TW201020140A - Vehicle traveling safety assistant network management system and method - Google Patents

Abstract

The invention relates to a vehicle traveling safety assistant network management system and method. Traveling vehicles can communicate positions and traveling status of each other within a communication range. A vehicle in the communication range acts a router platform for other vehicles which cannot communicate because of wireless communication dead sectors. The router platform transmits messages for those vehicles in the wireless communication dead sectors so that all vehicles within the communication range can estimate each vehicle having potential dangers without limitations of landscapes, buildings and other vehicles. It can effectively solve disadvantages because of wireless communication dead spots. It can also reliably transmit priority packets to corresponding vehicles to alarm drivers.

Description

201020140 VI. Description of the invention: [Technical field to which the invention pertains] ' The present invention relates to a driving safety auxiliary communication system, and more particularly to a system for managing the communication content of a driving safety auxiliary communication system = [Prior Art] ❹ 大多 Most traffic The cause of the accident is the danger of sudden danger. However, the driver's handling of sudden dangerous driving often determines whether it causes a traffic accident or a large traffic accident. With the popularity of driving computers, more and more electronic functions such as driving records, abnormal condition records, automatic braking, reversing warnings, and i-condition communication are being added. The reversing radar warning function can directly remind people = front and back. The warning of too close the object 'assisted driving to ensure safety. However, the reversing radar device can only assist the vehicle in warning of a certain range of obstacles when reversing, but it does not provide sufficient response time for the vehicle when the vehicle is moving forward or suddenly and quickly approaching; therefore, the current _ person cannot Predict the sudden dangerous driving on the road, and have plenty of time to avoid. In view of this, a feasible solution has been proposed, in which a wireless communication device and a specific communication protocol are built in the handle, so that the vehicle can form a mobile wireless network with the adjacent vehicle and broadcast each vehicle driving information. The vehicle will receive the driving information broadcasted by other vehicles within the communication range to achieve the warning function. As the invention patent of CN1291361 in mainland China, it reveals a system and method for "communicating vehicle management information between vehicles using a specific network". This invention patent mainly provides 3 201020140 control in each vehicle surface. , a sensing unit, a display and a communicator. The sensing unit can in turn include a GPS receiver, a gyroscope, an accelerometer, a weather sensor, and an electronic map. The GPS receiver knows the position of the vehicle, and the gyroscope detects the vehicle driving posture to know the current steering angle and the angular velocity; and the acceleration sensor detects the acceleration and deceleration state of the vehicle driving; as for the weather sensing The device detects the current weather condition of the vehicle and transmits its sensing signal to the controller. The electronic map can reflect road information such as the curvature of the passing road, traffic signal information, road width information, surrounding road signals and nearby area signals. The controller obtains the current road information sheet road curving degree and the current traffic signal number according to the electronic map, and cooperates with the sensing unit to learn the current vehicle speed, direction..., the vehicle light number, the turn signal number, etc. The message, and the vehicle's driving information is broadcasted through the wireless communication device placed in the vehicle, so that neighboring vehicles can receive the vehicle's driving information and judge the driving state of the neighboring vehicle through its own safety judgment logic. When the vehicle is in an abnormal driving state, it will warn the driver; therefore, in addition to broadcasting the vehicle's driving information, each vehicle can also obtain the attached driving information. When the road ahead = car brown car _〇'), the vehicle (50,) can transmit the message containing the vehicle to the nearby vehicle (51,), and then the nearby car is thin (w) and then sent to the vehicle. Rear vehicle (52,). : So—the vehicle management message technology disclosed in the invention patent knows:::::: and continuously broadcasts the vehicle driving information or receives other vehicles==but when the number of vehicles increases, “the situation that causes the information to be used in the network channel, The message is often collided and transmitted 4 201020140. If some of the packets of the driving message fail to be transmitted, it has to wait for a while to retransmit and lose the timeliness of the driving message. Therefore, the above invention patent provides the anti-collision warning effect is still incomplete. In addition, it is another "US6 985 〇89B2" patent case, which discloses a "wireless communication protocol between vehicles" technology, which is mainly applied to a system for vehicle management information proposed by the Chinese mainland invention patent. a kind of communication agreement, which is capable of filtering the importance of the vehicle's information generated by the vehicle and then transmitting it to the outside, by reducing the bandwidth of the communication channel and avoiding high importance driving information. The transmission failed; in addition, in order to increase the transmission success rate, the vehicle responsible for transmitting the high importance driving information will increase its broadcast time. And frequency. Moreover, this U.S. patent further distinguishes the priority level of the message for the driving condition of the same speed road, so as to save the number of packets of the message and reduce the possibility of collision of the packet, such as when an accident occurs in front of the highway, at this time The vehicle in front will send a high priority message to the neighboring vehicles in the rear to remind the driver of the car to pay early attention and avoid the accident. Because of this, the U.S. patents sigh for highways at high speeds, so the importance of screening vehicle messages is judged by changes in vehicle driving behavior. Please refer to the fifteenth figure, the communication protocol proposed by the US patent is actually applied to fast-moving roads such as highways, and the effect is more significant, that is, the current vehicle (61,) is suddenly accelerated relative to the vehicle (6(r). Then the car (6〇,) will receive the vehicle information that the car driving behavior has changed. Since the front car (61,) is located in front of the car (60,), the car (6〇,) will It is estimated that the preceding vehicle (1)彳,) is highly correlated with the vehicle (60), and immediately the vehicle (6〇,) judges that the preceding vehicle has constituted a potential danger, thereby warning the driver of the vehicle. 201020140 It can be seen from the above description that there are indeed related patents that propose to use the wireless communication function of the vehicle to form a mobile wireless network. By communicating vehicle information with each other, it is possible to quickly notify unfavorable road conditions or vehicle conditions, and even predict that it is not conducive to the vehicle. Potentially dangerous handles, however, the technology proposed in the previous two patents cannot be applied to various road conditions. The most serious problem is that when the wireless communication network encounters terrain collision and cannot form an effective communication (4), The efficacy of the patents can not be achieved; because of &, there is a need to seek further technology to provide drivers with reliable vehicle-assisted driving safety wireless communication systems. [Summary of the Invention] The main purpose of the present invention is to provide a system and a method for the vehicle to be smoothly carried out. In view of the above-mentioned technical problems, a driving safety assisted network management system may be subjected to various road conditions. Communicate by nearby terrain to improve driving safety.

The auxiliary network management method includes: continuously sending the internal driving information of the vehicle and receiving the driving information in the vehicle, including the speed, the driving direction or the vehicle position, etc. = receiving the external driving message 'determining whether the weekly vehicle is potentially threatening to the vehicle 'If judged as yes', further issue a warning; determine whether the external driving message is owned by the master node; if not, accumulate the number of braking messages that have been received in the preset time, and reserve Time P.

From the exhausted rod straight & ^ when the whole out of the wide I 仃 息 息 息 , , , , , , , 最高 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 2010 Receiving the driving information and knowing the possible driving path of at least one slave node, thereby determining the structure:: less-threat association group' and then comparing each of the salty threat association groups = giving different priority weights, and then screening according to the priority level The two weighted threat association groups preferentially refer to the broadcast packet, and firstly confirm whether to receive the response packet (ACK) of the multiple slave nodes in each threat association group, and if not, repeat the referral broadcast. The packet is sent to the deterrent threat group from a plurality of nodes, points, until receiving a response from the node; and if so, in addition to continuously broadcasting the vehicle driving information, receiving the driving information broadcast by the master node and other slave nodes simultaneously According to the driving information broadcasted by the master node and other slave nodes, the driver is alerted after the anti-collision calculation. Moreover, the driving safety auxiliary network management system of the present invention comprises: a plurality of slave nodes, which are mutually connected, and each slave node broadcasts an internal driving message of the vehicle and receives external driving broadcast by other slave nodes and the master node. Message, and judge and warn of potential threats based on external driving information; a master node is connected with a plurality of slave nodes to collect external driving information from the plurality of slave nodes, and is designated by a master node selection program; The master node learns the possible driving path of at least one slave node according to the external driving information, and then uses the possible driving route to determine the threat relationship between the vehicles on the path to determine the composition. At least one threat association group, and then compare the urgency of each threat association group and give different priority weights, so the master node can filter and filter the high-weight threat association group according to the priority weight, and prioritize the external transfer. The broadcast packet is then sequentially confirmed by the priority weight to receive the 201020140 threat association groups. In the multi-slave response packet of the slave node, whether each of the slave nodes in the threat association group can receive each other's travel information group, if not, continue to issue the broadcast packet of the threat association group, with important broadcast packets. Communication reliability. ❹ ❹ 上 :上: It can be seen that once the invention is applied to the traffic flow exit of the traffic congestion, there will be a main communication visibility in the intersection vehicle. This main node can gather the most neighboring nodes to broadcast the J car. News, and immediately perform anti-collision calculations to establish at least one threat and then filter the broadcast packets with priority weights, and "and: broadcast packet decrement" ... protect each threat association group within = = wide =, the main node will Confirm that each threat is associated with two numbers... two = cK) that responded to the broadcast packet after receiving the broadcast packet to improve the referral of the message. Yes, the car: The auxiliary network management method can effectively solve the obstacle due to obstacles. Blocking: = the effect of early warning' and this method can also use the most efficient = reliable communication method to make the important broadcasts in each threat association group receive important broadcasts in the shortest time. (IV) I 'Ensuring the immediacy of the warnings 【Embodiment】 First, please refer to the figure-figure, which is the structural diagram of the first embodiment of the road safety management system of the present invention. Easiest In the case of an accident, the collection of the four is the function of the Fang Mingming. This embodiment is compatible with the cross-section of the monthly management system and method. " Zen fans of the network of the invention 8 201020140 The network management system of the present invention It is formed by the vehicle entering the ten-square structure, which includes: the communication module complex number slave node (20), which is connected to each other in the crossroads, and each slave node (2G) is externally broadcasted. The vehicle's internal driving 1 ^ 'and receiving its nodes (four) wide (four) (four) driving information; the so-called lang point (20) refers to the vehicle within the effective communication range, and based on external driving information to judge and warn of potential threats;

- The master node (10) is connected to the complex slave node (2G) within the effective communication range of the intersection to collect the external driving message from the plurality of slave nodes (4) and specified by a master node selection procedure; X, the The master node (1〇) learns the possible driving route to the slave node (20) according to the external driving information, and then determines the mutual relationship between the vehicles on the path by using the possible driving route. Constituting a relationship between wei and f, and constituting at least a threat association group, wherein the driving information may be the speed, driving direction or vehicle position of the slave node (2〇); after the plurality of external driving messages are obtained, the master node (10) Then, the urgency of each threat association group is compared and different priority weights are given, so that the master node (10) can filter and filter the high-weight threat association group according to the priority weight, and give priority to the broadcast packet. Then, the priority weights are sequentially confirmed to receive the response packets (ACK) of the plurality of slave nodes in each threat association group to learn the slave nodes in the threat association group. 20) whether another can receive the traffic information message, the reliability-improving communications, in the present embodiment, the master node (10) to move the vehicle system. The basis for setting the priority weight of the master node may include the collision probability, the vehicle type and the remaining seconds parameter before the collision, and the parameters provide a better judgment method for the priority of the setting priority: 9 201020140

Since most of the intersections have the setting of the building (43),

Ο, the object (43) will block the broadcast of the vehicles in different lanes, so that the vehicle can not successfully receive the broadcast information of other vehicles when entering the intersection. At this time, if the vehicle facing the lane or the staggered lane poses a threat, there is no prior Judging and alerting the driver, the driving safety assisted network management system of the present invention passes through the existing master node (1〇) or when the master node does not enter the effective communication range of the intersection from the node (20) When present, the second slave node (20) is selected as the master node (1) by a plurality of slave nodes (2〇) in the valid communication range through a master node selection procedure, whereby the master node distinguishes the threat Associate groups and give different priority weights according to their threat level, and preferentially notify a high priority weight threat group about driving information of threat vehicles, and confirm whether to receive each slave node in the group (2〇) The response packet, so that the location of the threatening vehicle is known to each slave node (2〇), avoiding the inability to reach an effective warning due to the blockage of the building; Point (1〇) may be fixed to a side of the road roadside unit (R〇ad Sjde Unit, RSU), or by a plurality of selection from entering the intersection node (2〇). _凊With reference to the second figure, since the master node (1〇) and the slave node (2〇) are both placed in the running vehicle, the master node (1〇) and the slave node (2〇) respectively contain : The central processing unit (11) has a master node selection and handover program broadcast program and a collision avoidance warning program; and the central processing unit (11) is connected to the 201020140 one-step connection with the data storage unit as the master node (10). That is to say, "there is a car face recognition mother, when the point (20) a temple, then the A/_ c is the "parent program, if the program is selected from the thrift master node, a communication module (12 ), the communication module θ with the central processing unit = channel agreement 乂 乂 邛仃 邛仃 邛仃 讯息 讯息 讯息 讯息 : : : : : : : : : : : : : : : : : : : 央 央 央 央 央 央 央 央 央 央 央 央 央 央 央 央 央 央Each driving message format includes at least a coordinate position, a direction of the vehicle speed, a transmission time, and a vehicle identification code; a GPS module (13) connected to the central processing unit (1), and at least the coordinates of the coordinates , time and speed information to the order processing unit (1"; traffic The communication unit (14) is connected to the central processing unit (11), and stores intersection geographic information (such as the geographical coordinates of the intersection) and traffic management information (such as traffic number key, light number, change signal time, road) Speed limit indication, road construction, traffic events, etc.;; vehicle condition sensing unit (1 5), which reflects the state of the vehicle or the environment outside the vehicle to the central processor (11 such as 'direction light, wiper state, tire pressure value, The vehicle is turned on and off, and the like; the alarm device (16) is connected to the central processing unit (11), and the central processing unit (11) drives the warning device to alert the driver; in the embodiment, the warning device is a display. And a component such as a buzzer; and an input device (17) connected to the central processing unit for the driver to set or cancel the warning signal of the warning device. The central processing unit (11) is connected with a GPS module. (13), therefore, 11 201020140 Obtain the data such as coordinate position, vehicle speed, and driving direction when the vehicle is traveling. 1 Step-by-step instructions for the central processing unit (1) to execute the broadcast procedure. See the third figure for details. After the start of the βη, /幺山丨 (50), the central processing unit (11) will take the right to use (51), and then take the too & ^ to take the car's coordinate position, speed, driving direction information, and store it in the data After the eclipse left _ 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓 枓Also use the channel right after a delay

To the first step, such as the confidante A φ (54) 〇 * 匕 repeat to continue to broadcast the car's driving information and then as shown in the fourth picture, 'vehicle central processing H (11) also periodically receives neighbors The driving information of the car and the implementation of the defense 3 in the different roads to reach the self-葙錾A4 hall at any time, the m, the combination of the start of the (60) central processing = () will take the access to the channel (61), waiting to receive Zhou's driving information (62), one 曰古> * has to send the data storage t π -. - If the bus message is received, it will be updated immediately to the Zike storage early R car (four) state f library (63), In order to match the vehicle dynamic database, ^ ± traversing the trajectory of the surrounding vehicles (64), and then determine whether the vehicle is affected by the surrounding; otherwise, the driver is prompted to install 1 () 'right or return to the second step _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Can't get all the driving information of the rut to make the secret A 1 伃 all the soap 疋 丁 丁 1 The precautionary effect of threatening. α玟玟 can't be reached. “This is as shown in the fifth figure. The central processor (1)) will perform the self-warning function (70), and will be judged at any time. When the slave node is about to enter the intersection of the traffic congestion at the intersection of 12 201020140, such as an intersection, if it is judged as YES, it starts to judge whether to receive the driving message (72) broadcasted by the autonomous node, so as to reflect more immediate and effective. Early warning effect. That is, when the central processing unit (11) judges that the vehicle is about to enter the intersection according to the GPS module and the traffic information unit, in this case, the central processing unit (11) immediately determines whether a primary node is received. Broadcast driving information. 1. If the driving message broadcasted by the master node (10) is not received, the master node selection procedure is executed within a preset time (T), and the detailed steps of the main node selection procedure are further described below. The sixth figure shows: Start (80); collect the external driving information broadcasted by the node from the node within the predetermined time (81), calculate the number of driving information information that can be received at the current location, and at the preset time (T) When arriving (82), together with the vehicle identification code, the number of the driving information (vN), the distance from the geographic center (dcenter), and the issuing time (1) (83) are broadcasted. At this time, the central processing unit (11) can Determine whether the vehicle is the most popular driving information (84). If it is not, then maintain the current slave node (85), © If yes, further determine whether there are other slave nodes that are the same as the maximum number of driving information ( 86), if there is no confirmation, the identity of the vehicle is set by the slave node as the master node (88); otherwise, it is further compared with the distance between the point and the geographic center of the car with the same number of other maximum driving information (seven... ^) Is it The shortest (87), if it is, it represents the best geographical location at the intersection, changing the identity of the vehicle from the slave node to the master node (88). Otherwise, the other slave nodes are selected as the master node, and the vehicle is still maintained. From the node (85). The so-called geographical center distance is as shown in the first figure. The distance between the vehicle and the crossroad password is centered on the center of the intersection. For the convenience of calculation, the intersection between the center of the crossroads 13 201020140 can be used. Center, outward w Dingmen + / , d outside the door with different radii (r1; "2; "3) circle draws a number of concentric circles, so each vehicle sleeve 'Γ is located by the location of the target. Same as the ~® position... After the slave is set as the master node (1〇) from the node (2〇), then the master node (1G) is based on the slave node (4) driving information and then anti-collision = counted to calculate - from At least one possible node of the node (20):: may be the path to determine the relationship between the vehicles on the path to establish at least one threat association group, according to each slave node (20)

The threat association group constructed by the possible break path of G is plural, that is, there are more than two threat association groups, and the different threat weights are assigned to the threat group according to the threat degree. And according to the priority of the lower threshold, 'screening and filtering the high-weight threat association group, and preferentially broadcasting the packet to the eighth picture A, the broadcast packet format includes the location k, the vehicle speed, the driving direction, Packet transmission time and column: All car auxiliary identification codes of the current threat association group. When the slave node receives the broadcast packet and i reads the vehicle identification code to which it belongs, the slave node shall immediately issue a reply acknowledgment packet (ACK), as shown in the eighth b diagram. The 鬲 weight threats each of the slave nodes in the associated group to receive a warning message from each other, and if not, then repeats the transmission, so that the slave nodes of the high-weight threat association group ( 2〇) It is possible to receive a valid warning from the master node immediately. =2 The central processor of the right car has received the driving message broadcasted by the master node (10)'= continuously broadcasts the driving information of the vehicle, and simultaneously receives the driving information broadcast by the master node and its slave nodes, according to the master node and The braking message broadcasted by other slave nodes will be alerted to the driver after the collision avoidance calculation. The detailed steps for warning are further explained below, and please refer to the seventh figure: 14 201020140 通道 After the start (90), the channel usage right will be obtained. (91), waiting for receiving the driving message (92) transmitted by the surrounding vehicle, and immediately updating the driving information to the vehicle dynamic database (93) of the data storage unit once the driving message is received, and the central processor cooperates with the vehicle The dynamic database carries out the prediction of the surrounding vehicles, and then generates the threat related group information related to the vehicle (94) centering on the current coordinate position of the vehicle, and then the broadcast packets of the currently received threat association group. The threat association group reads (95), and then uses the vehicle identification code to determine whether the vehicle is listed in one of the threat association groups (96); if so, the driver Alert the farmer to alert the driver that a collision is about to occur, and reply to the master point to confirm the packet (97); otherwise, return to the second step (μ) until the slave node is away from the intersection. In addition, please refer to the picture in Figure 8 to confirm that the packet format includes: the master node vehicle identification, ... transmission _, the vehicle identification code and the packet transmission time.昧 From the above description of the embodiment, it can be seen that when the vehicle assistant is about to enter the crossroad, the network management system of the present invention will select a point, and the master node is characterized in that it can receive the cross:: main message Φ, 廿, & ^ τ 峪 峪 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多 最多That is to say, it is located at the crossroads, and the j is determined by the selection of the leader; therefore, the network heart of the present invention: when the traffic information is the smoothest, the road can be built to ensure that the vehicle enters the crossroads to respect people. The roadside building's blocking can still be smooth and immediately alert to the driver. Please refer to the ninth figure, Μ 进一步 % % % 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细 详细After the start (101), receiving the driving information of the surrounding vehicles (1〇2), the latest surrounding driving information is stored in the dynamic database of the data storage unit (103), and the central processing unit cooperates with the vehicle dynamic database. The rut track I predicts and judges whether there is a conflict between each other according to the predicted trajectory of each vehicle. If so, the threat association group (105) is established. If it is judged that there is no threat, the person will return to the continuation. In the step of receiving the surrounding driving message (102). - Once a number of threat association groups are established, the central node of the master node: =: its target location is centered, generating information listed in each threat association, and arranging the urgency of each group to perform high and low The priority of the right is "matching (106) the threat association group (1〇7) in which the vehicle of the broadcast vehicle information is taken out according to the priority level, and the vehicle auxiliary identification code of each vehicle in the threat association group and the received The message is filled in the broadcast packet, and = broadcast high-reliability broadcast packet must wait for all the responses of the vehicle after the broadcast (1〇9), otherwise it will continue to broadcast until (4) reply to the message, and then broadcast the secondary after completion. The weight threat associates the group until all threat groups broadcast and receive the reply confirmation packet, and then returns to the second step (10)), so as to repeat until the identity of the vehicle is set back by the master node. After the master node will leave the intersection, the network of the present invention is referred to the first diagram and the tenth diagram for the master node handover procedure. The central processor of the master node follows the GPS module. At any time, judge whether you are leaving the crossroad σ border (A) (501)... Once you judge the departure, immediately search the center of the intersection of the vehicle auxiliary dynamic database for the presence of its nodes (502). 'Estimate the length of time from the node to stay at this intersection, and directly select the slave node 16 with the longest stay time 201020140 as the master point (503) 'and set back the slave node identity (5〇), right no, it represents the intersection There is no other slave node (505) at the center boundary. Furthermore, the central processor of the current master node continues to determine whether there are other slave nodes (506) in the peripheral area of the cross]^ π, and if so, select the center to enter the intersection in the shortest time. = The slave node of the domain is the master node (5〇7), and the identity of the vehicle is determined by the target main section (4) as the slave node (504); if not, it is directly returned to the slave node after it is away from the intersection area. Call the vehicle that enters the intersection at the next time: Perform the main point selection procedure to re-elect the new master node. ❹ Please refer to the eleventh and twelfth figures, respectively, for the network management system of the present invention. In the state of two-way corners and interchanges, since the central processing unit of each vehicle is equipped with a GPS module and a traffic information unit, the geographical center position of each corner and intersection can be obtained, and different weight range areas can be determined. In the two-way corner of the tenth figure, as shown in the first figure, a number of concentric circles from inside to outside can be used to define different degrees of driving in and out, for the designated main node weight distribution; A picture of the communication channel is not suitable for defining different degrees of driving in and out of the state in a three-way concentric way. Instead, the three areas of the inner and outer areas should be drawn according to the vehicle intensity level to reasonably assign the weight of the designated main node. The thirteenth figure shows a second preferred embodiment of the present invention. The master node (3〇) of the network management system of the present invention is a roadside unit (RSU), and can also be installed at a road junction. , the light or the signage of the roadside, etc., as for the slave node (20), the vehicle is still in motion, but as shown in FIG. 14, in the present embodiment, each vehicle is compared with the first preferred embodiment. Central office The unit (11) does not need to have a built-in master node selection procedure; as for the roadside unit, it includes: 17 201020140 - a central processing unit (31), which has a built-in master selection program and a collision warning program; The processor is further connected to the data storage unit (311), which stores the vehicle identification code; and the communication module (32) is connected to the central processing unit and is connected to the communication channel of the communication channel and the protocol. After receiving the external driving & output, the central processing unit (31), α and the central processing unit:;: the driving information is broadcasted externally; and, as shown in the eighth figure, each driving format includes at least Coordinate position, speed, straight line 5 ❹ ❹ α 丄 仃 仃 、, transmission time and vehicle identification; and a traffic information unit (33), connected to the central processing unit (31), is stored at intersection geometry Information (such as the geographic coordinates of intersections) & traffic management information (such as traffic signal lights, changing signal time, road speed limit =, road construction, traffic events, etc.). Because this embodiment uses the roadside unit as the main node (3〇), when the vehicle entering the intersection has to receive the driving information broadcast by the master node (3G) without having to build the main node selection procedure, the vehicle is In the effective communication range of the auxiliary roadside machine, the roadside unit performs the threat association group program as shown in the ninth figure, so the vehicle can receive the driving information broadcasted by the roadside unit in the road. The seventh picture of Yu 1仃 judges whether the saponin is notified as the Wei # association group 贞; if so, the central processor 3 moves the warning device to remind the location of the threatening vehicle, and obtains an instant warning to continuously send the internal driving information of the vehicle and Receiving external driving information, wherein each driving information includes vehicle speed, driving direction or vehicle position, etc., and the external driving information received is used to determine whether the weekly vehicle poses a potential threat to the vehicle 18 201020140, if it is judged to be yes, then further Issue a warning; determine whether the external driving message is broadcast by a master node; if: the second i is accumulated in a preset time and has been received from other slave nodes Love to order the number of m hearts' and when the scheduled time arrives, the whole broadcasts the number of accumulated driving messages, and uses the highest node as the main node. The number of 讯 仃 讯 讯 讯 讯 , , , , , , , , , According to the received train message: knowing the possible driving path of at least one slave node, thereby determining the composition: e ❹ 威胁 a threat association group, and then comparing the different edge weights of each Wei (four) material group to give different priority weights, and then According to the priority level, the high-weight threat association group preferentially refers to the external broadcast broadcast packet, and the following is: ^ The weight of the weight is determined in order, which is the material (4) The number of the packets from the knowledge point should be encapsulated (ACK) If not, repeat the referral of the broadcast packet to the complex slaves in the threat association group until receiving the response packet from the node; and if it is 'except for continuously broadcasting the vehicle driving information, the receiving host ^ The driving information broadcasted by the point and other slave nodes is alerted to the driver after the collision avoidance calculation according to the driving information broadcasted by the master node and other slave nodes. Therefore, the auxiliary network management system and the method thereof are mainly used for communication, and the main node capable of receiving most of the vehicle broadcast driving information is extracted, and then the active node performs the collision avoidance calculation immediately to establish At least one threat association group, and then filtering the referral broadcast packet with the right weight and weight, in addition to reducing the broadcast packet between vehicles, receiving time-sensitive and important driving information, and improving the execution warning of each vehicle. effectiveness. In order to ensure that the plurality of slave nodes in each threat association group receive the broadcast packet and improve the reliability, the master node forces the multiple slave nodes in each threat association group to reply to the response packet after receiving the 201020140 broadcast packet. Since the main node broadcasts the packet to the outside, it only refers to the external driving message, and it is still the early warning by each car to determine whether it constitutes a threat. In view of the above, the vehicle safety assisted network management method can effectively solve the problem that the intersection can not be early warning due to obstacles blocking communication between vehicles, and the method can also make the threats with the most efficient and reliable communication method. The complex slave nodes in the association group can indeed receive important broadcast packets in the shortest time to ensure the immediacy and validity of the warning. BRIEF DESCRIPTION OF THE DRAWINGS Fig.: is a schematic view of the present invention applied to an intersection. Second figure: is a block diagram of the system of the present invention. Third: A flow chart of the vehicle broadcasting program of the present invention. The fourth figure is a self-warning flowchart of the anti-collision warning program of the present invention. Fig. 5 is a flow chart showing the anti-collision warning program of the present invention.

Figure 6 is a flow chart of the main node selection (four) of the present invention. The seventh figure is a flow chart of the execution warning of the anti-collision warning program of the present invention. Figures 8 and B are two different driving message formats of the present invention. Figure 9 is a flow chart of establishing a threat association group according to the present invention. The tenth figure is a flow chart of the handover procedure of the master node of the present invention. FIG. 11 is a schematic diagram of the two-way curve of the present invention. Twelfth Diagram: A schematic view of the present invention applied to an interchange. Thirteenth Embodiment: A fourth preferred embodiment of the present invention is applied to an intersection of a fourteenth embodiment: a block diagram of a second preferred embodiment of the present invention. FIG. 20 is a top view of the present invention. The fourteenth figure of the patent. Figure 16: The third picture of the US Patent No. 6,985,089 B2.

[Main component symbol description] (10) Master node (111) Data storage unit (13) GPS module (1 5) Vehicle condition sensing unit (17) Input unit (21) Central processing unit (22) GPS module (24) Car Conditioning Unit (26) Input Unit (31) Central Processing Unit (32) Communication Unit (43) Building (51') Vehicle (60') Vehicle (11) Central Processing Unit (1 2) Communication Module (14) Traffic Management Unit (16) Warning Unit (20) Slave Node (211) Data Storage Unit (23) Traffic Management Unit (25) Alert Unit (30) Master Node (311) Data Storage Unit (33) Traffic Management Unit (50') vehicle (52') vehicle (61') front vehicle 21

Claims (1)

201020140 VII. Patent application scope: 1' Kind of driving safety auxiliary network management system, which includes: plural slave nodes, which are connected to each other within the effective communication range, and the slave node broadcasts the vehicle (4) driving information. And receiving other external driving information broadcast from the knowledge point, and judging the potential threat according to the external driving information; : The master node is in the effective communication range of the intersection and the complex slave node = collecting the external driving information from the plural slave node And broadcast the anti-interest; and 'the main node is based on the plural external driving information, after the anti-collision ^, at least - from the node - driving the possible driving route to sit the age of the mountain * ± Dengji Tian Relationships, with ΓΓ1 on the path constitute each other's threat group order to trtr threat association group 'and assign priority according to each threat association priority group & r ', and with high priority to The low-order sequence sends a broadcast packet to the plurality of slave nodes in each threat association group, and the $1 丨 丨 、 、 、 、 、 、 、 、 、 。 。 。 。 。 。 。 。 。 。 。 。 All the slave nodes of the group are dealt with 2, such as each (4) (4) 1 item of traffic safety assisted network management system, each slave node contains: - central processing unit 'system internal sequence and anti-collision warning program; The central processing unit is connected to the storage unit, and stores the vehicle identification (4). The data is selected from the plurality of slave nodes to select the master node '/, ~ point selection method, and the central processing unit The unit, the channel and the protocol communication module are bidirectionally connected with the communication output to the command processing unit, and ^= after receiving the external driving message and the traffic signal 22 201020140 output by the central processing unit is broadcasted; The straight line of the driving signal format includes at least the coordinate position, the speed i, the driving direction, the sending time and the vehicle identification code; the GPS module is connected to the central processing unit to receive the satellite positioning signal, and at least captures the coordinates and time. And speed data to the central processing unit; and, _ police 7' is connected to the central processing unit, and the central processing unit drives the warning device to alert the driver. (4) The driving safety auxiliary network management system described in item 2 of the second section further includes: a traffic information unit connected to the central processing unit for storing intersection geographic information and traffic management information; and - vehicle condition The sensing unit is connected to the central processing unit to reflect the external environment state of the vehicle or the vehicle to the central processing unit. 4. The driving safety auxiliary network management system according to claim 2, wherein The master node and each slave node are all disposed on the vehicle. 5. The vehicle safety assisted network management system described in claim 2, wherein the master node is a one-way side unit, and each slave node is set. 6. On the vehicle. 6. If you apply for the driving safety auxiliary network management system described in item 5 of the full-time division, the main node includes: . A central processing unit 'four (four) has _ broadcast material and anti-collision warning program, and the + The central processing unit is further connected with a f-material storage unit, which stores a car auxiliary identification code; ^ 70 is connected and communicates with the same communication to receive an external driving message, and a communication module is associated with The central processing of single-channel and agreed-upon communication modules is bidirectional, with 23 201020140 output to the central processing unit, and the traffic information unit that outputs the central interest rate to the outside world. The geography is carefully connected to the central processing unit's Department of Health and Intersection Geographic Information and Traffic Management Information. The system, its application: patent, the driving safety auxiliary network tube mentioned in item 4, '' each of them (4) The main node selection program of the point includes: an external driving message broadcasted by the plurality of slave nodes in the leaf computing system, ❹ = two: the number of driving messages that can be received, and the preset number two: the vehicle identification of the two vehicles is drinking externally Broadcast the distance between the driving information and the geographic center and the time of issuance; high; determine whether the number of driving information collected by the vehicle is more than that of other slave nodes, and still maintain the identity of the slave node; and if there is a 'determine whether there is any Other points ^ # Ask the number of car information from the section in the right, then the slave node is changed to become the master node; otherwise, the car and the same traffic information For comparison, the traitor "is the distance from the geographic center - or \ the distance from the geographic center is the shortest, then the slave node sighs and knows the point. On the contrary, it maintains the slave node's identity. Apply for a comprehensive (four) 4 or 7 item of traffic safety assisted network management system, the main node includes: - the central processing unit 'built in the main node handover procedure, the broadcast process child warning program; and the central processor system Further connected to a tremor storage list, which stores a vehicle identification code; a communication module is connected to the central processing unit and bidirectionally connected with the same communication protocol and the agreed communication module, thereby receiving the external driving information 24 201020140 Output to the central processing unit, and broadcast the central interest to the outside; in addition, the driving information of each driving * 7 output. The drought format contains at least the speed of the life, the driving direction, the sending time and the vehicle identification mom; " , the GPS module is connected to the central processing, the bit signal, and at least the coordinate and time processing unit; and the page is sent to the central police The display device is connected to the central virtual element driving warning device to remind the driver to pay attention to the person. The central processing unit ❿ 9 · The driving safety auxiliary network system described in the eighth item of the patent scope, the main node further includes : A traffic information unit is connected to the central processing unit with intersection geographic information and traffic management information; and - a vehicle condition sensing unit is connected to the towel handling unit to reflect the external environment of the vehicle or the vehicle To the central processor. 10. The driving safety auxiliary network management system described in claim 9 wherein the master node handover procedure of the master node includes: determining whether the vehicle is at a junction of the intersection according to the position of the GPS module returning the coordinates Budan judges to deviate from 'there is no other slave node entering the central boundary of the intersection; if so, estimate the length of time from the node to the intersection, and directly select the slave node with the longest stay time as the master node, and autonomously The node is set as the slave node identity; if not, it means that there is no other P point in the center boundary of the intersection and the next step is performed; if there is any other slave node in the peripheral area of the intersection, if so, the selection is about to enter the intersection in the shortest time. The central area of the 25 201020140 slave node acts as the main section -> back to the slave node. Right, after setting off the intersection area, directly set the management system to receive the traffic safety assistance network as described in item 6. The vehicle plural threat association group method includes: setting the team's neighboring car information, will store the unit In the light dynamic database of the vehicle; the traffic information stored in the vehicle is stored by the central processor in conjunction with the dynamic measurement of the vehicle, and the trajectory of the vehicle is pre-argued according to each vehicle"-the library; the predicted trajectory is judged whether there is a mutual If the threat is rushed, then the threat association group is established; and if not, it is judged that there is no threat conflict, 12. If the threat does not establish a threat association group, the traffic safety auxiliary network II mentioned in the eighth paragraph of the management system patent scope The vehicle location establishment complex threat association group method includes: the storage unit vehicle message 'stores the latest surrounding driving information into the vehicle dynamic database of the data storage saponin; the central processor cooperates with the direct test, and According to the prediction of each vehicle?: The hopper track of the vehicle is pre-extended; the trajectory of the servant determines whether there is a threat to each other, and then establishes a threat association group; There is no threat conflict, and no threat association group is established. t ^ ^^ ^ ^ The vehicle safety assistance network system described in the item is the main point to establish the complex threat association group to receive the external driving information, the face θ ^ heart will Take the new driving information and store it in the vehicle dynamic database of 7:00 pm; the central processing benefit is combined with the vehicle dynamic database to carry out the vehicle trajectory pre-measuring 26 201020140 and determine whether there is a mutual trajectory according to the prediction of each vehicle. Threat conflict; if it is, then establish a threat association group; and if not, judge that there is no threat conflict, and do not establish a threat association group. 14_If the application of the vehicle safety assistance network management system described in the scope of the patent application, The driving information includes at least the coordinate position, the speed, the driving direction, the sending time and the vehicle identification code. The application scope of the driving safety auxiliary network system described in the “H. Seat direction, transmission time and vehicle identification code. "The vehicle safety support network system described in item 9 of the light vehicle management patent scope, the intersection The information section contains the geographical coordinates of the intersection and the information: including the traffic number, the change of the signal time, the road construction and traffic events. Management 1 The traffic safety assisted network system described in item 6 of the scope of interest, the geographic information of the intersection contains the traffic management sentence 丨丨J 越越· 厘 , and the package 3 has the traffic signal, Change lamp Maipq. Road speed limit refers to road construction and traffic events. Change the light handle between the door and the road 18.-A kind of driving safety auxiliary network management method to continuously send the internal driving information of the vehicle. The driving information in the vehicle includes the speed of the vehicle and the driving party (four) car ^ message, which is received by the person The location of the gods; the potential threat, if judged; the message, the judgment of whether the Zhou car constitutes a judgment on the vehicle, the external further issued a warning; if not, then: 1: broadcast by a master node; the juice has been received from other slave nodes Guang 27 201020140 The number of driving messages broadcasted, and when the scheduled time arrives, the whole broadcasts the number of accumulated driving messages' and the slave node with the highest cumulative driving message number as the master node; once it becomes the master node, it is based on the received driving The message knows the possible driving path of at least one slave node, thereby determining the urgency of composing at least one threat association group to compare the threat association groups and giving different priority weights, and then screening and transitioning according to the priority level A high-weight threat association group that preferentially forwards broadcast packets and sequentially confirms the priority weights Whether to receive the response packet of the plurality of slave nodes in each threat association group, if not, then repeat the referral of the broadcast packet to the plurality of slave nodes in the threat association group until receiving the response packet of the slave node. And " * If yes, in addition to continuously broadcasting the driving information of the vehicle, the driving information broadcasted by the master node and other slave nodes is received, and the driving information broadcasted by the master node and other slave nodes is alerted to the driver after the collision avoidance calculation. For example, the driving safety auxiliary network method described in the Patent Scope No. 18, in the step of judging whether the external driving message is squandered by a master node, occurs in the step of the highest cumulative driving time when the slave node is the highest cumulative driving signal. The slave node of the center is the master node. Eight, schema: (such as the next page) 28