I2997J2 九、發明說明： 【發明所屬之技術領域】 本發明係有關一種車輛輔助監視裝置以及控制方法尤 其是利用偵測侧後視鏡之角度位置變化，配合車速以及車 幸兩轉向之狀態，來進行控制障礙物資訊擷取單元解取之角 度’以監測車輛周圍障礙物狀態之一種車輛側後視鏡輔助 控制方法與裝置。I2997J2 IX. Description of the Invention: [Technical Field] The present invention relates to a vehicle auxiliary monitoring device and a control method, in particular, using an angular position change of a detecting side mirror, in conjunction with a vehicle speed and a state of steering A vehicle side rearview mirror assisted control method and apparatus for controlling an obstacle information acquisition unit to extract an angle 'to monitor an obstacle state around the vehicle.
【先前技術】 根據美國咼速公路交通安全局（Nati〇nal Highway[Prior Art] According to the Nati〇nal Highway
Tr8^ffic Safety Administration，丽TSA)的調查資料，美 國，年約有10000人死於側面撞擊的事故中，另外根據我 =又通部統計處統計92年台閩地區汽車肇事事故統計資 中/事故類型中排名第一為r側撞」，比重佔所有事故 禎· 7/°。因此侧撞意外事故毫無疑問地受到各大車廠的重 廠積極研發更堅固的車輛側邊或側邊安全氣囊。 此固然可以減低受傷的程度，但畢竟這些技術僅是 被動安全」，㈣，無法有效遏止侧撞事故的發生。疋 為了降低側撞事故的發生，如中華民國專社 2=99,露的一種「汽車變換車道防止後視鏡死角二 眼衣置」，其係透過四個各裝置 車左右㈣料位置汽 眼，當汽車方向燈控制感開啟時， 之起曰波電 駕駛員。然而此技術之超音波電眼，並車2示 疋需要而改變電眼偵測之角度。此外，對於車輛^狀^ 6 1299712 如車速、轉向時的情況亦無法列入障礙物偵測之參考依 據，因此還是容易在偵測過程中產生死角。 綜合上述，因此亟需一種車輛側後視鏡輔助控制方法 與裝置來解決習用技術所產生之問題。 【發明内容】 本發明的主要目的是提供一種車輛側後視鏡辅助控制 方法與裝置，利用偵測侧後視鏡之角度，進而控制障礙物 偵測器之偵測角度，達到動態變換障礙物偵測角度以降低 死角之目的。 本發明的次要目的是提供一種車輛側後視鏡輔助控制 方法與裝置，其係更包括有根據車輛之狀態，如車速以及 轉速，作為控制障礙物偵測器之輔助參數，達動根據車輛 狀態以動態變換障礙物感測角度之目的。 為了達到上述之目的，本發明提供一種車輛侧後視鏡 輔助控制方法，其係包括有下列步驟：首先，感測車輛之 侧後視鏡之位置得到一位置偏移參數。然後，根據該位置 偏移參數形成一第一感測訊號。接下來，以一控制器處理 該第一感測訊號，而產生一控制訊號。隨後，以該控制訊 號控制至少一障礙物感測單元調整偵測角度來進行障礙物 偵測，進而產生一障礙物感測訊號。最後，該控制器接收 該障礙物感測訊號，以產生一障礙物資訊訊號。 較佳的是，該位置偏移參數係包括有侧後視鏡之水平 軸向與垂直軸向偏移。 1299712According to the survey data of Tr8^ffic Safety Administration, Li TSA, about 10,000 people died in the side impact accidents in the United States. According to statistics from the Department of Statistics of the Department of Statistics, the statistics of automobile accidents in the Taichung area in 1992. The number one in the accident type is r-side collision, and the proportion accounts for all accidents 7·7/°. Therefore, side collision accidents are undoubtedly actively developed by the major manufacturers' heavy plants to develop more robust side or side airbags. Although this can reduce the degree of injury, but these technologies are only passive safety, (4), can not effectively stop the side collision accident. In order to reduce the occurrence of side collision accidents, such as the Republic of China Specialist Agency 2=99, a kind of "car lane change lane to prevent the rearview mirror dead eye two-eye garment", which is through the four units of the vehicle (four) material position steam eye When the steering direction of the car is turned on, the driver of the chopper is activated. However, the ultrasonic electric eye of this technology, and the car 2 shows the need to change the angle of the electric eye detection. In addition, for the vehicle ^ ^ ^ 1299712 if the speed, steering conditions can not be included in the obstacle detection reference basis, it is still easy to produce a dead angle in the detection process. In summary, there is a need for a vehicle side mirror assisted control method and apparatus to solve the problems associated with conventional techniques. SUMMARY OF THE INVENTION The main object of the present invention is to provide a vehicle side rearview mirror auxiliary control method and apparatus, which utilizes the angle of the detection side rearview mirror to control the detection angle of the obstacle detector to achieve dynamic change obstacles. Detect angles to reduce dead ends. A secondary object of the present invention is to provide a vehicle side rearview mirror assisted control method and apparatus, which further includes an auxiliary parameter for controlling an obstacle detector according to a state of the vehicle, such as a vehicle speed and a rotational speed, to achieve a vehicle according to the vehicle. The state is used to dynamically change the obstacle to sense the angle. In order to achieve the above object, the present invention provides a vehicle side mirror assist control method comprising the steps of: first, sensing a position of a side mirror of a vehicle to obtain a position shift parameter. Then, a first sensing signal is formed according to the position offset parameter. Next, the first sensing signal is processed by a controller to generate a control signal. Then, the control signal is used to control at least one obstacle sensing unit to adjust the detection angle to perform obstacle detection, thereby generating an obstacle sensing signal. Finally, the controller receives the obstacle sensing signal to generate an obstacle information signal. Preferably, the positional offset parameter includes a horizontal axial and vertical axial offset of the side mirror. 1299712
控制 制0Control system
，其係更包 及相摅1驟··感測車輛之—速度資誠及轉向資訊；以 〜理以㈣訊以形成—車輛狀態參數1後使該控制 牛^弟—感測訊號、該車輛狀態參數以形成該控制訊 :古二加。其中，該轉向資訊係可選擇為一方向燈訊號、 °尨轉角訊號、一車輪轉角訊號以及其組成其中之一。 、一較佳的是，該車輛側後視鏡辅助控制方法其係更包括 以顯不單元接收該障礙物資訊訊號，以產生障礙物之資 汛，提供給駕駛者監視之步驟。 、 土為了達到上述之目的，本發明更提供一種車輛側後視 、見輔助裝置，包括：—第—偵測器，其係可偵測車輛之一 ’丨，辞鏡角度，以產生一第一感測訊號；至少一障礙物感 兀，其係具有一障礙物偵測感㈣器，轉礙物感測單 7〇可y接收一控制訊號以改變該障礙物偵測感測器之角 度以偵測週遭障礙物之資訊進而產生一障礙物感測訊 说’控制為，其係可接收該第一感測訊號以進行運算， 而產生该控制訊號，該控制器更可接收該障礙物感測訊號 以產生一障礙物資訊訊號。 車乂仏的疋，该障礙物感測單元更包括有一第二價測 器，其係可偵測該障礙物偵測感測器之角度，以產生一回 叉吼號。該控制器可接收該回受訊號以對該障礙物感測單 元進行一閉迴路控制。其中，該第二偵測器可偵測該障礙 1299712 物偵測感測器之水平軸向與垂直轴向偏移角度。 較佳的是，該障礙物偵測感測器係為一紅外線攝影 機、一超音波雷達或者是一毫米波雷達。 較佳的是，該第一偵測器可偵測側後視鏡水平軸向與 垂直軸向偏移角度。 較佳的是，該車輛側後視鏡輔助裝置，其係更包括有 一車輛動態偵測單元，以彳貞測一車輛狀態進而產生一車輛 狀態參數。其中，該控制器可接收該第一感測訊號以及該 車輛狀態參數以進行運算產生該控制訊號。該車輛狀態係 可為一轉向資訊、車速資訊以及其組成。其中該轉向資訊 可選擇為一方向燈訊號、一方向盤轉角訊號、一車輪轉角 訊號以及其組成其中之一。 較佳的是，該車輛側後視鏡輔助裝置，其係更包括一 顯示單元，以接收該障礙物資訊訊號，以產生障礙物之資 訊，提供給駕駛者監視。 【實施方式】 為使貴審查委員能對本發明之特徵、目的及功能有 更進一步的認知與暸解，下文特將本發明之系統的相關細 部結構以及設計的理念原由進行說明，以使得審查委員可 以了解本發明之特點，詳細說明陳述如下： 請參閱圖一所示，該圖係為本發明車輛側後視鏡輔助 控制方法之第一較佳實施例示意圖。該控制方法1包括有 下列步驟：首先進行步驟10，感測車輛之侧後視鏡之位置 1299712 ’ 得到一位置偏移參數。該位置偏移參數係包括有侧後視鏡 ' 之水平軸向與垂直軸向偏移參數。談步驟10更包括有步驟 101感測水平位置偏移餐數之流程以及步驟10 2感測垂直 位置偏移參數之流程，以下進行說明。 請參閱圖二A所示，該圖係為本發明偵測水平方向位 移參數之流程示意圖。該步驟101更包括有偵測侧後視鏡 是否轉動之步驟1011。如果後視鏡有轉動，則進行步驟 1012偵測侧後視鏡之水平位移量。接下來，分別以步驟 • 1013、1015、1017判斷該水平位移量之大小。然後根據該 水平位移量之大小範圍，再以步驟1014、1016以及1018 決定一水平位移參數。請參閱圖二B所示，該圖係為本發 明偵測垂直方向位移參數之流程示意圖。該步驟101更包 括有偵測側後視鏡是否轉動之步驟1021。如果後視鏡有轉 動，則進行步驟1022偵測側後視鏡之垂直位移量。接下 來，分別以步驟1023、1025、1027判斷該水平位移量之大 小。然後根據該垂直位移量之大小範圍，再以步驟1024、 ⑩ 1026以及1028決定一垂直位移參數。 再回到圖一所示，在步驟10之後，接下來進行步驟 12，根據該位置偏移參數以形成一第一感測訊號。然後進 行步驟13，以一控制器處理該第一感測訊號，而產生一控 制訊號。接下來進行步驟14，以該控制訊號控制一障礙物 ' 感測單元調整偵測角度來進行障礙物偵測，進而產生一障 … 礙物感測訊號。隨後，進行步驟15該控制器接收該障礙物 感測訊號，以產生一障礙物資訊訊號。最後，以步驟16以 一顯示單元接收該障礙物資訊訊號，以產生障礙物之資 1299712 況’以提供車内之駕駛員車輛側面方向之狀態。 該障礙物感測單元更可以傳嶋 口又汛唬對该障礙物感測單元進行閉迴路控制。 狀能ίΐ匕明ΐ控制訊號之產生’除了根據側後視鏡位移之 車：咬者移茶數之外，更可以摘測車輛之狀態，如 ”者疋轉向以作為辅助參數。請參閱圖三所示 二二二發：t輛側後視鏡輔助控制方法之另一較佳實施例 運驟i2之前更包括有—步驟11感測車貧 代表車:之第if狀態茶數’該車輛狀態參數包括有 Λ ?弟—車輛狀態參數以及代表轉向之-第二車 第兩-驟11可分為步驟110 _車速以形成該 該第數以及步驟111偵測一 車輛為本崎測車速以決定 速之步驟mo 步驟110更包括有偵測車 ：1105 "，m 之轉向，當ΐ二係為偵_ :方:牛:：據車輛之轉向，如:左轉、右轉= 仃以步驟1111、1113或1114 人可疋罝 透過上述’決定該障礙物感測單元:角= 1299712 平角度Horizontal一idx計算可以用式（1)表示，在垂直角 度Vertical—idx計算可以式（2)表示。, the system is more packaged and related to the 1st · · sensing the vehicle - speed qicheng and turn information; to take care of (4) to form - the vehicle state parameter 1 to make the control of the cattle - sensing signal, the Vehicle status parameters to form the control message: Guji. The steering information may be selected from the group consisting of a directional light signal, a 尨 turn signal, a wheel turn signal, and one of its components. Preferably, the vehicle side mirror assist control method further comprises the step of receiving the obstacle information signal by the display unit to generate an obstacle and providing the driver with a monitoring step. In order to achieve the above purpose, the present invention further provides a vehicle side rear view and auxiliary device, comprising: a first detector, which can detect one of the vehicles, and the angle of the mirror to generate a first a sensing signal; at least one obstacle sensation, which has an obstacle detecting sensation (four), and the obstacle sensing unit 7 y can receive a control signal to change the angle of the obstacle detecting sensor In order to detect the information of the surrounding obstacles and generate an obstacle sense message, the control is that the first sensing signal can be received for calculation, and the control signal is generated, and the controller can receive the obstacle. The signal is sensed to generate an obstacle information signal. In the rut of the rut, the obstacle sensing unit further includes a second price detector that detects the angle of the obstacle detecting sensor to generate a yoke. The controller can receive the feedback signal to perform a closed loop control on the obstacle sensing unit. The second detector can detect the horizontal axial and vertical axial offset angle of the obstacle 1299712 object detecting sensor. Preferably, the obstacle detection sensor is an infrared camera, an ultrasonic radar or a millimeter wave radar. Preferably, the first detector detects the horizontal axial and vertical axial offset angle of the side mirror. Preferably, the vehicle side mirror assisting device further includes a vehicle motion detecting unit for detecting a vehicle state to generate a vehicle state parameter. The controller can receive the first sensing signal and the vehicle state parameter to perform an operation to generate the control signal. The vehicle status can be a turn information, vehicle speed information, and its composition. The steering information may be selected from a direction light signal, a steering wheel angle signal, a wheel angle signal and one of its components. Preferably, the vehicle side mirror assisting device further includes a display unit for receiving the obstacle information signal to generate an obstacle information for the driver to monitor. [Embodiment] In order to enable the reviewing committee to have a further understanding and understanding of the features, objects and functions of the present invention, the detailed structure of the system of the present invention and the concept of the design are explained below so that the reviewing committee can The detailed description of the features of the present invention is as follows: Please refer to FIG. 1 , which is a schematic diagram of a first preferred embodiment of the vehicle side mirror assist control method of the present invention. The control method 1 includes the following steps: First, step 10 is performed to sense the position of the side mirror of the vehicle 1299712 ' to obtain a position offset parameter. The positional offset parameter includes horizontal axial and vertical axial offset parameters of the side mirrors'. The step 10 further includes a flow of sensing the horizontal position offset meal number in step 101 and a process of sensing the vertical position offset parameter in step 102, which will be described below. Please refer to FIG. 2A, which is a schematic flowchart of detecting a horizontal displacement parameter according to the present invention. The step 101 further includes a step 1011 of detecting whether the side mirror is rotated. If the mirror is rotated, step 1012 is performed to detect the horizontal displacement of the side mirror. Next, the magnitude of the horizontal displacement is judged by steps • 1013, 1015, and 1017, respectively. A horizontal displacement parameter is then determined in steps 1014, 1016, and 1018 based on the magnitude of the horizontal displacement. Please refer to FIG. 2B, which is a schematic flow chart of detecting vertical displacement parameters in the present invention. The step 101 further includes a step 1021 of detecting whether the side mirror is rotated. If the mirror is rotated, step 1022 is performed to detect the amount of vertical displacement of the side mirror. Next, the magnitude of the horizontal displacement is judged by steps 1023, 1025, and 1027, respectively. Then, according to the range of the magnitude of the vertical displacement, a vertical displacement parameter is determined by steps 1024, 10 1026 and 1028. Returning to Figure 1, after step 10, step 12 is performed to form a first sensing signal based on the position offset parameter. Then, in step 13, the first sensing signal is processed by a controller to generate a control signal. Next, in step 14, the control signal is used to control an obstacle 'the sensing unit adjusts the detection angle to perform obstacle detection, thereby generating an obstacle sensing signal. Then, in step 15, the controller receives the obstacle sensing signal to generate an obstacle information signal. Finally, the obstacle information signal is received by a display unit in step 16 to generate an obstacle 129912 condition to provide a state of the driver's vehicle side direction in the vehicle. The obstacle sensing unit can further transmit the closed loop control of the obstacle sensing unit. The shape can be controlled by the control signal. In addition to the car according to the displacement of the side mirror: the bite can be used to measure the state of the vehicle, such as the "turn" as an auxiliary parameter. See the figure Three shown two two-two rounds: another preferred embodiment of the t-side rearview mirror assisted control method includes a step-step 11 sensing the car-depleted representative car: the first if-state tea number' the vehicle The state parameters include Λ 弟 车辆 车辆 车辆 车辆 车辆 车辆 车辆 车辆 车辆 车辆 车辆 车辆 车辆 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二 第二The step of determining the speed mo step 110 further includes detecting the car: 1105 ", the turn of the m, when the second line is the detective _: side: cow:: according to the steering of the vehicle, such as: left turn, right turn = 仃Step 1111, 1113 or 1114 can determine the obstacle sensing unit through the above-mentioned: angle = 1299712 flat angle Horizontal-idx can be expressed by equation (1), and can be calculated at vertical angle Vertical_idx (2) Said.
Horizontal_idx=f(X—pOS，w—spd, W—dir)·……（1) Vertical —idx=f(Y一pOS，W—Spd，W—dir)··· ···…··· (2) 其中X—pos為前述之水平位移參數，Y_p〇s為垂直位移參 數’ W—spd代表前述之第一車輛狀態參數，w_dir前述之第 一車輛狀態參數。至於其他流程步驟說明如前所述，在此 A 不作贅述。 睛茶閱圖五所示，該圖係為本發明車輛側後視鏡辅助 控制裝置較佳實施例示意圖。利用前述之控制方法，本發 明提供一車輛侧後視鏡輔助控制裝置來具體設置於車上， 達到輔助之功效。該車輛側後視鏡輔助控制裝置2包括有 二第一偵測器21、至少一障礙物.感測單元22以及一控制 态20。該第一偵測器21，其係可偵測車輛之一側後視鏡 (、如·電動侧後視鏡或手動侧後視鏡）角度，以產生一第一 _ 感測訊號，該第一偵測器21可偵測側後視鏡水平軸向與垂 直軸向偏移角度。該障礙物感測單元22，其係具有一障礙 匆偵成1感測為220 ’該障礙物感測單元22可以接收一控制 =號以改變該障礙物偵測感測器220之角度，以偵測週遭 障礙物之資訊進而產生一障礙物感測訊號。其中，該障礙 物，測感測器220係為一紅外線攝影機、一超音波雷達或 者疋—耄米波雷達，但不在此限。 或障礙物感測單元22，更包括有一第二偵測器221， 其係可偵測該障礙物偵測感測器22〇所調整之角度，以產 生一回受訊號給該控制器2〇。然後該控制器2〇根據該回 12 1299712 ' 受訊號之狀態以對該障礙物感測單元22進行一閉迴路控 ， 制，進而控制該障礙物偵測感測器220調整置精確之角 度。該第二偵測器221可偵測該障礙物偵測感測器220水 平軸向與垂直軸向偏移角度。 該控制器20,其係可接收該第一感測訊號以進行運 算，而產生該控制訊號，該控制器20更可接收該障礙物感 測訊號以產生一障礙物資訊訊號。該控制器20更連接有一 顯示單元24(如液晶顯示器或者是發光二極體顯示器等， • 但不在此限），該顯示單元24可接收該障礙物資訊訊號， 以產生障礙物之資訊，提供給駕駛者監視。當該障礙物偵 測感測器220為紅外線攝影機時，該顯示單元24顯示所偵 測到之影像。當該障礙物偵測感測器220為超音波或者是 毫米波雷達時，該顯示單元24則顯示車輛與障礙物之相對 距離與相對速度。該車輛侧後視鏡輔助裝置2之控制器 20，其係更連接有一車輛動態偵測單元23，以偵測一車輛 狀態進而產生一車輛狀態參數。其中，該控制器20可接收 ⑩ 該第一感測訊號以及該車輛狀態參數以進行運算產生該控 制訊號。該車輛狀態係可為一轉向資訊、車速資訊以及其 組成。其中該轉向資訊可選擇為一方向燈訊號、一方向盤 轉角訊號、一車輪轉角訊號以及其組成其中之一。 請參閱圖六所示，該圖本發明障礙物監測實施示意 、圖。再圖中有三個車道，其中在中間車道之車輛係裝設有 - 本發明之裝置，該障礙物感測單元22係設置於車輛之後方 兩側，至於其所設置之位置可以根據需要而定，並不以本 實施例之位置為限。在圖中車輛之側後視鏡之監視範圍係 1299712 為90，因此對於兩侧之車輛6、7會有死角，使駕駛人無 ’ 法發現。當車輛9裝設了本發明之裝置，該障礙物感測單 元22之監視範圍91可以清楚了監視到原先侧後視鏡所無 法發現之狀態。因此可以彌補單純只有側後視鏡的缺陷， 以提昇駕駛員之安全，避免事故發生。 唯以上所述者，僅為本發明之較佳實施例，當不能以 之限制本發明範圍。即大凡依本發明申請專利範圍所做之 均等變化及修飾，仍將不失本發明之要義所在，故都應視 ⑩ 為本發明的進一步實施狀況。 本發明提供之車輛側後視鏡輔助控制方法與裝置，其 係具有根據侧後視鏡以進行障礙物感測角度調整，並輔以 車速以及轉向作為輔助參數，因此可以降低死角之偵測， 以助於車輛行進安全。因此足以滿足業界之需求，進而提 高該產業之競爭力，誠已符合發明專利法所規定申請發明 所需具備之要件，故爰依法呈提發明專利之申請，謹請貴 審查委員允撥時間惠予審視，並賜準專利為禱。 14 1299712 【圖式簡單說明】 圖一係為本發明車輛侧後視鏡輔助控制方法之第一較佳實 施例示意圖。 圖二A係為本發明偵測水平方向位移參數之流程示意圖。 圖二B係為本發明偵測垂直方向位移參數之流程示意圖。 圖三係為本發明車輛侧後視鏡輔助控制方法之另一較佳實 施例示意圖。 _ 圖四A係為本發明偵測車速以決定車輛狀態參數之流程示Horizontal_idx=f(X—pOS,w—spd, W—dir)·(1) Vertical —idx=f(Y-pOS, W—Spd, W—dir)··········· (2) where X_pos is the aforementioned horizontal displacement parameter, Y_p〇s is the vertical displacement parameter 'W-spd represents the aforementioned first vehicle state parameter, and w_dir is the aforementioned first vehicle state parameter. As for the other process steps, as described above, I will not repeat them here. The eye tea is shown in Figure 5, which is a schematic view of a preferred embodiment of the vehicle side rearview mirror auxiliary control device of the present invention. By using the foregoing control method, the present invention provides a vehicle side rearview mirror auxiliary control device to be specifically disposed on the vehicle to achieve the auxiliary function. The vehicle side mirror auxiliary control device 2 includes two first detectors 21, at least one obstacle, a sensing unit 22, and a control state 20. The first detector 21 detects an angle of a side mirror of the vehicle (such as a power side mirror or a manual side mirror) to generate a first _ sensing signal, the first A detector 21 can detect the horizontal axial and vertical axial offset angles of the side mirrors. The obstacle sensing unit 22 has a barrier rush detection 1 sensed as 220'. The obstacle sensing unit 22 can receive a control=number to change the angle of the obstacle detection sensor 220 to The information of the surrounding obstacles is detected to generate an obstacle sensing signal. Wherein, the obstacle sensor 220 is an infrared camera, an ultrasonic radar or a helium-meter-wave radar, but not limited thereto. Or the obstacle sensing unit 22 further includes a second detector 221 that detects the angle adjusted by the obstacle detecting sensor 22 to generate a received signal to the controller 2 . Then, the controller 2 performs a closed loop control on the obstacle sensing unit 22 according to the state of the signal 12 1299712 ', and controls the obstacle detecting sensor 220 to adjust the precise angle. The second detector 221 can detect the horizontal axis and the vertical axis offset angle of the obstacle detecting sensor 220. The controller 20 can receive the first sensing signal for operation to generate the control signal, and the controller 20 can further receive the obstacle sensing signal to generate an obstacle information signal. The controller 20 is further connected to a display unit 24 (such as a liquid crystal display or a light-emitting diode display, etc., but not limited thereto), and the display unit 24 can receive the obstacle information signal to generate obstacle information and provide Monitor the driver. When the obstacle detecting sensor 220 is an infrared camera, the display unit 24 displays the detected image. When the obstacle detecting sensor 220 is an ultrasonic wave or a millimeter wave radar, the display unit 24 displays the relative distance and relative speed of the vehicle from the obstacle. The controller 20 of the vehicle side mirror auxiliary device 2 is further connected with a vehicle motion detecting unit 23 for detecting a vehicle state and generating a vehicle state parameter. The controller 20 can receive 10 the first sensing signal and the vehicle state parameter to perform an operation to generate the control signal. The vehicle status can be a turn information, vehicle speed information, and its composition. The steering information may be selected from the group consisting of a direction light signal, a steering wheel angle signal, a wheel angle signal, and one of its components. Referring to Figure 6, there is shown and illustrated an obstacle monitoring implementation of the present invention. In the figure, there are three lanes, wherein the vehicle in the middle lane is equipped with the device of the present invention, and the obstacle sensing unit 22 is disposed on both sides of the rear side of the vehicle, and the position of the obstacle can be set as needed. It is not limited to the position of this embodiment. In the figure, the monitoring range of the side mirror of the vehicle is 9099712, so there will be a dead angle for the vehicles 6 and 7 on both sides, so that the driver has no problem. When the vehicle 9 is equipped with the apparatus of the present invention, the monitoring range 91 of the obstacle sensing unit 22 can clearly monitor the state that the original side mirror cannot be found. Therefore, it is possible to make up for the defects of only the side mirrors, so as to improve the safety of the driver and avoid accidents. The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. That is, the equivalent changes and modifications made by the present invention in the scope of the present invention will remain without departing from the spirit and scope of the present invention. The vehicle side rearview mirror auxiliary control method and device provided by the invention have the function of adjusting the angle of the obstacle sensing according to the side rearview mirror, and supplementing the vehicle speed and the steering as auxiliary parameters, thereby reducing the detection of the dead angle. To help the car travel safely. Therefore, it is sufficient to meet the needs of the industry, and thus to enhance the competitiveness of the industry. Since the invention has met the requirements for applying for inventions as stipulated in the invention patent law, it is necessary to submit an application for invention patents according to law. Examine and grant the patent as a prayer. 14 1299712 BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing a first preferred embodiment of the vehicle side mirror assist control method of the present invention. FIG. 2A is a schematic flow chart of detecting displacement parameters in the horizontal direction according to the present invention. FIG. 2B is a schematic flow chart of detecting vertical displacement parameters according to the present invention. Figure 3 is a schematic view of another preferred embodiment of the vehicle side mirror assist control method of the present invention. _ Figure 4A is the flow diagram of the invention for detecting vehicle speed to determine vehicle state parameters
I 意圖。 圖四B係為本發明偵測車輛轉向以決定車輛狀態參數之流 程不意圖。 圖五係為本發明車輛側後視鏡輔助控制裝置較佳實施例示 意圖。 圖六係為本發明障礙物監測實施示意圖。 I 【主要元件符號說明】 1- 車輛侧後視鏡輔助控制方法 HM6-流程 1011〜1018-流程 1021〜1028-流程 1100〜1106-流程 1110〜1114-流程 2- 車輛侧後視鏡輔助控制裝置 15 1299712 20- 控制器 21- 第一偵測器 22- 障礙物感測單元 220-障礙物偵測感測器 22卜第二偵測器 23- 車輛動態偵測單元 24- 顯示單元 > 6、7-車輛 8-車道 9 -車輛 90-侧後視鏡監控範圍 9卜障礙物感測單元監控範圍I Intent. Figure 4B is a schematic illustration of the process of detecting vehicle steering to determine vehicle state parameters. Figure 5 is a schematic illustration of a preferred embodiment of the vehicle side mirror assist control device of the present invention. Figure 6 is a schematic diagram of the implementation of obstacle monitoring in the present invention. I [Description of main component symbols] 1- Vehicle side mirror auxiliary control method HM6-flow 1011~1018-flow 1021~1028-flow 1100~1106-flow 1110~1114-flow 2-vehicle side rearview mirror auxiliary control device 15 1299712 20- Controller 21 - First Detector 22 - Obstacle Sensing Unit 220 - Obstacle Detection Sensor 22 Second Detector 23 - Vehicle Motion Detection Unit 24 - Display Unit > 6 , 7-vehicle 8-lane 9 - vehicle 90 - side rear view mirror monitoring range 9 obstacle obstacle sensing unit monitoring range
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