TWI284297B - Intelligent and instantaneous crash-proof early-warning system and method - Google Patents

Abstract

Disclosed is an intelligent and instantaneous crash-proof early-warning system, applied to a crash-proof detection between a vehicle and its surrounding vehicles, including: a positioning module, a computing processor, a wireless communication module and an alarming module. The positioning module can receive the positioning information transmitted by satellites. The computing processor is able to compute the driving information of the vehicle based on the positioning information. The wireless communication module broadcasts the driving information of the vehicle to the surrounding vehicles and receives the other driving information broadcasted by vehicles surrounding the vehicle, and then transmits the information to the computing processor. The computing processor would determine whether the vehicle will collide with other vehicles according to the driving information of vehicles. In case of possible collisions, an alarming message is transmitted. The alarming module will alert the driver of the vehicle to the alarming message.

Description

1284297 IX. Description of the Invention: [Technical Field] The present invention relates to an early warning system and method, and more particularly to an intelligent instant collision avoidance warning system and method for a vehicle. [Prior Art] In recent years, regardless of the government Units, academic organizations or industry have invested a large amount of research funding and manpower to develop different driving safety systems. The main goal of these systems is to assist drivers in driving to improve traffic safety. The automobile anti-collision warning system is a currently developed driving safety system. The anti-collision warning system is installed on a vehicle or a road facility, and the position of an obstacle or other vehicle is detected by the sensor, and an obstacle is detected. When the object or other vehicle is in the warning zone, a warning message is sent to inform the driver of the warning and dodge to assist the driver to improve driving safety. The sensors used in the conventional automobile anti-collision warning system can be mainly divided into three types. The knives are an Acoustic sensor, an Infra-red sensor, and a microwave/millimeter wave radar. Take... wave/Millimeter-wave radar) sensor. Ultrasonic and infrared sensors used in the prior art have been widely used in today's vehicles due to their low cost and mature technology. However, its short measuring distance is the main shortcoming. It is only applicable to such things as “reverse warning” and vehicle warning on the side of the factory. Ultrasonic and infrared sensors are also incapable of adapting to bad weather. In the case of bad weather, the following disturbances occur in rain (snow) or fogging, and sometimes there are false alarms. 1284297, Takada’s then! It is far away and can be used for long-distance detection, and it is more than a variety of weather. However, because of the high price, large volume, low resolution and technology of microwave radar, the radar system is difficult to popularize due to the four reasons. If you want to develop the delivery system into a volume. Wide, and 丨 only enter the J ~ system chip (System on Chip, soc) also has considerable difficulty. = The above question is outside the 'who's car collision warning system's biggest question = ^ lack - effective two-way communication, so it is impossible to communicate the other party's driving information by communication, to achieve a more accurate instant invitation: and can not be advanced In the case of knowing the position of the other party's material, it is often avoided for factors such as the line of sight dead angle and the speed of the vehicle being too fast. This makes the anti-collision warning system can only passively avoid the car to hit other cars in 4, the name, and the law effectively prevent his car from potentially potential for the car. SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a smart instant collision avoidance system that allows the vehicle handles to communicate with each other to prevent collisions. The warning method is impacted and another object of the present invention is to provide a smart instant collision avoidance method which actively and effectively prevent the potential of the vehicle to the vehicle. The intelligent instant collision early warning system of the present invention is applicable to a vehicle. It is equipped with a satellite positioning module, a calculation module, a wireless communication module and a warning module. »Hai Hesheng Clamping Module can receive a positioning information from the 1284297 satellite of Global Positioning System at any time and output the positioning information. The positional λ is electrically connected to the satellite positioning module, and the driving information of the vehicle is calculated by the 疋 position. The line communication module and the arithmetic processor are electrically connected to each other, including a shipment that has been produced by the manufacturer.

St. The driving information of the car, and the receiving unit receives the driving information broadcasted by the vehicle and sends it to the computing benefit. And the operation processor determines, according to the driving information transmitted by the receiving unit and the driving information of the vehicle, whether the vehicle will collide with other vehicles, and sends a warning message when there is a possibility of collision. , and the Xiaoyun different processor is electrically connected and receives the warning message, and can notify the car to support the person according to the warning message. Therefore, the intelligent instant collision avoidance warning method of the present invention is applicable to the collision avoidance of a vehicle and its surrounding vehicles, and includes the following steps. (4) Receiving-positioning information transmitted from a satellite of the global satellite positioning system, and outputting The positioning information. (B) From the t-bit information, calculate the driving information of the vehicle. (C) Broadcast the driving information of the vehicle to the surrounding vehicles and receive the driving information broadcast by other vehicles around the four. (D) Judging whether the vehicle has collided with other vehicles based on the driving information of the vehicle and the driving information of other vehicles. (E) A warning message is issued when the vehicle collides with other vehicles. The function of the invention is that the positioning module and the wireless communication module transmit the light of the 1,284,297 vehicles of the vehicle to other surrounding vehicles, and the information of the surrounding vehicles is known by the information, and whether the other vehicles have impacts ",", called the vehicle and the week [embodiment] b, the purpose of preventing the impact. Features and effects, in the Ming, will be clear about the above and other technical content of the present invention, the following is better with the phase-matching formula The detailed description of the embodiment. The example is the device "Γ The best implementation of the instant collision avoidance warning system, on the vehicle, I include - satellite positioning module U, communication module 13, - operation judgment 12 and ϋ纟And 14... The satellite positioning module 11 is electrically connected to the arithmetic processor 12, which can produce a Japanese-made p〇siti〇n.ng system, GPS)%: the positioning information can be obtained and can be The positioning information is output to the transporting processor 12. The computing processor 12 takes the portion of the positioning information, and adds the radius of the warning range of the vehicle to the vehicle for the wireless communication module 13 Electrically coupled to the operational processor 12 And including a transmitting unit 131 and a receiving unit 132. The transmitting unit ΐ3ι broadcasts the driving information of the vehicle outputted by the arithmetic processing!! 12 to the surrounding vehicles, and the receiving unit 132 receives the driving information broadcasted by the surrounding vehicles. And being sent to the computing processor 12. The operating processor 12 is electrically connected to the warning module 14, and is determined by using the driving information of the vehicle and the driving qualification of the other vehicle received by the receiving unit 132. The risk of collision between the vehicle and other vehicles, if there is a risk of 1284297, the computing processor 12 sends a warning signal to the warning module 14. In the preferred embodiment of the invention, the satellite positioning module The received positioning information is a Minimum Minimum Global Navigation Satellite System Data (RMC) packet, but it is not limited to this. Others can obtain the relevant vehicle position and direction of travel. Positioning information of data such as speed and speed. Figure 2 shows the format of the RMC packet and the fields of the RMC packet. The meaning of the RMC packet is a general specification developed by the National Marine Electronics Association (NMEA). The RMC packet contains a starting packet header for identification, $GPRMC, and Green. UTC Position, a positioning information state, a Latitude, a N/S Indicator, a Longitude, an E/W Indicator, a moving speed ( Speed Over Ground), a direction of travel, a Course Over Ground, a geomagnetic change angle, and a check code. For example, if an RMC packet is received, the content is as follows: $GPi?MC, 095121.999, ^(, 2407.3662, AU2041.1022, £:, 8.38, 358.88, 191004,, *03 Refer to Figure 2 to view the RMC packet. After the corresponding message name of each field, it can be known that the time when the satellite positioning module 11 of the vehicle receives the RMC packet from the satellite is Greenwich Mean Time 〇9:51:21 999, A indicates positioning information. The state of the vehicle is available. The longitude of the vehicle is east longitude and the longitude is 120 degrees 41 points and 1002, while the latitude of the vehicle is north latitude and the latitude is 24 degrees 07 1284297. The first time the receiving direction is 3 difficulty, the receiving direction is 3 difficulty, receiving: =曰: month 2_year. And the last two Ma is the check code, in this case; ^ Ma Wei and it is worth noting that the positioning direction received by the coffee satellite is increasing. And the direction of the ordering direction is clockwise and the The arithmetic processor 12 extracts the latitude, latitude, fineness, longitude, traveling direction, and moving speed in the (four) bit information as the vehicle turning, and further, the arithmetic processor 12 also applies the radius of the warning range of the vehicle. Second, the car is assisted by the driving information. In this embodiment , - car = warning consumption is a circular range 'and the circumference of the circular range: four corners of the vehicle. The radius of the warning range of the vehicle can be adapted by the driver: = adjustment 'for example, a larger vehicle can guard the warning The radius of the range is "the four corners of the vehicle. ... value; the main forbearance" because the movement speed in the driving information is in lang', so the computing processor 12 starts calculating the collision time or six meetings. Before the point, 'the speed will be multiplied by a constant 1 852, so that the moving speed in two kilometers. Take Ma Maitu 3, in this example _ to illustrate · · Vehicles A and B have this The smart instant collision avoidance of the embodiment and the three vehicles A and B respectively represent the vehicle and the adjacent car and are represented by points a and b. When the vehicle A receives the taxi of the other vehicle B (3) broadcasted by the vehicle At the time of the news, the vehicle A sends the warp, latitude, longitude and latitude of the vehicle B together with the warp, latitude, longitude and latitude of the vehicle A to the vehicle a: 10 1284297, the transport processor 12, and Calculating the virtual st texture 夯12 can calculate the distance between the two vehicles by the following equation Is: ^

D - \\\ .12 cos ---— X

(v- 4 cut) Which represents the vehicle a and the vehicle B respectively, and the heart represents the vehicle A and the vehicle latitude respectively. Since the calculation of many trigonometric functions is included in the equation (1), the arithmetic processor 12 takes more time if it is directly operated. Therefore, the arithmetic processor 12 can also adopt another calculation method, that is, first, the distance 4 represented by each minute of the longitude and the latitude is different, and then the vehicle's longitude and latitude are correspondingly subtracted from the vehicle B. Longitude and latitude ~ ^ ^ Take the longitude difference and latitude difference of the two vehicles. Then directly multiply the longitude by 0 0 , ^ by the longitude per minute and the latitude of each point:: away from the 'degree..., the distance between the hands and the knives, you can get the two cars in the warp and latitude distance.妯 去 乂 Earth equator + diameter is 40075.04 km to calculate

It can be calculated that the latitude is divided into 1855·32 meters, and the longitude is %1. The distance between the vehicle A and the vehicle B can be calculated by the following formula: (2) After the relative distance between the two vehicles is calculated, plus the information on the direction of GPS travel, it is possible to construct a virtual right-angle coordinate system with the vehicle A as the origin. Moreover, in the coordinate system t, the setting in the north of the GPS satellite positioning system is not adopted, but the direction of the positive X-axis is changed to the enthalpy, and the clock is incremented. The direction of travel of the host vehicle A is fixedly set to a 90-degree direction, that is, toward the direction of the positive direction. Therefore, when the receiver of the 1284297 (four) A receives the traveling direction of the vehicle B, it must pass the H=12 in the transport=where After the column equation is converted, the traveling angle of the vehicle B in the parent system can be obtained and the formula (3) Θ^ is less than 〇B in the GPS satellite

Rb = θβ_Α+ηχ360 where Θ心为仏-办+9〇, and L is greater than 〇, η==〇 η 1. And 6^ and respectively represent the traveling direction in the vehicle a and the vehicle star positioning system, as shown in FIG.

The coordinates (: heart) of the vehicle B in the coordinate system can be calculated by the following spears (4)-(5), and the point (heart, 〇) is projected to the coordinate point of the X-axis at point b, point (〇 , force) is the coordinate point of the B point projected to the γ axis: I', heart = DxC 〇 S ^ + W4x (c 〇 S. 0 is - Sin ~ sin (5) formula (4) less 10,000 Z) xsin (^ / / + ~ A /) x (sin ~ 〇〇 3 & + (^ 〇 § ~ ~ ~ (5) which knows the unconverted original coordinate system, the line between the two points of the vehicle A, b y The angle between the east, as shown in Fig. 3, after the coordinate conversion, the angle becomes known. It is worth noting that in the present invention, only the values of K and COS are needed, and the value of & , _& and cos (9// values are as follows: sin^= (1607.94x^-^1)/^ (6) c〇s^=(l855.32x|^-^|)/i) (7) In the coordinate system of Figure 4, the straight line along the travel angle of the vehicle B will intersect the gamma axis in the coordinate system at a point of intersection (〇, less), and

The distance between (〇'>^) and the point (0,;;') is Dy^-xBx\2iriRB calculated by the following formula: β is positive and negative, and positive sign is the intersection point (〇, less,) At the point (〇, less illusion 12 1284297; the negative sign represents the intersection point (〇, less,) below the point (〇, h), a point (〇, 少,) and the point (〇沙幻的距离为' , can get the following formula. Know the intersection type (8) to make the moving speed of the vehicle B & γ axis fractional formula:

^B_y-SBsinRB where the value of A^ is positive, indicating that the projection of the vehicle B is in the positive direction of the Y-axis; on the contrary, if the value of Ay is negative, - ', the clothing is not soapy B The projection of the direction of travel on the Y-axis is negative. Therefore, the time at which the vehicle B reaches the intersection point (〇〆) can be obtained by the following equation: Τβ = Dy /^B_y = (- xB tan RB )/{βΒ sin RB ) ^ , Equation (9) 2: If 7; the value is positive 'representing the moving speed of the vehicle B, the Y-axis knife ^ is in the same direction as A, that is, the vehicle b is moving toward the intersection point.,), and will arrive at time 7; arrive at the intersection point (0, Less,); if the 'value is negative, represents the γ-axis component of the moving speed of the vehicle B ^ ..., 曰〇 /, % Han direction, that is, the vehicle B is far from the intersection point (〇, 〆), as shown 5 is shown. In Fig. 5, the 'intersection black w' is above the point, so the value of "the value is positive, but the γ-axis component k of the moving speed of the two B is a negative sign, indicating that the direction of travel of the car on the Y-axis is Negative direction 'is moving in the direction of the negative γ axis and the opposite direction. Therefore, the vehicle cannot reach the meeting point (〇,,) and there is no chance of collision with the vehicle A. And the time when the vehicle A arrives at the meeting point (0,,) is YES, and can be obtained by the following formula: (10) TA = (yB-^B x^Rb)/sa 13 1284297 〃 This car is auxiliary A The direction of advancement is set to the positive γ direction in this coordinate system, so... positive. If it is negative, it can be: If the furnace 5 is called negative, then the intersection point...,) at the position of the negative axis (as shown in Fig. 6) indicates that the vehicle will never reach the intersection point (10),). It is worth noting that the values of the trigonometric functions in all the above (10) are all at the formula (8)_ at the time of calculation = 1: square, to save the calculation, and to receive the brakes - 曰' 彡The surrounding parent-vehicle receives the opportunity to evaluate each other and evaluate whether there is a collision. In addition, the warning range of one car is a circular range and the circle contains the circle of four corners of the vehicle.丄回,1^为—丰Μ As shown in the figure, the warning range of the vehicle A is + control is the circle of L2, and the 铉逖七# idle a person falls. The four corners/each, in the same way, the vehicle B is in the car. The target path is + L and the warning range is s. The four corners of the early B. Γ Γ &; 别 Α Α Α Α Α Α = = = = = = = = = = = = = = = = = = = = = | | | | | | | | | | | | | | | | | | | | | | The warning range of the auxiliary and the RU is close and there is a danger of collision. The arithmetic processor 12 of the vehicle △ and B immediately rotates a warning message to the Lvw杈 group 14 〇 can receive the display mode t 14 The warning message of the operation processor 12 is displayed on the camp screen or by the voice reminder of the vehicle: the driver of the vehicle A. The police peach I includes the vehicle B relative to the vehicle. The speed of the B, the time of the collision, the time of the collision ^ The bird respects the vehicle in this direction, and quickly takes the necessary measures (4) 14 1284297. The radius of the warning range of the vehicle is adjusted appropriately, but the 纟定要夫纟The driver is in accordance with his needs... It is large enough to contain the four corners of the vehicle. The local owner of the money is slower, and the speed is slower. The agent Φ 4 曰力反应訏. Moreover, if I drive a person to drive a large vehicle, then smudge, S The target park can be expanded to meet the demand of cockroaches. For example, the warning ring of the vehicle A is the main ...... ▲ radius is greater than L2 L2, so 'making T7 bigger, relatively smashed, less than this condition is easier Satisfy, and let the driver of the arithmetic processor 1 of the vehicle A react. Two rounds of fire alarm ^'!, to inform the car early, in addition, the (four) type instant collision avoidance (four) line of the present invention can also be set ^ when less than - (four) Only when warning is given to prevent the driver from being far away from the intersection, the sacredness that is proposed too early does not have much effect on the bird. For example, vehicle A and vehicle B are in 3 minutes eve you > 4 «After the shackles and the knife buckles, there will be a chance to collide. In these 3 minutes, the two cars may change the direction of travel, or the speed of travel will be slower, so that the collision will be lost/xiao, and the warning will be raised too early. The driver of the car filial two A is divided into two or a driver of driving. Therefore, the present invention can set ΔΓ < Γ and 7 for the arithmetic processor 12; less than one 谪 A 々 士 , , , , , The warning message causes the vehicle A to raise a warning at a more appropriate time from the meeting point. However, it is also possible to set the warning value of the warning module 14 to be less than the appropriate value to filter the warning message that is submitted too early. The figure 8 is not, the smart instant collision avoidance warning method of the present invention comprises the following steps: Step 81: The satellite positioning module 11 of the vehicle receives the positioning information. 15 1284297 Step 82 is the operation processor 衮, 佑知Η太击+启°° The part of the positioning information of the positioning information is 83曰/limit range The radius is the information of the driving of the car. The unit 22nd transports the processor 12 to broadcast the traffic information of the other vehicles through the transmission of the early 70 Xiaosi. The transfer is early and the 32 is also received. Capital 2: The calculation processor 12 converts the moving speed of other vehicles and the driving of the vehicle into units. That is, the mobile fast production is converted from the knot to the kilometer. ^1他ΙΓ: The arithmetic processor 12 calculates / according to the content of the driving information, the relative unit of the vehicle and the vehicle (9) such as a meter, to facilitate the subsequent ^ will be relative latitude and longitude difference in the public step (four) is the operation processing The unit dances with the seat of the car = first, and sets the direction of travel of the vehicle to a positive 90 degree direction: and converts the direction of travel of other vehicles' driving information by the equation (3). 2 87 The calculation office (4) 12 draws a straight line along the other vehicles in the sacred system. According to formula (1) or (7), and (4)-(8) juice π δ 亥 条 直线 与 与 与 与 与 与 座, 〆). Step 88 is that the arithmetic processor 12 calculates the time of the other vehicle to the intersection point coordinates (0, less) according to the equation (9). If ^ is negative, skip to the step "No other vehicles will not arrive at the intersection (〇,,), there will be no chance of collision. If 7; is positive, then go to step 89. Step 89 is The operation processor 12 calculates the time when the vehicle arrives at the edge point coordinate (0,,) according to the formula (10). [If the value is negative, the process jumps to the step η to indicate that the vehicle is away from the intersection point (〇, 〆). There is no chance of collision. If 16 1284297 L is positive, skip to step 90. Step 9 is the operation processor, 12 calculation: = (: 峨. If not, _ 彳 step 8i. If two, then There is no chance for the two vehicles to collide, and jump to step 91. Module 2 91 Guanghai-Transport Processor 12 outputs a police message to the alert patrol:: The Haiwei police group 14 is based on the warning message The driver mentions that the driver does not advance, and the receiver jumps to step 8 j 0 = the above-mentioned intelligent instant collision avoidance warning system of the present invention is provided by the entire mouth <·, the line communication module 13, the satellite module u and the operation Judging 'actively broadcasting the driving information of vehicles, so that the vehicles in motion can master the driving of their neighboring vehicles: #讯' The arithmetic processing ^ I〗 from the vehicle information to estimate whether there is a potential collision risk, timely police: Bay I to the car _ driver, to prevent other vehicles from hitting the car, to make up for the lack of human sense of function The invention reduces the occurrence of dangers, and the invention has more accurate early warning functions than the prior art, and has the characteristics of instant high speed, fast update rate, etc. However, the above is only the preferred embodiment of the present invention. However, the scope of the present invention is not limited thereto, that is, the simple equivalent changes and modifications made by the application of the present invention: the contents of the invention and the description of the invention are still within the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a system block diagram of a preferred embodiment of the intelligent instant collision avoidance warning system of the present invention; FIG. 1 is a block diagram of an RMC packet for positioning information; 17 1284297 ° 疋 unconverted Original coordinate system, indicating the direction of travel of vehicle A and vehicle B and its linear distance; Figure 4 is a coordinate diagram with vehicle A as the origin, indicating the seat of vehicle B and the direction of travel of the two vehicles Figure 5 is a coordinate diagram similar to Figure 4, illustrating the direction of travel of the vehicle β away from the intersection point coordinates; Figure 6 is a coordinate diagram similar to Figure 4, illustrating the direction of travel of the vehicle 远离 away from the intersection point coordinates; 7 is a coordinate diagram similar to FIG. 4, which shows that when the vehicle A and the vehicle B have a collision risk, the warning ranges of the two vehicles are in contact; and FIG. 8 is a flow diagram of the intelligent instant collision avoidance warning method of the present invention.

18 1284297 [Description of main component symbols] 11 *'... *...保玍疋Clamping module 132 •...·Receiving unit 12.........*Operating processor 14........••Alarm module 13&quot ;... •...wireless communication module 81 to 91 ♦· ••step m... •...sending unit

19

Claims (1)

1284297 ---- „ R choice (more} is replacing Zi Cui 10, the scope of application for patent: Applicable to a vehicle and its surrounding 1 · A smart instant collision avoidance warning system for collision detection, including one The satellite positioning module can receive the positioning information transmitted from the satellite of the global satellite positioning system at any time, and output the positioning information, and the positioning information is a minimum global satellite navigation system information packet and includes the latitude of the vehicle, Zonal, longitude, warp direction, moving speed and travel direction; an arithmetic processor, electrically connected with the satellite positioning module, and receiving = positioning information, and adding the position information to the warning range of the vehicle half: become The vehicle's driving information 'the warning range of the vehicle is - round: circumference, and the circumference of the circular range at least all of the four corners of the vehicle, and the processing of HDX adjustments to the warning range half and _ _ ~ 〜电电, and includes: by ^ unit and - receiving unit 'the sending unit broadcasts the vehicle-assisted driving amount output by the _ processor to the surrounding vehicles: wide unit connection The vehicle surrounding the vehicle is broadcasted and sent to the computing processor; and the transportation processor calculates the time of the vehicle information point of the vehicle compensation according to the receiving information and the driving information of the vehicle auxiliary device. / Advise the vehicle and ^^ _ neighboring vehicle arrives at the intersection 1 U vehicle and the adjacent vehicle arrives at a positive value, and the time difference is less than _ special, the keeper's white time is less than a preset value = the round arrives at the intersection point '(9) The break_ will be combined with the phase 20 1284297 to output a warning message, and the specific value is the sum of the radius of the warning range of the vehicle and the adjacent vehicle, in addition to the moving speed of the adjacent vehicle; 'a warning module, The invention is electrically connected to the operation processor and receives the warning $100 heart and can notify the driver of the vehicle according to the warning message. ', 2·: The smart instant collision avoidance described in the first item of the patent scope The early warning system, first, where the vehicle A reaches the intersection point ^ and the time when the adjacent vehicle B reaches the parent meeting point; respectively, the following two formulas calculate τλ ^(yB-xB ^Rb)/sa TB=(-xBtmRB, /[SBsinRB) which; 'A is the vehicle A' The moving speed, (W5) is the coordinate of the vehicle b in a virtual right angle coordinate system with the vehicle A as the origin, and the heart is the traveling angle of the vehicle B in the coordinate system, and can be obtained by the following formula: +πχ3 60 where ((仏仏-heart+90, and U is in 〇, η=〇; 0 is less than 〇, pi, and ^ and & respectively represent the car's auxiliary Α and car ^ β in GPS satellite positioning The system makes the direction of travel, and ~ and a respectively h=Dx (cos know cos^-sin^sin^) yB^Dx(sin0HcoseA+c〇seHsineA) where D is the distance between the vehicle a and the vehicle B, plus The values of (7) coffee are respectively as follows: δΐη^= (1607.94x1^-^1)//) c〇s^=:(l855.32x|^-^|)/i) where, and A and A respectively The longitude of the vehicle A and the vehicle B, and seven and 21 i2S429' are the latitudes of the vehicle A and the vehicle B, respectively. According to the intelligent instant collision avoidance warning system described in claim 2, the distance between the vehicle A and the vehicle B can be obtained by the following formula: 3· p =111 .12 cos where , , ... are the longitudes of the vehicle A and the vehicle B, respectively, and 7 and are the latitudes of the vehicle A and the vehicle B, respectively. 4. According to the intelligent instant collision avoidance system described in item 2 of the patent application scope, the following formula can be used to determine “where,” respectively, the vehicle A and the vehicle: B are the latitudes of the vehicle A and the vehicle B, respectively. A 5 · ; = type of instant collision warning method: applicable to - on the vehicle, including the second), followed by the satellite launched from the global satellite positioning system, "read the positioning information, the fixed-ball satellite navigation system Information °疋-minimum king longitude, (four), moving speed riding material, weft direction, (B) the positioning resource force μ becomes the driving information of the vehicle °, = from the radius of the warning range, and the circle The range of the circumference of the second and eighth warnings is - round range, ^ adjustment / Haiqi auxiliary warning wheel four corners of receiving, broadcasting, and 22 1284297 second squad of the vehicle according to the side of the vehicle and an adjacent Vehicle driving:: 别计# 5H vehicle and the time when the adjacent vehicle arrives at the intersection, • The time when the vehicle and the adjacent vehicle lightly reach the intersection is positive, the time difference is less than a specific value and the vehicle arrives The time of the meeting point is less than a pre-value: the value of the day may determine that the vehicle will collide with the adjacent vehicle and output a police u ^ β characteristic value is the sum of the radius of the warning range of the vehicle and the adjacent vehicle of the four-way neighbor The speed of movement of adjacent vehicles; and (Ε) Notify the driver of the vehicle based on the warning message. 6. The intelligent instant anti-collision pre-police mentioned in item 5 of the patent scope / ', in the step (D), the vehicle arrives at the intersection point 'and the adjacent vehicle Β arrives at the intersection', 曰 calculates · (4) Two formulas TA=(WmRB)/SA ΤΒ=(−χβ tmRB)/(sBsinRB) where & is the moving speed of the vehicle A, (heart) is the vehicle, and the virtual right angle is the origin of the vehicle A The coordinates of the coordinate system, and the travel angle of the vehicle B in the coordinate system, can be =, RB = ^ B - A + nx360, / u nB + 9 〇, and when greater than 0 m, n = l, and, respectively, represent the vehicle A and the car: less than the GPS satellite (4) direction of travel, B 4 two formulas calculate: 5 and force respectively Ί X tolerate = X) x (c〇s 0 / /cos sin 0//sin yB=Dx(sin0HcoseA + coseHsin0A) 23 1284297 where D is the distance between the vehicle A and the vehicle b as follows: sin ΘΗ = (l 607.94 χ \φΑ - ΦΒ\)/D c 〇s^ =(l855.32x|^-^|)/i) 1 and New Zealand (4) Longitude of the handle A and the vehicle B, and \ are the latitudes of the vehicle A and the vehicle B respectively. Police out: 依Eye patent range 6th, + Smart a a # Law item 4 of instant crash ', the distance between the vehicle and the vehicle in the middle of the sea is less than the length of the vehicle A and the vehicle b, and A and the vehicle A are the latitudes of the vehicle A and the vehicle B, respectively. 8. According to the intelligent immediate collision avoidance warning method A and the distance D of the vehicle B described in item 6 of the patent application scope, the following formula can be obtained: D = W 855 · 32 X ll \|Ml6G7.94 χ Factory 8 | 2 The nine and the respectively are the longitude of the vehicle and the vehicle, and the latitudes of the vehicle A and the vehicle B are respectively. twenty four