TW202015944A - Vehicle active security system and related method - Google Patents

Abstract

A vehicle active security system arranged on a vehicle includes an image capturing device, an upper rack, a lower rack, a driving device and a processing unit. The image capturing device is configured to capture an image of a moving object behind the vehicle. The upper rack has a first engaging structure. The lower rack has an end connected to a door position limiting mechanism and a second engaging structure corresponding to the first engaging structure. The driving device is configured to drive the upper rack and the lower rack to move. The processing unit is configured to process the image and further configured to control the driving device to drive the first engaging structure of the upper rack to be engaged with or be disengaged from the second engaging structure of the lower rack according to a result of image processing.

Description

Vehicle active safety system and method

The invention relates to a vehicle active safety system and method, in particular to a vehicle active safety system and method that can detect moving objects behind the vehicle and actively prevent the door from opening.

Generally, the door of a car is controlled by the door lock to control whether the door can be opened or locked, and some car doors have child safety locks so that the door cannot be opened from inside the car. The door lock of a general car door is jointly controlled by the driver and the passenger riding in the position. However, since the door lock is actively controlled by the driver or the passenger, when the driver or passenger does not notice that there is a vehicle coming behind the vehicle, the door lock is unlocked and the door is opened When the door is opened, the door may collide with the incoming vehicle, which may further cause personal injury or vehicle damage. In other words, when the car is parked on the side of the road, it may be due to driving or passenger negligence or visual blind corners, and the door will be opened without notice of a car coming behind, resulting in a traffic accident.

The purpose of the present invention is to provide a vehicle active safety system and method to solve the above problems.

The vehicle active safety system of the present invention is applicable to a vehicle having a body, a door, and a door stopper. The door is connected to the body and can rotate relative to the body. The door stopper is fixed to For the vehicle body, the vehicle safety system includes an image capturing device, an upper link, a lower link, a driving device, and a processing unit. The image capturing device is disposed in the vehicle body. The image capturing device is used for To capture an image of a moving object behind the vehicle, the upper link is provided in the door, the upper link has a first engagement structure, the lower link is provided in the door and one end is connected to the door limit Positioner, the lower link has a second bite structure corresponding to the first bite structure, the driving device is coupled to the upper link and used to drive the upper link to move relative to the lower link, the processing unit The image capturing device and the driving device are electrically connected. The processing unit is used to perform image processing on the image. The processing unit is further used to control the driving device to drive the first nip structure of the upper link according to the result of image processing. The second bite structure engaged with the lower link, or the first bite structure driving the upper link is separated from the second bite structure of the lower link.

In an embodiment of the vehicle active safety system of the present invention, wherein the processing unit is electrically connected to a vehicle control unit of the vehicle, the processing unit detects the gear of a gearbox of the vehicle via the vehicle control unit And a vehicle speed of the vehicle, the processing unit also controls the driving device to drive the upper link according to the gear position of the gearbox and the vehicle speed of the vehicle.

In an embodiment of the vehicle active safety system of the present invention, wherein when the processing unit detects that the gear of the gearbox is a parking gear or a neutral gear, the vehicle speed is zero, or the vehicle stops, the The processing unit activates the image capture device.

In an embodiment of the vehicle active safety system of the present invention, wherein the processing unit is further used to define a predetermined range within a field of view (FOV) of the image capture device, and the processing unit responds to the predetermined Image processing within the range.

In an embodiment of the vehicle active safety system of the present invention, when the image capturing device detects that there is an object approaching the vehicle within the predetermined range behind the vehicle, the processing unit is used to control the driving device to drive the The upper link to a bite position, when the upper link is at the bite position, the first bite structure of the upper link bites the second bite structure of the lower link, so that the vehicle door passes through the upper link 3. The lower link and the door stopper are fixed to the vehicle body.

In an embodiment of the vehicle active safety system of the present invention, wherein the image capturing device is disposed on one of the rear mirrors of the vehicle.

In an embodiment of the vehicle active safety system of the present invention, wherein the driving device is a stepping motor, the stepping motor is used to drive the upper link, so that the upper link moves relative to the lower link.

In an embodiment of the vehicle active safety system of the present invention, wherein the upper link has a pivoting end, the pivoting end is used to pivotally connect with the vehicle door of the vehicle, the pivoting end and the first bite structure are located The opposite ends of the upper link.

In an embodiment of the vehicle active safety system of the present invention, the end of the lower link is connected to the door stopper of the vehicle by riveting, screwing, snapping, welding, or adhering.

In an embodiment of the vehicle active safety system of the present invention, wherein the processing unit uses the vehicle's controller area network to detect the gear state of the vehicle's gearbox, the vehicle's speed, and/or the vehicle Whether it is in the starting state.

In an embodiment of the vehicle active safety system of the present invention, wherein the first engaging structure and the second engaging structure are substantially a triangular structure.

In an embodiment of the vehicle active safety system of the present invention, wherein the first bite structure and the second bite structure are substantially right-angled triangle structures, and the angle of the tip of the right-angled triangle structure ranges from 30 degrees to 60 degrees.

In an embodiment of the vehicle active safety system of the present invention, wherein the right-angled triangular structure of the first and second engaging structures has a slope, when the upper link is at an engaged position and the vehicle door is open At this time, the inclined surface is used to enable the upper link to engage with the lower link by closing the door of the vehicle.

In an embodiment of the vehicle active safety system of the present invention, wherein the first bite structure and the second bite structure are substantially a rectangular structure or a trapezoidal structure.

In an embodiment of the vehicle active safety system of the present invention, wherein the processing unit includes a central processor and an image processor, wherein the serial data between the central processor and the image processor is RS-232 Communication interface standard for data communication.

In an embodiment of the vehicle active safety system of the present invention, wherein the door of the vehicle has at least one slot, the upper link has at least one mounting protrusion corresponding to the at least one slot, and the upper link passes the mounting protrusion Can be movably installed in the slot.

In an embodiment of the vehicle active safety system of the present invention, wherein the processing unit is further used to determine whether the vehicle door is opened, when the processing unit determines that the vehicle door is open, the processing unit is used to control the image capture The fetching device stops capturing images and drives the upper link to a separated position, wherein when the upper link is located at the separated position, the first bite structure of the upper link does not bite to the lower link Second occlusal structure.

The vehicle active safety method of the present invention is applicable to a vehicle and a vehicle safety system. The vehicle includes a vehicle body, a door, a door stopper, and a vehicle control unit. The vehicle door is connected to the vehicle body and can face the vehicle The vehicle body rotates, the vehicle door stopper is fixed to the vehicle body, the vehicle control unit is disposed in the vehicle body, the vehicle safety system includes an image capture device, an upper link, a lower link, a driving device and A processing unit, the image capturing device is disposed in the vehicle body, the upper link and the lower link are both disposed in the vehicle door, the upper link is movably connected to the vehicle door, and one end of the lower link is connected to The vehicle door stopper, the driving device is coupled to the upper link, the processing unit is electrically connected to the image capturing device, the driving device and the vehicle control unit, the vehicle active safety method includes: the processing unit passes the The vehicle control unit judges whether the gear of the gearbox is the parking gear or the neutral gear or whether the speed of the vehicle is zero; when the gear of the gearbox is the parking gear or the neutral gear or the speed of the vehicle is At zero, the processing unit activates the image capturing device to capture continuous images to the rear of the vehicle; the processing unit determines whether there is an object approaching the vehicle behind the vehicle from the images captured by the image capturing device ; And when the processing unit determines that there is an object approaching the vehicle behind the vehicle, the processing unit controls the driving device to drive the upper link to an engaged position, so that the upper link and the lower link are engaged with each other, so that The vehicle door is fixed to the vehicle body via the upper link, the lower link and the door stopper.

Compared with the prior art, the vehicle active safety system of the present invention can fix the limit of the door by the upper link and the lower link engaging with each other when the vehicle is parked and detects an object approaching the vehicle behind the vehicle The body of the vehicle further prevents the driver from opening the door and actively viewing the objects behind, and avoids the accident of dangerous traffic accidents caused by the collision of vehicles, personnel and moving objects from behind when the middle door is suddenly opened. In addition, the vehicle active safety system of the present invention prevents the doors from opening by adding additional components to interlock with each other. Therefore, the vehicle active safety system of the present invention does not affect the priority of the door locks, and there is no need to rewrite the settings in the vehicle control system. .

Please refer to FIG. 1, which is a schematic diagram of the vehicle active safety system of the present invention installed in a vehicle. As shown in FIG. 1, the vehicle active safety system 100 of the present invention is installed on a vehicle 300. The vehicle 300 has a body 310, a door 320, and a door stopper 330. The vehicle door 320 is rotatably connected to the vehicle body 310, and one end of the vehicle door stopper 330 is fixedly disposed on the vehicle body 310. The vehicle active safety system 100 of the present invention includes an image capturing device 110, an upper link 120, a lower link 130, a driving device 140, and a processing unit 150. The image capturing device 110 is disposed on the vehicle body 310 and used to capture the image behind the vehicle 300. In this embodiment, the image capturing device 110 is disposed on the left rear mirror of the vehicle 300 and is used to capture a field of view The image in the LV, but the invention is not limited to this, the image capturing device 110 can also be arranged on the right rear mirror with the car model with the driver's seat on the right, and used to capture a range of sight RV For images, in another embodiment, the image capturing device 110 may be disposed at the rear of the vehicle 300. The present invention is not limited by the position of the image capturing device and the range of captured images.

The upper link 120 and the lower link 130 are disposed in the door 320. The lower link 130 is connected to one end of the door stopper 330 located in the door. The driving device 140 is coupled to the upper link 120 and used to drive the upper link 120 relatively downward The connecting rod 130 moves, the processing unit 150 is electrically connected to the image capturing device 110 and the driving device 140, the processing unit 150 is used to perform image processing on the image captured by the image capturing device 110, and the processing unit 150 is further used to process the image according to As a result, the driving device 140 drives the upper link 120 to catch the lower link 130, or drives the upper link 120 and the lower link 130 to release. The processing unit 150 is electrically connected to a vehicle control unit 340 of the vehicle 300 through a controller area network (CAN) of the vehicle 300, and the processing unit 150 passes through the vehicle control unit 340 and the controller area network The road detects the gear position of the gearbox of the vehicle 300 and the vehicle speed of the vehicle 300, and the processing unit 150 is further used to control the driving device 140 to drive the upper link 120 according to the gear position and the vehicle speed of the gearbox.

For the arrangement of the upper link 120 and the lower link 130, please refer to FIG. 2, which is a schematic diagram of some components of a vehicle active safety system of the present invention disposed in a door. As shown in FIG. 2, the door stopper 330 has a fixed end 331 and a moving end 332, wherein the fixed end 331 is fixedly disposed on the body 310 of the vehicle 300, the upper link 120, the lower link 130 and The driving device 140 is provided inside the door 320 of the vehicle 300. In order to clearly show the relationship between the components, the upper link 120, the lower link 130, and the driving device 140 in FIG. 2 are exposed from the door 320. The upper link 120 has a pivoting end 121 pivotally connected to the door 320, and the lower link 130 has an end 131 connected to the moving end 332 of the door stopper 330, wherein the end 131 of the lower link 130 is riveted and screwed The moving end 332 of the door stopper 330 of the vehicle 300 is connected to, fastened, welded, or adhered, and the invention is not limited thereto. The upper link 120 further has a first engaging structure G1, and the lower link 130 further has a second engaging structure G2.

Please refer to Figure 3, which is an enlarged view of the range A in Figure 2. As shown in FIG. 3, in this embodiment, the first occlusal structure G1 and the second occlusal structure G2 are a plurality of right-angled triangles. For example, the first occlusal structure G1 includes a plurality of right-angled triangles, and the second occlusal structure G2 Corresponding to the first occlusal structure G1 includes a plurality of right-angled triangles 135, the right-angled triangle 135 includes a guide surface S and an included angle GA, wherein the included angle GA ranges from 30 degrees to 60 degrees, but the present invention is not limited thereto. The one bite structure G1 and the second bite structure G2 may be bite structures of other shapes (for example, trapezoidal or rectangular). The driving device 140 is coupled to the upper link 120 and is used to drive the upper link 120 to move relative to the lower link 130. In this embodiment, the upper link 120 is pivotally connected to the vehicle door 320. The driving device 140 is a stepping motor and is driven by A supporting rod 141 is used to drive the upper link 120 to pivot, but the present invention is not limited to this. The driving device 140 can also move the upper link 120 in a manner other than pivoting, for example, the door 320 of the vehicle 300 At least one sliding groove is provided on the upper side, and at least one mounting protrusion is provided on an upper connecting rod corresponding to the at least one sliding groove. The upper connecting rod is movably installed in the groove by the mounting protrusion, and the driving device 140 is used to drive The upper link moves to the bite position.

Please refer to FIG. 4, which is a schematic diagram of the active safety system of the present invention detecting moving objects. As shown in FIG. 4, when the processing unit 150 of the active safety system 100 of the present invention detects that the transmission gear is a parking gear or a neutral gear via the vehicle control unit 340 of the vehicle 300 and the controller area network When the vehicle speed of the vehicle 300 is 0 or the vehicle 300 stops, the processing unit 150 is used to activate the image capturing device 110. When the image capturing device 110 is activated, the image capturing device 110 is used to capture the rear of the vehicle 300 for viewing An image of a moving object 400 within the field range LV, where the field of view range LV is a predetermined range defined by the processing unit 150 within a field of view (FOV) of the image capture device 110, and the processing unit 150 Used to perform image processing on the image and determine whether the moving object 400 is approaching toward the body 310 or the door 320 of the vehicle 300 according to the result of the image processing. For example, when the processing unit 150 determines the moving object according to the result of the image processing When 400 is moving in a direction D1, in order to avoid collision with the moving object 400 after the door 320 is opened, the processing unit 150 is used to control the driving device 140 to drive the upper link 120 so that the first engagement structure G1 of the upper link 120 The second engaging structure G2 engaged with the lower link 130.

Please refer to FIG. 5 and FIG. 6, FIG. 5 is a schematic diagram of the driving device of the active safety system of the present invention driving the upper link, and FIG. 6 is a diagram of the upper link of the active safety system of the present invention in the engaged position and the lower link Schematic diagram of the bite latch. In this embodiment, when the processing unit 150 determines that the moving object 400 is advancing along a direction D1 according to the result of image processing, the processing unit 150 is used to control the support rod 141 of the driving device 140 to descend, so that the upper link 120 is clockwise Pivot to a bite position P1, and further cause the first bite structure G1 of the upper link 120 to fall to the second bite structure G2 of the lower link 130 and bite the latch, when the first link structure of the upper link 120 When G1 and the second engaging structure G2 of the lower link 130 are engaged with each other, the moving end 332 of the door stopper 330 is connected to the lower link 130, and the lower link 130 and the upper link pivotally connected to the door 320 120 is locked, so the door 320 cannot move relative to the door stopper 330, so that the door 320 is fixed to the body 310 via the upper link 120, the lower link 130 and the door stopper 330, in other words, when When the first engaging structure G1 of the link 120 and the second engaging structure G2 of the lower link 130 engage with each other, the vehicle door 320 cannot be opened.

According to the above configuration, the processing unit 150 of the active safety system 100 of the present invention will start when the vehicle 300 drives the gear of the transmission to the parking or neutral position, or when the vehicle speed is 0 or the vehicle 300 is turned off. In the image capturing device 110, when the image capturing device 110 is activated, the processing unit 150 and the image capturing device 110 are used to detect moving objects behind the vehicle 300 within the viewing area LV, and when the processing unit 150 determines that the moving object 400 is facing When the vehicle 300 moves, the processing unit 150 is further used to control the driving device 140 to drive the upper link 120 to move to the bite position P1, so that the first bite structure G1 of the upper link 120 bites with the second bite structure G2 of the lower link 130, The door 320 is fixed to the vehicle body 310 via the upper link 120, the lower link 130 and the door stopper 330 to prevent the vehicle 300 from driving without discovering that there is a moving object 400 moving toward the vehicle 300 to open the door. The collision of the door 320 of the vehicle 300 with the moving object 400 and the traffic accident of the moving object 400 in order to avoid the door 320 are further avoided.

Please refer to FIG. 7, which is a schematic diagram of the upper link of the active safety system of the present invention being in the engaged position when the door is opened. As shown in FIG. 7, when the door 320 of the vehicle 300 is opened and the processing unit 150 determines that a moving object is moving toward the vehicle 300, the processing unit 150 is used to control the driving device 140 to drive the upper link 120 to move to the bite position P1, because The lower link 130 is driven by the moving end 332 of the door stopper 330, so that the upper link 120 at the bite position P1 still cannot engage with the lower link 130. In other words, when the door 320 is opened, the position of the lower link 130 in the door 320 will be different from the position when the door 320 is closed. In this state, the upper link 120 that the lower link 130 cannot reach is engaged with each other. Catch.

Please refer to FIG. 8, which is a schematic diagram of closing the vehicle door when the upper link of the active safety system of the present invention is in the engaged position. As shown in FIG. 8, when the upper link 120 moves to the bite position P1 and the door 320 is opened to closed, the lower link 130 moves in a direction D2 relative to the upper link 120 and the door 320, please refer to the 9th Fig. 9 is an enlarged view of the range B in Fig. 8. As shown in FIG. 9, when the first engaging structure G1 of the upper link 120 abuts on the second engaging structure G2 of the lower link 130, the guide surface S of the first engaging structure G1 will contact the second engaging structure G2 The guide surface S of the second embodiment pushes and slides against each other, so that a bite structure G1 of the upper link 120 will be raised to a position that can pass the second bite structure G2 of the lower link 130 and fall after falling over with the second bite structure G2 Bite the catch. In other words, when the upper link 120 moves to the bite position P1 and the door 320 is opened to closed, if the design of the first bite structure G1 and the second bite structure G2 with the guide surface S is selected, the door 320 can still face the closed door After the folding, the upper link 120 and the lower link 130 are engaged and locked, so the door 320 cannot be opened again after the folding. With this configuration, the active safety system of the present invention can still close the door 320 when a moving object is detected behind the vehicle 300, to prevent the upper link 120 from moving to the bite position P1 when a moving object is detected behind the vehicle 300. The vehicle door 320 cannot be closed, thereby avoiding traffic accidents caused by the vehicle door 320 being unable to be closed. In addition, as in other embodiments of the present invention, when the bite structure without the guide surface S is used, the processing unit 150 may be further set so that the processing unit 150 is used to determine whether the door 320 of the vehicle 300 is opened. When the processing unit 150 determines the vehicle When the door 320 of the vehicle 300 is opened, the processing unit 150 is used to control the image capturing device 110 to stop capturing images and drive the upper link 120 to a separated position. When the upper link 120 is located at the separated position, the upper link 120 'S will not get caught in the lower link 130.

In the implementation of the present invention, the image capturing device 110 is used to capture images of moving objects behind the vehicle 300 within a distance of 1 meter to 6 meters in the field of view LV, and use the captured images as color conversion Gray scale, binarization, and image processing of overlapping images, but the present invention is not limited to this. The range and distance of image capture can be set according to user needs, and the image processing procedure can be determined according to the processing performance of the processing unit . In addition, in the implementation of the present invention, the processing unit 150 includes a central processing unit and an image processing unit, wherein the central processing unit and the image processing unit use the RS-232 serial data communication interface standard for data For communication, the central processor is PIC18F458 and the image processor is TI C6748, but the invention is not limited to this.

Please refer to FIG. 10, which is a flowchart 600 of the vehicle active safety method of the present invention. The process of the vehicle active safety method of the present invention is as follows:

Step 610: Provide a vehicle including a vehicle body, a vehicle door, a vehicle door stopper and a vehicle control unit, the vehicle door is connected to the vehicle body and can rotate relative to the vehicle body, and the vehicle door stopper is fixed to the vehicle The vehicle control unit is installed in the vehicle body. The vehicle safety system includes an image capturing device, an upper link, a lower link, a driving device, and a processing unit. The image capturing device is provided in the vehicle In the body, both the upper link and the lower link are provided in the vehicle door, the upper link is movably connected to the vehicle door, one end of the lower link is connected to the vehicle door stopper, and the driving device is coupled to the The upper connecting rod, the processing unit is electrically connected to the image capturing device, the driving device and the vehicle control unit;

Step 620: The processing unit determines, through the vehicle control unit, whether the gear of the transmission is a parking gear or a neutral gear or whether the speed of the vehicle is zero;

Step 630: When the gear of the gearbox is the parking gear or the neutral gear or the speed of the vehicle is zero, the processing unit activates the image capturing device to capture continuous images to the rear of the vehicle;

Step 640: The processing unit uses the image captured by the image capturing device to determine whether there is an object approaching the vehicle behind the vehicle; and

Step 650: When the processing unit determines that there is an object approaching the vehicle behind the vehicle, the processing unit controls the driving device to drive the upper link to an engaged position so that the upper link and the lower link are engaged with each other, The vehicle door is fixed to the vehicle body via the upper link, the lower link and the door stopper.

Compared with the prior art, the vehicle active safety system of the present invention can fix the limit of the door by the upper link and the lower link engaging with each other when the vehicle is parked and detects an object approaching the vehicle behind the vehicle The body of the vehicle further prevents the driver from opening the door and actively viewing the objects behind, and avoids the accident of dangerous traffic accidents caused by the collision of vehicles, personnel and moving objects from behind when the middle door is suddenly opened. In addition, the vehicle active safety system of the present invention prevents the doors from opening by adding additional components to interlock with each other. Therefore, the vehicle active safety system of the present invention does not affect the priority of the door locks, and there is no need to rewrite the settings in the vehicle control system. . The above are only the preferred embodiments of the present invention, and all changes and modifications made in accordance with the scope of the patent application of the present invention shall fall within the scope of the present invention.

100: vehicle active safety system 300: vehicle 310: vehicle body 320: door 330: door stopper 331: fixed end 332: mobile end 340: vehicle control unit 110: image capture device 120: upper link 121: pivot Terminal 130: Lower link 131: End 135: Right triangle 140: Drive 141: Support bar 150: Processing unit 400: Moving object 600: Flow charts 610 to 650: Steps LV, RV: Field of view A, B: Enlarged image range S: guide surface GA: included angle G1: first bite structure G2: second bite structure D1, D2: direction P1: bite position

Figure 1 is a schematic diagram of the vehicle active safety system of the present invention installed in a vehicle. FIG. 2 is a schematic diagram of part of the components in a vehicle active safety system of the present invention disposed on a door. Figure 3 is an enlarged view of the range A in Figure 2. FIG. 4 is a schematic diagram of the active safety system of the present invention detecting moving objects. Fig. 5 is a schematic diagram of the driving device of the active safety system of the present invention driving the upper link. FIG. 6 is a schematic diagram of the upper link of the active safety system of the present invention located at the bite position and engaged with the lower link. FIG. 7 is a schematic diagram of the upper link of the active safety system of the present invention in the engaged position when the door is opened. Fig. 8 is a schematic diagram of closing the vehicle door when the upper link of the active safety system of the present invention is located in the engaged position. Figure 9 is an enlarged view of the range B in Figure 8. Fig. 10 is a flowchart of the vehicle active safety method of the present invention.

100: Vehicle active safety system

300: Vehicle

310: bodywork

320: door

330: Car door stopper

340: Vehicle control unit

110: Image capture device

120: upper link

130: Lower link

140: Drive

150: processing unit

LV, RV: range of sight

Claims (22)

A vehicle active safety system is suitable for a vehicle, which has a body, a door and a door stopper, the door is connected to the body and can rotate relative to the body, the door stopper is fixed on the A vehicle body, the vehicle safety system includes: an image capturing device disposed in the vehicle body, the image capturing device used to capture an image of a moving object behind the vehicle; an upper connecting rod disposed on the vehicle door Inside, the upper link has a first bite structure; a lower link is provided in the door and connected at one end to the door stopper, and the lower link has a second bite structure corresponding to the first bite structure A driving device, coupled to the upper link and used to drive the upper link to move relative to the lower link; and a processing unit, electrically connected to the image capture device and the driving device, the processing unit is used to The image is processed by the image, and the processing unit is further used to control the driving device to drive the first bite structure of the upper link to bite the second bite structure of the lower link according to the result of the image processing, or drive the upper link The first bite structure of is separated from the second bite structure of the lower link. The vehicle active safety system according to claim 1, wherein the processing unit is electrically connected to a vehicle control unit of the vehicle, and the processing unit detects the gear position of a gearbox of the vehicle via the vehicle control unit and At a speed of the vehicle, the processing unit also controls the driving device to drive the upper link according to the gear position of the gearbox and the speed of the vehicle. The vehicle active safety system according to claim 2, wherein the processing is performed when the processing unit detects that the gear of the transmission is a parking gear or a neutral gear, the vehicle speed is zero, or the vehicle is stopped The unit activates the image capture device. The vehicle active safety system according to claim 1, wherein the processing unit is further used to define a predetermined range within a field of view (FOV) of the image capture device, and the processing unit Image processing within the image. The active vehicle safety system according to claim 4, wherein when the processing unit determines that there is an object approaching the vehicle in the predetermined range behind the vehicle according to the result of the image processing, the processing unit is used to control the driving device to drive The upper link to a bite position, when the upper link is at the bite position, the first bite structure of the upper link is bited to the second bite structure of the lower link, so that the vehicle door is connected via the upper link The lever, the lower connecting rod and the door stopper are fixed to the vehicle body. The vehicle active safety system according to claim 1, wherein the image capturing device is provided on one of the rear mirrors of the vehicle. The active vehicle safety system according to claim 1, wherein the driving device is a stepping motor, and the stepping motor is used to drive the upper link to move the upper link relative to the lower link. The vehicle active safety system of claim 1, wherein the upper link has a pivot end for pivotally connecting with the vehicle door of the vehicle, the pivot end and the first bite structure are located at the The opposite ends of the upper link. The active vehicle safety system of claim 1, wherein the end of the lower link is connected to the door stopper of the vehicle by riveting, screwing, snapping, welding, or adhering. The vehicle active safety system as described in claim 1, wherein the processing unit uses the vehicle's controller area network to detect the gear state of the vehicle's gearbox, the vehicle's speed, and/or whether the vehicle It is in the starting state. The vehicle active safety system of claim 1, wherein the first bite structure and the second bite structure are substantially a triangular structure. The vehicle active safety system of claim 11, wherein the first and second engaging structures are substantially right-angled triangular structures, and the angle of the tip of the right-angled triangular structure ranges from 30 degrees to 60 degrees. The active vehicle safety system of claim 12, wherein the right-angled triangular structure of the first and second engaging structures has a slope, when the upper link is in an engaged position and the vehicle door is open The slope is used to allow the upper link to engage with the lower link by closing the door of the vehicle. The vehicle active safety system of claim 1, wherein the first bite structure and the second bite structure are substantially a rectangular structure or a trapezoidal structure. The vehicle active safety system according to claim 1, wherein the processing unit includes a central processor and an image processor, wherein serial data communication between the central processor and the image processor is via RS-232 Interface standard for data communication. The vehicle active safety system according to claim 1, wherein the door of the vehicle has at least one slot, the upper link has at least one mounting projection corresponding to the at least one slot, and the upper link can pass through the mounting projection Removably installed in the slot. The vehicle active safety system according to claim 1, wherein the processing unit is further used to determine whether the vehicle door is opened, and when the processing unit determines that the vehicle door is open, the processing unit is used to control the image capture The device stops capturing images and drives the upper link to a separated position, wherein when the upper link is in the separated position, the first bite structure of the upper link does not bite the second link of the lower link Occlusal structure. A vehicle active safety method is applicable to a vehicle and a vehicle safety system. The vehicle includes a vehicle body, a door, a door stopper and a vehicle control unit. The vehicle door is connected to the vehicle body and can be opposite to the vehicle body The vehicle door stopper is fixed to the vehicle body, and the vehicle control unit is installed in the vehicle body. The vehicle safety system includes an image capturing device, an upper connecting rod, a lower connecting rod, a driving device, and a In the processing unit, the image capturing device is disposed in the vehicle body, the upper link and the lower link are both disposed in the door, the upper link is movably connected to the door, and one end of the lower link is connected to the A vehicle door stopper, the driving device is coupled to the upper link, the processing unit is electrically connected to the image capturing device, the driving device and the vehicle control unit, the vehicle active safety method includes: the processing unit passes through the vehicle Use the control unit to judge whether the gear of the gearbox is the parking gear or the neutral gear or whether the speed of the vehicle is zero; when the gear of the gearbox is the parking gear or the neutral gear or the speed of the vehicle is zero At this time, the processing unit activates the image capturing device to capture continuous images to the rear of the vehicle; the processing unit uses the images captured by the image capturing device to determine whether there is an object approaching the vehicle behind the vehicle; And when the processing unit determines that there is an object approaching the vehicle behind the vehicle, the processing unit controls the driving device to drive the upper link to an engaged position, so that the upper link and the lower link are engaged with each other, so that the The vehicle door is fixed to the vehicle body via the upper link, the lower link and the door stopper. The active vehicle safety method according to claim 18, further comprising: performing image processing on the image captured by the image capturing device. The vehicle active safety method according to claim 19, wherein the image processing performed is color conversion gray scale, binarization, and overlapping images. The vehicle active safety method according to claim 18, wherein the processing unit determines whether there is an object approaching the vehicle behind the vehicle based on the image captured by the image capturing device. The processing unit further includes: A predetermined range is defined within a field of view (FOV) of the device; and the processing unit performs image processing on the image within the predetermined range. The vehicle active safety method as described in claim 18, further comprising: the processing unit judging whether the vehicle door is opened by the image captured by the image capturing device; and when the processing unit determines that the vehicle door is open At this time, the processing unit controls the image capturing device to stop capturing images and drives the upper link to a separation position, wherein when the upper link is located at the separation position, the first bite structure of the upper link does not The second bite structure that will bite into the lower link.

Images