirror interior signal, a right rearview mirror interior signal, a left grip vibration apparatus and a right grip vibration apparatus - Google Patents

Abstract

An intelligent riding assisting system includes a control host, a front-end fusion camera, a left rearview mirror interior signal, a right rearview mirror interior signal, a left grip vibration apparatus and a right grip vibration apparatus, wherein the control host recognizes and calculates, based on optical image data and radar image data provided by the front-end fusion camera, an object therein and a distance between the object and the front-end fusion camera, in order to determine if it needs to issue a caution immediately. When the control host determines it needs to issue the caution, the control host controls the four of a left rear caution icon, a right rear caution icon, the left grip vibration apparatus and the right grip vibration apparatus, such that at least one of the four emits flashing light or generates mechanical vibration. Both a motorcycle and a bicycle can use the intelligent riding assisting system.

Description

Intelligent riding assistance system and motorcycles and bicycles using the system

A riding assistance system, especially a smart riding assistance system and motorcycles and bicycles using the system.

Two-wheeled vehicles have always been widely used. As for three-wheeled vehicles (two in front and one in front or one in front and two in back), although they are much smaller in number than two-wheeled vehicles, they have always been used. Compared with the safety protection of the driver by the strong and complete shell of the car, the safety protection of the rider by the two-wheeled or three-wheeled vehicle is obviously much weaker. At present, the automobile industry has developed and used many technologies to ensure driving safety, such as the anti-lock braking system (ABS), which can prevent the wheels from locking, slipping out of control, or drifting over during braking. Based on ABS, the most appropriate braking system is assigned to each tire. The electronic brake force distribution system (EBD) for braking force and braking method, the corner braking force control (CBC for short) that enhances the stability of the car's steering when braking in corners, and the power can be forcibly reduced when the driving wheel slips seriously. The output of the Tracking and Skid Control System (TCS for short), and even intelligent auxiliary systems with recognition capabilities such as Forward Collision Warning System (FCW for short), Pedestrian Detection System (PDS for short), Automatic Emergency Braking System (AEB for short), Assist Blind Spot Detection System (BSD) for rear view and Active Distance Adjustment Cruise System (ACC) for assisting following/fixed speed driving, etc.

In order to ensure the safety of riders, it has become a trend to apply the above-mentioned technologies to ensure the safety of automobiles on two-wheeled or three-wheeled vehicles. Current regulations also require that all motorcycles shipped from the factory must be equipped with anti-lock braking systems ( ABS) or front and rear linked braking system (CBS for short), where CBS provides the function of simultaneously decelerating the front and rear wheels of the motorcycle when the rider brakes on either side of the left or right side to avoid skidding or rollover. In view of the fact that the two-wheeled or three-wheeled vehicles mentioned above are given more and more driving safety functions, how to integrate these driving safety functions into various types of two-wheeled or three-wheeled vehicles such as human-powered bicycles, electric bicycles, and motorcycles? There is an urgent need for proper integration of equipment.

In order to solve the above problems, the present invention proposes a smart riding assistance system that can appropriately integrate multiple functions and equipment to ensure driving safety according to the characteristics of various types of two-wheeled or three-wheeled vehicles.

The smart riding assistance system of the present invention includes: A control host with a computing unit, a memory unit and a plurality of transmission interfaces; A front-end fusion camera has the functions of photography and radar to generate corresponding optical image data and radar image data. The front-end fusion camera is electrically connected to the control host to provide the optical image data and radar image data to the control host; A light signal in the left rear view mirror is electrically connected to the control host. The light signal in the left rear view mirror has a left front warning icon, and the control host can control the brightness of the left front warning icon; A light signal in the right rear view mirror is electrically connected to the control host. The light signal in the right rear view mirror has a right front warning icon, and the control host can control the brightness of the right front warning icon; A left grip vibration device is electrically connected to the control host. The left grip vibration device can generate mechanical vibration, and the control host can control the left grip vibration device to generate mechanical vibration; A right grip vibration device is electrically connected to the control host, the left grip vibration device can generate mechanical vibration, and the control host can control the right grip vibration device to generate mechanical vibration; wherein Based on the optical image data and radar image data provided by the front-end fusion camera, the control host identifies and calculates the object and the distance and speed between the object and the front-end fusion camera, so as to determine whether real-time imaging is needed. To issue a warning, when the control host determines that a warning needs to be issued, the control host controls the left front warning icon, the right front warning icon, the left grip vibration device, and the right grip vibration device, so that the four At least one of them emits a flashing light or produces mechanical vibration.

In another embodiment, the smart riding assistance system of the present invention includes: A control host with a computing unit, a memory unit and a plurality of transmission interfaces; A back-end fusion camera has a radar function to generate corresponding radar image data. The back-end fusion camera is electrically connected to the control host to provide the radar image data to the control host; A light signal in the left rear view mirror is electrically connected to the control host. The light signal in the left rear view mirror has a left rear warning icon, and the control host can control the brightness of the left rear warning icon; A light signal in the right rear view mirror is electrically connected to the control host. The light signal in the right rear view mirror has a right rear warning icon, and the control host can control the brightness of the right rear warning icon; A left grip vibration device is electrically connected to the control host. The left grip vibration device can generate mechanical vibration, and the control host can control the left grip vibration device to generate mechanical vibration; A right grip vibration device is electrically connected to the control host, the left grip vibration device can generate mechanical vibration, and the control host can control the right grip vibration device to generate mechanical vibration; wherein Based on the radar image data provided by the back-end fusion camera, the control host identifies and calculates the object and the distance between the object and the back-end fusion camera, so as to determine whether it is necessary to issue an immediate warning. When the control host determines that a warning needs to be issued, the control host controls the left rear warning icon, the right rear warning icon, the left grip vibration device, and the right grip vibration device so that at least one of the four, Emit flashing lights or produce mechanical vibrations.

In another embodiment, the smart riding assistance system of the present invention includes: A control host with a computing unit, a memory unit and a plurality of transmission interfaces; A front-end fusion camera has the functions of photography and radar to generate corresponding optical image data and radar image data. The front-end fusion camera is electrically connected to the control host to provide the optical image data and radar image data to the control host; A helmet display is connected to the control host signal, the helmet display can display a plurality of warning icons, and the control host can control the helmet display to display the plurality of warning icons; A helmet speaker is connected to the control host signal, the helmet speaker can emit a warning sound, and the control host can control the helmet speaker to emit the warning sound; wherein Based on the optical image data and radar image data provided by the front-end fusion camera, the control host identifies and calculates the object and the distance and speed between the object and the front-end fusion camera, so as to determine whether real-time imaging is needed. To issue a warning, when the control host determines that an immediate warning needs to be issued, the control host controls the helmet display to display at least one of the plurality of warning icons, or the control host controls the helmet speaker to emit the warning sound.

In another embodiment, the locomotive has an electronic control unit electrically connected to an engine system and a braking system of the locomotive, and the electronic control unit can control the engine system of the locomotive to decelerate or the braking system to brake. When the control host determines that it is necessary to issue a warning, the control host also determines whether it is necessary to issue a deceleration or a stop command. When the control host determines that it is necessary to issue a deceleration or stop command, the control host issues the deceleration or stop command through a control interface. The command to decelerate or stop is given to the electronic control unit. At this time, the electronic control unit can control the engine system of the locomotive and the braking system to perform corresponding deceleration or braking actions.

In another embodiment, the smart riding assistance system of the present invention includes: a control host having a computing unit, a memory unit and a plurality of transmission interfaces; A millimeter wave radar that can generate radar image data, the millimeter wave radar is electrically connected to the control host to provide the radar image data to the control host; A helmet display is connected to the control host signal, the helmet display can display a plurality of warning icons, and the control host can control the helmet display to display the plurality of warning icons; A helmet speaker is connected to the control host signal, the helmet speaker can emit a warning sound, and the control host can control the helmet speaker to emit the warning sound; wherein Based on the radar image data, the control host identifies and calculates the object and the distance and speed between the object and the millimeter-wave radar, so as to determine whether an immediate warning is needed. When the control host determines that an immediate warning is needed, When a warning is issued, the control host controls the helmet display to display the plurality of warning icons, or the control host controls the helmet speaker to emit the warning sound.

It can be seen from the above that the smart riding assistance system of the present invention can perform intelligent object recognition based on the optical image data and radar image data provided by a front-end fusion camera and a back-end fusion camera, and calculate the objects and the The distance and speed between the object and the front-end fusion camera and the rear-end fusion camera are used to determine whether it is necessary to immediately emit light signals in the rear view mirror, a plurality of grip vibration devices, a helmet display and a helmet speaker. Warning, and when the two-wheeled or three-wheeled vehicle itself already has an engine system and front and rear wheel braking systems that can be controlled by an electronic control unit, the smart riding assistance system of the present invention can also be controlled by the electronic control unit. By controlling the engine system of the two-wheeled or three-wheeled vehicle and the braking system of the front and rear wheels, multiple functions and equipment that ensure the driving safety of riders of various two-wheeled or three-wheeled vehicles can be integrated to achieve the invention. Purpose.

Please refer to Figure 1, which shows the functional blocks of the smart riding assistance system 1 of the present invention. In addition to showing the functional blocks of the smart riding assistance system 1 of the present invention, Figure 1 also shows an electronic control unit 61 (referred to as ECU, generally also called a driving computer or an on-board computer) of the motorcycle 60. The electronic control unit The unit 61 is a microcontroller (MCU for short) dedicated to the locomotive 60 and includes dynamic memory (RAM for short), non-volatile memory (which can be read-only memory (ROM for short) or flash memory (Flash for short) ), input/output interface (referred to as I/O), analog-to-digital converter (referred to as ADC) and drive circuit; the electronic control unit 61 is electrically connected to a plurality of sensors (not shown) and the engine system of the locomotive 60 and For the braking system of the front and rear wheels, when the engine of the locomotive 60 is working, the electronic control unit 61 continuously collects signals from the multiple sensors for comparison and calculation to control the engine of the locomotive 60 and the front and rear wheels of the locomotive 60 . braking system, and continuously records the data of the locomotive 60 while it is running.

The above-mentioned braking system of the front and rear wheels of the 60-meter motorcycle includes: an anti-lock braking system (ABS) with continuous point braking, a tracking anti-skid control system (TCS) that can forcibly reduce power output, and an emergency braking system that enhances emergency braking force. Auxiliary (referred to as EBA). Among them, EBA will determine whether the rider of the locomotive 60 is braking in an emergency. When EBA determines that the rider is braking in an emergency, EBA will actively increase the braking pressure and cooperate with ABS and TCS to stop the locomotive 60 as soon as possible. .

As shown in FIGS. 1 and 2 , the smart riding assistance system 1 of the present invention includes a control host 10 which is disposed in a motorcycle 60 and adjacent to the bottom of the motorcycle 60 and at the front end of the motorcycle 60 . And a front-end fusion camera 20 electrically connected to the control host 10 , a rear-end fusion camera 30 disposed at the rear end of the vehicle body of the locomotive 60 and electrically connected to the control host 10 , and a left rear end of the locomotive 60 A light signal 40 in the left rear view mirror 36 and electrically connected to the control host 10, and a right rear view mirror 40 disposed in a right rear view mirror 37 of the motorcycle 60 and electrically connected to the control host 10. Internal light signal 41, a left handle vibration device 42 provided on a left handle 38 of the locomotive 60 and electrically connected to the control host 10, a right handle 39 provided on the locomotive 60 and connected to the control host 10 A right grip vibration device 43 that is electrically connected is a helmet display 51 that is disposed in a helmet 50 and is signal-connected to the control host 10 via a wireless communication interface such as Bluetooth (BT) or WiFi, and is disposed in the helmet. A helmet speaker 52 in 50 is connected to the control host 10 via a wireless communication interface such as Bluetooth (BT) or WiFi. The helmet 50 is worn on the head of a rider. Among them, the control host 10, the front-end fusion camera 20, the rear-end fusion camera 30, the light signal 40 in the left rear view mirror, the light signal 41 in the right rear view mirror, the left grip vibration device 42, and the right rear view mirror The electrical connection method of the grip vibration device 43 can be a USB, I ² C, HDMI, or GPIO interface. The smart riding assistance system 1 of the present invention also has a control interface 11 electrically connected to the electronic control unit 61. The control host 10 in the smart riding assistance system 1 of the present invention communicates with the electronic control unit 61 through the control interface 11. Through two-way communication, the control host 10 can issue instructions to decelerate the engine of the locomotive 60 or activate the braking system of the front and rear wheels of the locomotive 60 to perform braking. The control interface 11 can be a CANBUS interface. The control host 10 can be a microcontroller (MCU) and include dynamic memory (RAM), read-only memory (ROM) or flash memory (Flash), and input/output interfaces such as USB, I ² C, and HDMI. , GPIO, CANBUS, Bluetooth (BT) or WiFi interface.

As shown in Figure 2, the light signal 40 in the left rear view mirror has a left front warning icon 401 and a left rear warning icon 402, and the light signal 41 in the right rear view mirror has a right front warning icon 411 and a right rear warning icon. Warning icon 412, when the control host 10 controls the left front warning icon 401 to light up and flash, the front warning icon 401 is used to warn the rider of the locomotive 60 about the condition of the left front of the locomotive 60. When the control host 10 10. When the right front warning icon 411 is controlled to light up and flash, the right front warning icon 411 is used to warn the rider of the motorcycle 60 about the condition of the right front of the motorcycle 60. When the control host 10 controls the left front warning icon 401. When the right front warning icon 411 lights up and flashes at the same time, they are used to warn the rider of the motorcycle 60 about the situation in front of the motorcycle 60. When the control host 10 controls the left rear warning icon When 402 lights up and flashes, the left rear warning icon 402 is used to warn the rider of the motorcycle 60 about the condition of the left rear of the motorcycle 60. When the control host 10 controls the right rear warning icon 412 to light up and flash, the left rear warning icon 402 is used to warn the rider of the motorcycle 60 about the condition of the left rear of the motorcycle 60. The right rear warning icon 412 is used to warn the rider of the motorcycle 60 about the condition of the right rear of the motorcycle 60. When the control host 10 controls the front warning icons 402, 412 to light up and flash at the same time, the front warning icons 402, 412 will flash. The 412 series is also used to warn the rider of the motorcycle 60 about the situation behind the motorcycle 60 .

The left grip vibration device 42 can be disposed inside or outside a left grip 38 of the motorcycle 60 . The control host 10 controls the left grip vibration device 42 to generate mechanical vibration to warn the rider of the motorcycle 60 Regarding the current situation on the left side of the motorcycle 60, attention should be paid to it. Similarly, the right grip vibration device 43 can be installed inside or outside a right grip 39 of the motorcycle 60. The control host 10 controls the right grip vibration device. 43 generates mechanical vibration to warn the rider of the motorcycle 60 about the current situation on the right side of the motorcycle 60 that should be paid attention to.

The helmet-mounted display 51 can be a head-up display (HUD for short), or a general display such as a liquid crystal (LCD for short) display, a light-emitting diode (LED for short) display, a light-emitting organic light-emitting diode (OLED for short) display, or a quantum dot display. (QD for short) display. The helmet speaker 52 is a general speaker or earphone, which can be installed on both sides of the left ear and the right ear at the same time, and both the helmet display 51 and the helmet speaker 52 need to have a wireless communication interface such as Bluetooth (BT) or WiFi. Signal connection with the control host 10. The control host 10 can control the helmet display 51 to display a plurality of warning icons including: a front warning icon, a left front warning icon, a left rear warning icon, a right front warning icon and a right rear warning icon (not shown in the figure). ) to warn the rider of the motorcycle 60 about the current situation that should be paid attention to in the front, rear, left and right sides of the motorcycle 60. The control host 10 can control the helmet horn 52 to emit a warning sound to warn the rider of the motorcycle 60 about the current situation. The current situation of the front, rear, left and right sides of the locomotive 60 should be paid attention to.

The front-end fusion camera 20 includes a color camera, an infrared camera, a thermal imaging camera, a millimeter wave radar and an inertial measurement unit (IMU for short). The color camera is suitable for environments with sufficient light, the infrared camera is suitable for nighttime, and the thermal imaging camera is suitable for environments with poor visibility, such as environments full of smoke, haze and dust or where strong light is coming. situation. The millimeter wave radar can use millimeter waves in multiple bands such as 24GHz, 77GHz and 79GHz. The millimeter wave radar is suitable for detecting the distance between the millimeter wave radar and objects in front (such as vehicles or pedestrians). The inertial measurement unit is used to measure the acceleration of an object in a three-dimensional space, and thereby calculate the attitude of the object. Therefore, when the inertial measurement unit is properly fixed on the locomotive 60, the inertial measurement unit can measure and By recording the inclination angle of the locomotive 60 relative to the horizontal direction, the control host 10 can control an angle adjustment device (not shown) to adjust the shooting angle of the front-end fusion camera 20 and the radar wave emission angle of the millimeter-wave radar so that Maintaining a horizontal line of sight, the inertial measurement unit can also measure and record the acceleration of the locomotive 60 , and the control host 10 can control and adjust the engine deceleration of the locomotive 60 or activate the braking system of the front and rear wheels of the locomotive 60 to decelerate or The braking action is used to reduce the speed of the locomotive when turning 60 degrees. The inertial measurement unit can also be used to assist the control host 10 in determining the time point when the locomotive 60 is hit or tipped.

The color camera, the infrared camera and the thermal imaging camera can be used to record the image in front of the locomotive 60 and provide it to the control host 10 for intelligent visual recognition. For example, the control host 10 can use artificial intelligence. It can also identify the vehicle ahead, traffic markings, traffic signs, traffic signals and pedestrians on the road, and integrate the distance of the objects ahead (such as vehicles or pedestrians) detected by the millimeter wave radar to It is judged whether it is necessary to issue a warning and a deceleration or stop command immediately. When the control host 10 is judged to need to issue a warning, the control host 10 passes the light signal 40 in the left rear view mirror and the light signal 41 in the right rear view mirror. , the left grip vibration device 42, the right grip vibration device 43, the helmet display 51, and the helmet speaker 52 issue warnings; when the control host 10 determines that it is necessary to issue a deceleration or stop command, the control host 10 The control interface 11 sends a deceleration or stop command to the electronic control unit 61. At this time, the electronic control unit 61 can control the braking system of the front and rear wheels and even the engine system of the motorcycle 60 to perform corresponding deceleration or stop braking. action.

The control host 10 can also execute a front assist system through the front-end fusion camera 20. The front assist system includes a forward collision warning system (FCW), a pedestrian detection system (PDS), and an automatic emergency braking system (AEB). and an active distance adjustment cruise system (ACC) and other four processes. Among them, FCW means that the control host 10 identifies objects in the front image of the locomotive 60 acquired by the color camera, the infrared camera or the thermal imaging camera, and fuses the objects in front of the locomotive 60 detected by the millimeter wave radar. Distance data is used to real-time monitor the object in front (such as a vehicle), and determine the distance, relative orientation and relative speed between the locomotive 60 and the object in front to calculate the collision time between the two, when there is a potential collision risk. The control host 10 issues a warning to the rider. The functions of PDS and FCW are similar, but the difference between them is that the PDS system focuses on pedestrians, while the FCW system focuses on vehicles. The functions of AEB and FCW are also similar, but the difference between AEB and FCW is that when the control host 10 calculates that there is a potential collision risk, FCW will only let the control host 10 send a warning signal to notify the locomotive 60 The rider of the locomotive 60 is about to collide, and AEB not only causes the control host 10 to send a warning signal to notify the rider of the locomotive 60 of the impending collision, but also when the rider fails to take appropriate action, the control host 10 A command to decelerate or stop is automatically sent to the electronic control unit 61 through the control interface 11 to control the braking system of the front and rear wheels of the motorcycle 60 and even the engine system to perform corresponding deceleration or stop braking actions.

ACC means that the control host 10 uses the distance data of the vehicle in front of the locomotive 60 detected by the millimeter wave radar to adjust the distance between the locomotive 60 and the vehicle in front, and the control host 10 will also automatically send a deceleration or acceleration signal through the control interface. The speed command is given to the electronic control unit 61 to control the front and rear wheel braking systems and even the engine system of the motorcycle 60 to perform corresponding automatic vehicle speed adjustment. Different from the above-mentioned PDS, FCW and AEB, ACC only uses the distance data of the vehicle in front of the locomotive 60 detected by the millimeter wave radar, and does not need to use the color camera, the infrared camera or the thermal imaging camera. Image of the front of the locomotive 60.

The back-end fusion camera 30 is the same as the front-end fusion camera 20 and also includes a color camera, an infrared camera, a thermal imaging camera, a millimeter wave radar and an inertial measurement unit (IMU).

The control host 10 can also execute a rear auxiliary system through the rear fusion camera 30. The rear auxiliary system mainly includes a blind spot detection system (BSD). After the motorcycle 60 is started, the BSD is located at the rear of the motorcycle 60. The millimeter-wave radar at the terminal will emit radar waves backward and receive corresponding radar wave reflection signals. The control host 10 calculates and determines whether there is a vehicle approaching in the rear area of the locomotive 60 based on the radar wave reflection signals provided by the millimeter-wave radar. , when the control host 10 determines that a vehicle is approaching in the rear area of the motorcycle 60 , the control host 10 will actively send a warning message to remind the rider of the motorcycle 60 to pay attention to a vehicle approaching from behind. For example, when the control host 10 determines that a vehicle is approaching from behind. When there is a vehicle on the left rear of the locomotive 60 and the distance between the locomotive 60 and the locomotive 60 is less than 10 meters, the control host 10 issues an instruction to cause the left rear warning icon 402 to light up and flash, and at the same time, the left side of the helmet display 51 also displays a flashing left rear warning. icon (not shown), when the control host 10 determines that there is a vehicle at the left rear of the locomotive 60 and the distance between the locomotive 60 and the locomotive 60 is less than 6 meters, the control host 10 issues an instruction to further cause the left grip vibration device 42 to also generate a warning The helmet speaker 52 vibrates, and at the same time, the helmet speaker 52 further emits a warning sound on the left ear side.

In one embodiment, the two-wheeled/three-wheeled vehicle is a human-powered bicycle. The smart riding assistance system 1 of the present invention can be simplified to include a control host 10, a millimeter-wave radar disposed at the rear end of the human-powered bicycle, And a helmet display 51 and a helmet speaker 52 are provided in a helmet 50. The control host 10 and the millimeter wave radar are electrically connected. The control host 10, the helmet display 51 and the helmet speaker 52 are electrically connected. Bluetooth (BT) or WiFi establishes a signal connection to warn the rider of the human-powered bicycle to pay attention to a vehicle approaching from behind. For example, when the control host 10 determines that there is a vehicle on the left rear of the human-powered bicycle and the distance between the human-powered bicycle and the human-powered bicycle is less than 10 meters. When the control host 10 issues an instruction to cause the helmet speaker 52 to emit a first warning sound on the left ear side, and simultaneously causes the helmet display 51 to flash a left rear warning icon on its left side, when the control host 10 determines that the human-powered bicycle When there is a vehicle on the left rear and the distance between the human-powered bicycle and the human-powered bicycle is less than 6 meters, the control host 10 issues an instruction to cause the helmet horn 52 to emit a second warning sound on the left ear side that is sharper and louder than the first warning sound. At the same time, This causes the helmet display 51 to flash and display the left rear warning icon on its left side more quickly.

In one embodiment, the two-wheeled/three-wheeled vehicle is an electric bicycle. The smart riding assistance system 1 of the present invention can be simplified to include a control host 10 disposed at the rear end of the electric bicycle body and connected with A millimeter-wave radar is electrically connected to the control host 10, a front-end fusion camera 20 is disposed on the front end of the electric bicycle body and is electrically connected to the control host 10, and is disposed in a left rear mirror 36 of the electric bicycle and connected with the control host 10. A light signal 40 in a left rearview mirror electrically connected to the control host 10 is disposed in a right rearview mirror 37 of the electric bicycle, and a light signal 41 in a right rearview mirror electrically connected to the control host 10 is disposed in A left grip 38 of the electric bicycle and a left grip vibration device 42 electrically connected to the control host 10, and a right grip vibration device 42 provided on a right grip 39 of the electric bicycle and electrically connected to the control host 10 43. And a helmet display 51 and a helmet speaker 52 that are signal-connected to the control host 10 and arranged in a helmet 50 . That is to say, in this embodiment, because the electric bicycle does not have the electronic control unit 61 that the motorcycle 60 has, the control host 10 of the smart riding assistance system 1 of the present invention cannot control the front and rear wheels of the electric bicycle. The braking system and the driving system of the electric bicycle, therefore the control host 10 of the smart riding assistance system 1 of the present invention can only perform object recognition and condition judgment based on the information provided by the millimeter wave radar and the front-end fusion camera 20 , and then display the warning icon through the light signal 40 in the left rear view mirror, the light signal 41 in the right rear view mirror and the helmet display 51, and through the left grip vibration device 42 and the right grip vibration device 43 A warning vibration is generated, and a warning sound is emitted through the helmet speaker 52 .

In one embodiment, the two-wheeled/three-wheeled vehicle is a motorcycle. The smart riding assistance system 1 of the present invention can simplify the aforementioned rear-end fusion camera 30 to only include a millimeter-wave radar. That is to say, in this embodiment, the millimeter wave radar only needs to detect the rear of the motorcycle so that the control host 10 of the smart riding assistance system 1 of the present invention can have the function of a blind spot detection system (BSD), and There is no need to further detect the optical image behind the motorcycle, nor the posture behind the motorcycle.

It can be seen from the above description and embodiments that the smart riding assistance system of the present invention can perform intelligent object recognition based on the optical image data and radar image data provided by a front-end fusion camera and a back-end fusion camera, and calculate the The object and the distance and speed between the object and the front-end fusion camera and the rear-end fusion camera are used to determine whether it is necessary to real-time monitor the plurality of light signals in the rear view mirror, the plurality of grip vibration devices, the helmet display and The helmet horn issues a warning, and when the two-wheeled or three-wheeled vehicle itself has an engine system and front and rear wheel braking systems that can be controlled by an electronic control unit, the smart riding assistance system of the present invention can also control the vehicle through the electronic control unit. The electronic control unit controls the engine system and the braking system of the front and rear wheels of the two-wheeled or three-wheeled vehicle. In this way, multiple functions and equipment can be integrated to ensure the driving safety of riders of various two-wheeled or three-wheeled vehicles. purpose of the present invention.

1: Intelligent riding assistance system 10:Control host 11:Control interface 20:Front-end fusion camera 30: Backend fusion camera 36:Left rear view mirror 37:Right rear view mirror 38:Left grip 39:Right grip 40: Light signal inside the left rear view mirror 401: Warning icon on the left front 402: Left rear warning icon 41: Light signal inside the right rear view mirror 411: Warning icon on the right front 412: Warning icon on the right rear 42: Left grip vibration device 43:Right grip vibration device 50:helmet 51: Helmet mounted display 52: Helmet speaker 60:Locomotive 61: Electronic control unit

Figure 1 is a functional schematic diagram of the smart riding assistance system of the present invention. Figure 2 is a schematic diagram of the light signal inside the mirror and the vibration of the grip after the present invention.

1: Intelligent riding assistance system

10:Control host

11:Control interface

20:Front-end fusion camera

30: Backend fusion camera

37:Right rear view mirror

39:Right grip

43:Right grip vibration device

50:helmet

51: Helmet mounted display

52: Helmet speaker

60:Locomotive

61: Electronic control unit

Claims (10)

An intelligent riding assistance system, including: A control host with a computing unit, a memory unit and a plurality of transmission interfaces; A front-end fusion camera has the functions of photography and radar to generate corresponding optical image data and radar image data. The front-end fusion camera is electrically connected to the control host to provide the optical image data and radar image data to the control host; A light signal in the left rear view mirror is electrically connected to the control host. The light signal in the left rear view mirror has a left front warning icon, and the control host can control the brightness of the left front warning icon; A light signal in the right rear view mirror is electrically connected to the control host. The light signal in the right rear view mirror has a right front warning icon, and the control host can control the brightness of the right front warning icon; A left grip vibration device is electrically connected to the control host. The left grip vibration device can generate mechanical vibration, and the control host can control the left grip vibration device to generate mechanical vibration; A right grip vibration device is electrically connected to the control host, the left grip vibration device can generate mechanical vibration, and the control host can control the right grip vibration device to generate mechanical vibration; wherein Based on the optical image data and radar image data provided by the front-end fusion camera, the control host identifies and calculates the object and the distance and speed between the object and the front-end fusion camera, so as to determine whether real-time imaging is needed. To issue a warning, when the control host determines that a warning needs to be issued, the control host controls the left front warning icon, the right front warning icon, the left grip vibration device, and the right grip vibration device, so that the four At least one of them emits a flashing light or produces mechanical vibration. The smart riding assistance system as described in claim 1, wherein the front-end fusion camera further includes: A color camera, suitable for environments with sufficient light; An infrared camera, suitable for night use; A thermal imaging camera, suitable for environments with poor visibility; A millimeter wave radar that uses millimeter waves in multiple bands; and An inertial measurement unit can measure the inclination angle of the front-end fusion camera and the millimeter-wave radar relative to the horizontal direction. The control host can control an angle adjustment device accordingly to adjust the shooting angle of the front-end fusion camera and the millimeter-wave radar. Radar wave emission angle. An intelligent riding assistance system, including: A control host with a computing unit, a memory unit and a plurality of transmission interfaces; A back-end fusion camera has a radar function to generate corresponding radar image data. The back-end fusion camera is electrically connected to the control host to provide the radar image data to the control host; A light signal in the left rear view mirror is electrically connected to the control host. The light signal in the left rear view mirror has a left rear warning icon, and the control host can control the brightness of the left rear warning icon; A light signal in the right rear view mirror is electrically connected to the control host. The light signal in the right rear view mirror has a right rear warning icon, and the control host can control the brightness of the right rear warning icon; A left grip vibration device is electrically connected to the control host. The left grip vibration device can generate mechanical vibration, and the control host can control the left grip vibration device to generate mechanical vibration; A right grip vibration device is electrically connected to the control host, the left grip vibration device can generate mechanical vibration, and the control host can control the right grip vibration device to generate mechanical vibration; wherein Based on the radar image data provided by the back-end fusion camera, the control host identifies and calculates the object and the distance between the object and the back-end fusion camera, so as to determine whether it is necessary to issue an immediate warning. When the control host determines that a warning needs to be issued, the control host controls the left rear warning icon, the right rear warning icon, the left grip vibration device, and the right grip vibration device so that at least one of the four, Emit flashing lights or produce mechanical vibrations. The smart riding assistance system as described in request item 3, wherein the back-end fusion camera further includes: A millimeter wave radar uses millimeter waves in multiple bands; An inertial measurement unit can measure the inclination angle of the millimeter wave radar relative to the horizontal direction, and the control host can control an angle adjustment device accordingly to adjust the radar wave emission angle of the millimeter wave radar. An intelligent riding assistance system, including: A control host with a computing unit, a memory unit and a plurality of transmission interfaces; A front-end fusion camera has the functions of photography and radar to generate corresponding optical image data and radar image data. The front-end fusion camera is electrically connected to the control host to provide the optical image data and radar image data to the control host; A helmet display is connected to the control host signal, the helmet display can display a plurality of warning icons, and the control host can control the helmet display to display the plurality of warning icons; A helmet speaker is connected to the control host signal, the helmet speaker can emit a warning sound, and the control host can control the helmet speaker to emit the warning sound; wherein Based on the optical image data and radar image data provided by the front-end fusion camera, the control host identifies and calculates the object and the distance and speed between the object and the front-end fusion camera, so as to determine whether real-time imaging is needed. To issue a warning, when the control host determines that an immediate warning needs to be issued, the control host controls the helmet display to display at least one of the plurality of warning icons, or the control host controls the helmet speaker to emit the warning sound. The smart riding assistance system as described in claim 5, wherein the front-end fusion camera further includes: A color camera, suitable for environments with sufficient light; An infrared camera, suitable for night use; A thermal imaging camera, suitable for environments with poor visibility; A millimeter wave radar that uses millimeter waves in multiple bands; and An inertial measurement unit can measure the inclination angle of the front-end fusion camera and the millimeter-wave radar relative to the horizontal direction. The control host can control an angle adjustment device accordingly to adjust the shooting angle of the front-end fusion camera and the millimeter-wave radar. Radar wave emission angle. The smart riding assistance system as described in claim 5, wherein the plurality of warning icons include: a front warning icon, a left front warning icon, a left rear warning icon, a right front warning icon and a right rear warning icon At least two of the icons. A motorcycle using the smart riding assistance system of any one of claims 1, 3, and 5, the motorcycle having: An electronic control unit is electrically connected to an engine system and a braking system of the locomotive, and the electronic control unit can control the engine system of the locomotive to decelerate or the braking system to brake; When the control host determines that it is necessary to issue a warning, the control host also determines whether to issue a deceleration or a stop command. When the control host determines that it is necessary to issue a deceleration or stop command, the control host issues a deceleration or stop command through a control interface. The instruction to decelerate or stop is given to the electronic control unit. At this time, the electronic control unit controls the engine system of the locomotive and the braking system to perform corresponding deceleration or braking actions. An intelligent riding assistance system, including: A control host with a computing unit, a memory unit and a plurality of transmission interfaces; A millimeter wave radar that can generate radar image data, the millimeter wave radar is electrically connected to the control host to provide the radar image data to the control host; A helmet display is connected to the control host signal, the helmet display can display a plurality of warning icons, and the control host can control the helmet display to display the plurality of warning icons; A helmet speaker is connected to the control host signal, the helmet speaker can emit a warning sound, and the control host can control the helmet speaker to emit the warning sound; wherein Based on the radar image data, the control host identifies and calculates the object and the distance and speed between the object and the millimeter wave radar, so as to determine whether an immediate warning is needed. When the control host determines that an immediate warning is needed, When a warning is issued, the control host controls the helmet display to display the plurality of warning icons, or the control host controls the helmet speaker to emit the warning sound. A bicycle using the smart riding assistance system of claim 9, the bicycle being an electric bicycle or a non-electric bicycle.