1336669 六、發明說明： 【發明所屬之技術領域】 本發明係關於-種行車安全輔助通訊系統，尤指一種 針對行車安全輔助通訊系統之通訊内容進行管理的系統及 方法。 【先前技術】 • 纟多交通事故的肇事原因均為突發之危險駕駛，然而 #駕歇人面對突發危險駕驶的處理，往往會決定是否造成交 通事故或較大的交通事故。 隨著行車電腦的普及，車輛增加愈來愈多電子功能， •如行車記錄、車況異常記錄、自動剎車 '倒車達雷警示、 車況通訊等，其中以倒車雷達警示功能能夠直接提醒駕驶 人與前、後物體過近的警示，輔助駕駛人行車以確保安全。 然而，倒車雷達裝置僅可輔助車輛於倒車時一定範圍内之 障礙物體警示，但是對於車輛前行時或突發快速接近之車 鲁輛則無法提供駕致人足夠反應時間；因此，目前駕驶人並 無法事先預知路上突發危險駕駛，而有充份時間避開。 有鑑於此，已有人提出可行的解決方t，即於車輛内 建置有無線通訊裝置及特定通訊協定，令車輛可與鄰車構 成移動式無線網路而相互廣播各車行車訊息，如此一來車 輛得到通訊範圍内其它車輛對外廣播的行車訊息，進而達 到預警作用。誠如中國大陸公告第CN彳291 361號發明專 利，即揭示一種「使用特定網路在車輛之間通信車輛管理 信息的系統和方法」，此發明專利主要令各車輛内設置有 1336669 由上述說明可知，目 輛之無線通訊功能構成j已有相料利提出利用車 輛資訊，進而達到快速通知不利之二=由相互乂流車 不利於本車之潛在危險車H —或車況，甚至預估 技術並盔法it $ # i ，别揭二件專利所提出的 ㈣亚‘，，、忐適用於各種道路狀況 β M. zS m vir *λ .» /、'較為厫重的疋，當 ，…線通a網路遭遇地形阻擋而Α a# » ifr in ^ ^ …、法構成有效的通訊網路 時，則揭各項專利之功 』路 ®、任土 t …、在違成’因此，有待謀凍 更進一步的技術以提供駕駛人 ’、 無線通訊系統。 #的車用輔助行車安全之 【發明内容】 有鑑於上述提出的技術問題，本發明的主要目 出種仃車安全輔助網路管理系統及其方法，八車 經各種路況時，可不受附近地形影響均:二：=行 息溝通，以提高駕敬安全性。 ^㈣進仃車輪訊 欲達上述目的所使用的主要技術手段係令該 輔助網路管理方法係包含有： 女王 持續發送本車内部行車訊息及接收外部行車^ 中各行車訊息係包含有車速 '行車方向或車輕位置等二’其 由所接收的外部行車訊息，判斷周車是否對 潛在威脅，若判斷為是者，則進一步發出警告； 成 判斷該外部行車訊息是否由一主節點所廣播； 若否’則於-預設時間内累計已接收自其它 播的行車訊息數量，並於預定時間到達時全體向外廣播： 自累計的行車訊息數量’並以最高累計行車訊息數量 6 1336669 節點作為主節點；一旦成為主節點，則依據已接收行車訊 息中得知至少一從節點的可能行車路徑，藉此決定構成至 少一威脅關聯群組，再比較各威脅關聯群組之緊迫程度並 給予不同優先權權t，再依據優先權重高低，筛選並二渡 高權重的威脅關聯群組，優先對外轉介廣播封包，並以= 先權權ί高低依序破認是否收到纟威脅關料組内複數= 節點之回應封包(ACK)，若無則再重複轉介廣播封包給心 脅關聯群組内複數從節'點，直到接收到從節點的回廣封勺 右疋’除了持續對外廣播本車行車訊息外，同時接收 主節點及其它從節點廣播的行車訊息，依照主節點及其它 從郎點廣播的行車訊息經防撞演算後對駕敬人進行警示。 又，本發明行車安全輔助網路管理系統係包含有： :數從節點，係相互構成連線’又各從節 播本車内部行車訊息，並接收1 -1336669 VI. Description of the Invention: [Technical Field] The present invention relates to a driving safety auxiliary communication system, and more particularly to a system and method for managing communication content of a driving safety auxiliary communication system. [Prior Art] • The cause of accidents in many traffic accidents is sudden and dangerous driving. However, the handling of sudden dangerous driving is often determined by drivers who are responsible for traffic accidents or large traffic accidents. With the popularity of driving computers, vehicles are increasingly adding more and more electronic functions, such as driving records, abnormal vehicle records, automatic brakes, reversing warnings, and vehicle communication. Among them, the reversing radar warning function can directly remind the driver and the former. The warning of the object is too close, and the driver is assisted to drive to ensure safety. However, the reversing radar device can only assist the vehicle in warning of obstacles within a certain range when reversing, but it is unable to provide sufficient response time for the vehicle when the vehicle is moving forward or suddenly and quickly approaching; therefore, the current driver It is impossible to predict in advance the dangerous driving on the road, and there is sufficient time to avoid it. In view of this, a feasible solution has been proposed, that is, a wireless communication device and a specific communication protocol are built in the vehicle, so that the vehicle can form a mobile wireless network with the adjacent car and broadcast each vehicle driving information. The vehicle will receive the driving information broadcasted by other vehicles within the communication range to achieve the warning function. As disclosed in the Chinese mainland, No. CN 291 361, the invention discloses a system and method for communicating vehicle management information between vehicles using a specific network. The invention patent mainly sets 1336669 in each vehicle. It can be seen that the wireless communication function of the target vehicle has already been used to provide information on the use of vehicle information, so as to achieve the disadvantage of fast notification. = The potential dangerous vehicle H is detrimental to the vehicle by mutual turbulence, or the vehicle condition, or even the prediction technology. And the helmet method it $ # i, do not reveal the two patents proposed by the (four) sub-',,, 忐 apply to various road conditions β M. zS m vir * λ .» /, 'more serious 疋, when,... When the line-through network encounters terrain blocking and Α a# » ifr in ^ ^ ..., when the law constitutes an effective communication network, it reveals the merits of various patents, "Road®, Ren Tu t ..., in violation of the law" Freezing further technology to provide drivers', wireless communication systems. [Announcement of Vehicle Auxiliary Traffic Safety] In view of the above-mentioned technical problems, the main object of the present invention is a vehicle safety assisted network management system and a method thereof, which are free from nearby terrain when the eight cars pass through various road conditions. Impact: Two: = communication communication to improve the safety of respect. ^ (4) The main technical means used to achieve the above purpose is to make the auxiliary network management method include: The Queen continuously sends the internal driving information of the vehicle and receives the external driving. The driving information in the vehicle includes the speed of the vehicle. The driving direction or the light position of the vehicle, etc., is determined by the received external driving information to determine whether the weekly vehicle is potentially threatening, and if it is judged to be the one, further warning is issued; determining whether the external driving message is broadcast by a master node If no, the total number of driving messages received from other broadcasts is accumulated within the preset time, and all broadcasts are broadcasted when the scheduled time arrives: the number of self-accumulated driving messages 'and the maximum cumulative driving information number 6 1336669 nodes As the master node; once it becomes the master node, it is determined according to the possible driving route of the at least one slave node in the received driving message, thereby determining the at least one threat association group, and comparing the urgency of each threat association group and giving Different priority rights t, and then according to the priority level, select and cross the high-weight threat association group, excellent Externally refer to the broadcast packet, and decipher whether to receive the response packet (ACK) of the complex = node in the threat group, if not, then repeat the referral of the broadcast packet to the threat association. In the group, the plural number from the node 'point until receiving the slave node's back to the right of the box's right 疋', in addition to continuously broadcasting the vehicle driving information, while receiving the driving information broadcast by the master node and other slave nodes, according to the master node and other The driving information from the Langfang broadcast is warned by the driver after the anti-collision calculation. Moreover, the driving safety assisted network management system of the present invention comprises: a number of slave nodes, which constitute a connection with each other, and each of which broadcasts an internal driving message of the vehicle, and receives 1 -
外部行車訊息，並依據外部行車、i點廣播的 亚依據外口 h丁車訊息判斷並預警潛在威脅； 一主節點’係與複數從節點構成連線 數從節點的外部行車訊息，並集^自複 卞少.v — 王即點推選程序而指 疋之，又’該主節點係依據外部行車訊息經防撞演算後， 得知至少—從節點的可能行車路徑 心异後 徑以判斷出車柄之間於路徑上之彼此該可能行敬路 定媒布s小^ 4上之彼此構成威脅關係，以決 疋構成至乂 一威脅關聯群組，再 緊迫程度並給予不同優先權權重，因而 Μ聯群組之 先權權重高低，篩選並、… 因而主卽點即能依據優 對外轉介廣播… 權重的威脅關聯群組，優先 轉，廣播封包再以優先權權重高低依序確認是否收到 7 1336669 各威脅關聯群組中之複數從節點之回應封包，以了解各威 脅關聯群組中之各從節點是否均可收到彼此之行車訊息群 組，右無則繼續發出該威脅關聯群組的廣播封包，以提高 重要廣播封包的通訊可靠度。 ° 由上述可知，本發明一旦應用於交通麥塞的路口或交 流道出口時，⑬口車輛中-定會出現通減見度佳的主節 點，如此-來該主節點即能匯集附近最多從節點廣播的行External driving information, and based on external driving, i-point broadcasting, based on the external information, and judging the potential threat; a master node's and the plural slave nodes form the number of connections from the node's external driving information, and set ^ Self-recovery.v—Wang is the point of the selection process and refers to it, and 'the main node is based on the external driving information after the anti-collision calculation, knowing at least—the possible driving path of the node is different. The stalks between the handles on the path may be in a relationship with each other to form a threat relationship with each other, so as to constitute a threat association group, and then the degree of urgency and giving different priority weights, Therefore, the weights of the first group of the group are matched, and then the main point can be based on the superior external referral broadcast... The weight of the threat association group, priority transfer, broadcast packet and then confirm the priority weight in order Received 1 1336669 response packets from multiple slave nodes in each threat association group to know whether each slave node in each threat association group can receive each other's traffic message group, right without The continued issuing threats associated with the group of broadcast packets, in order to improve communication reliability important broadcast packets. ° As can be seen from the above, once the invention is applied to the intersection of the traffic jam or the exit of the interchange, the master node with good visibility will be present in the 13 vehicles, so that the master node can gather the most from the vicinity. The line broadcast by the node
車訊息，並立即執行防撞演算以建立至少一威脅關聯群植， 再以優先權權重高低過遽廣播封包，令轉介於車輕之間的 廣播封包減量，又為確保以f關聯群組㈣數從節點能 成功接收廣播封包’該主節點會確認各威脅關聯群址 數從節點於收到廣播封包後所主動回覆的-回庫封包 (ACK)，以提升訊息轉介 3 %、钌己 輔助網路管理方法能有效解^以，本發明行車安全 方法月"有效解決路口因障礙物阻擋車輛之門 通=所造無法預警之賴，且本方法亦能以最有效率及高 可罪性之通訊方式，令各威”聯群組内複 能在最短時間内收到重要 Ρ站確實 及有效性。 ❹廣播封包，確保預警的即時性 【實施方式】 首先s奢參閱第一圖所示 路管理系統的第一實施例之 多車輛，亦屬最易發生事故 明功效，本實施例係配合十 管理系統及方法。 ，係為本發明行車安全輔助網 架構圖。由於十字路口匯集許 之場合，因此為方便說明本發 字路口加以詳述本發明的網路 8 1336669 本發明的網路管理系統係於車輛進入十字路口通訊範 圍内始.構成型，其包含有： 複數從即點（2〇)，係於十字路口有效通訊範圍内相互 構成連線’又各從節點㈣係對外廣播本車之内部行車訊 息，並接收其它從節點（2G)廣播的外部行車訊息；所謂從 郎點(20)係指有效通訊範圍内之車輛，並依據外部行車訊 息判斷並預警潛在威脅； 主卽點（1 G)，係於十字路口有效通訊範圍内與複數 _從節點（2G)構成連線’以收集來自複數從節點⑽的外部行 車訊息，並經由-主節點推選程序而指定之；又，該主節 點（1〇)係依據外部行車訊息經防撞演算後，得知至少一從 節點（20)的可能行車路徑，再藉由該可能行驶路徑以判斷 ·*車輛之間於路徑上之彼此構成威脅關係，而決定構成至 少-威脅關聯群組，其中該行車訊息可為該從節點之 車速'2車方向或車輛位置等；待取得複數外部行車訊息 後，主節點（10)進而比較各威脅關聯群組之緊迫程度並給 :不同優先權權重’如此主節點(1〇)即能依據優先權權重 商低，筛選並過渡高權重的威脅關聯群組，並優先對外發 出廣播封包，之後再以優先權權重高低依序破認是否收到 各威脅關聯群組内複數從節點之回應封包（ACK)，以了解威 脅關聯群·组中之各從節點（20)是否均可收到I此之行車訊 息，提向通sfl可靠度；於本實施例中，該主節點〇 〇)係為 移動中之車輛。又該主節點設定優先權權重的依據係可包 含有碰撞機率、車種及碰撞前剩餘秒數參數，而該等參數 對於設定優先權的比重下表係提供一種較佳評斷方式： 9 1336669Car message, and immediately perform anti-collision calculation to establish at least one threat association group, and then use the priority weight to pass the broadcast packet, so that the broadcast packet between the car lights is decremented, and the group is guaranteed to be associated with f (4) The number of slave nodes can successfully receive the broadcast packet. The master node will confirm the number of threat-associated group addresses from the node to receive the broadcast packet, and then reply to the library packet (ACK) to improve the message referral 3%. The assisted network management method can effectively solve the problem, and the method for driving safety of the present invention effectively solves the problem that the intersection is blocked by the barrier of the vehicle, and the method can also be the most efficient and high. The sinful communication method makes it possible to receive important stations in the shortest time in each group. ❹ Broadcast packets to ensure the immediacy of early warning [implementation] First, please refer to the first The multi-vehicle of the first embodiment of the road management system shown in the figure is also the most prone to accidents. This embodiment is based on the ten management system and method. The network of the present invention is detailed for the convenience of the description of the intersection of the present invention. The network management system of the present invention is based on the communication range of the vehicle entering the intersection. The configuration includes There are: complex point-to-point (2〇), which is connected to each other within the effective communication range of the intersection. And each slave node (4) broadcasts the internal driving information of the vehicle and receives the external broadcast of other slave nodes (2G). Driving information; the so-called lang point (20) refers to the vehicle within the effective communication range, and judges and warns the potential threat according to the external driving information; the main defect (1 G) is within the effective communication range of the intersection and the plural _ The node (2G) constitutes a connection 'to collect external driving information from the plural slave node (10) and is specified by the -master node selection procedure; and the master node (1〇) is based on the external driving message after the collision avoidance calculation Obtaining at least one possible driving route of the slave node (20), and determining, by the possible driving route, that the vehicles have a threat relationship with each other on the path At least a threat association group, wherein the driving information may be the speed of the slave node '2 car direction or vehicle position, etc.; after obtaining multiple external driving messages, the master node (10) further compares the pressing of each threat association group Degree and give: different priority weights 'So the master node (1〇) can filter and transition high-weight threat association groups according to the priority weights, and give priority to the broadcast packets, then the priority weights High or low, sequentially, whether to receive the response packet (ACK) of the multiple slave nodes in each threat association group, to know whether the slave nodes (20) in the threat association group/group can receive the traffic information of I. In the present embodiment, the primary node is a moving vehicle, and the primary node sets the priority weight based on the collision probability, the vehicle type, and the remaining seconds before the collision. The parameters, which provide a better way to judge the weight of the set of priorities: 9 1336669
車種 特殊車種 — -—------ 般 般 由於大部份十字路口處均有建築物（43ΤήΓ^Τ^" 築物（43)會阻擋不同|道上車輛的廣#，使得車輛進入十 2路口之前無法成功接收其它車輛廣播行車訊息，而此時 右對向車道或父錯車道的車輛已構成威脅’則無從預先判 斷及警不駕驶人；{以，本發明之行車安全輔助網路管理 系統即於從節點（20)進入十字路口的有效通訊範圍時，透 過=存在之主節點（1 〇)或當主節點不存在時，由該有效通 訊範圍内之複數從節點（20)透過一纟節點推選程序而選任 ，k節點(20)以作為主節點。〇) ’藉此以由該主節點區分出 威脅關聯群組’並依其威脅程度給予不同優先權權重，並 :先通知一尚優先權權重威脅群組關於威脅車輛之行車訊 〜以及確5忍疋否收到該群組内之各從節點（20)的回應封 包，藉以將構成威脅車輛的位置周知於各從節點(2〇):避 免因為建築物的阻擋而無法達到有效的預警；纟中該主節 點（1〇)可為一固定於道路側之路側機單元（Road Side Unit , Rsu)或由進入路σ的複數從節點（2〇)推選之。 •:月配合參閱第二圖所示，由於主節點(10)及從節點(20) 句-又置於仃駛中的車輛，其中主節點。〇)及從節點(2〇)分別 包含有： 中央處理單元（11 )，係内建有主節點推選及交接程 序廣播权序及防撞警示程序；又該中央處理器（1彳）係進 1336669 一步連接有資料儲存單元（111)，其儲存有車輛識別碼，當 設定為主節點（10>時，即執行主節點交接程序，若為從節 點（20)時’則執行主節點推選程序； 一通訊模組（12)，係與中央處理單元（11)連接並與相同 通訊通道（channel)及協定（P「〇t〇C〇l)的通訊模組雙向連線， 藉以接收外部行車訊息後輸出至中央處理單元（11),以及 將中央處理單元（11)輸出的行車訊息對外廣播；又，如第 圖所示，各行車訊息格式至少包含有座標位置、車速、 行車方向、發送時間及本車識別碼； ,GPS模組（13)，係連接至中央處理單元（^)，係接 收衛星定位訊號，並至少擷取其中座標、時間及速度資料 予該中央處理單元（11); ^ —交通資訊單元（14)，係連接至該中央處理單元Π1)， =儲存有，口地理資訊（如路口的地理座標）及交通管理 貝Λ (如交通號誌燈號、變換燈號㈣、道路速限指示、 道路把工'交通事件等）； 車：感測單元(15)，係反應本車或車外環境狀態予中 涔理裔⑴）；如，方向燈燈號、雨刷狀態、胎壓值、車 燈啟閉狀態等； 时警不裝置（16)，係連接至中央處理單元⑴），由中央 处理單元（11)驅動垫示妒置 ^ ^ 勒&不裝置k醒馬駛人；於本實施例中該 舌不裝置為-顯示器，又可為蜂鳴器等元件；及 人人裝置（17)，係連接至中央處理單元⑴），供駕駛 人故疋或取消警示裝置之警示《。 上述_央處理單元（11)係連接有GPS模組（13)，故可 取得本車行進時的座 下進-步說明中央處^ 速、行車方向等資料。以 參閱第三圖所：央 使用權（51)，再取俨士主 ，《取侍通道 取侍本車的座標位置、車速、行車方^裳 資料，並儲存於資料a H方向等 之後再·將該等資料以私 Ύ (5 、。形式包裝成行車訊息並對外廣播 =一:：:交還通道使用權，於延遲-段時間後再回 (=。步驟’如此重覆地持續對外廣播本車的行車訊息 再如第四圓所示，各車輛中央處理器(11)亦週 期性地接收鄰車之J+击 * )兀週 仃車訊息並執行防撞警示程序，以隨時 在不同道路令達到自我箱觉 寻 單元⑴)會取得通道使用權 二)中央處理 的行車訊息(62)，—旦有扞鱼^等待接收周遭車輛傳送 車訊息被接收，則立即更新5 資料儲存單元之車輛動態資 辱〒（(3d) ’並由中卓虚拽哭 配〇該車輛動態資料庫進 、 π 剌斷太击β r …丁周k車輛之軌跡預測(64)，再 =車…到周遭車輛威脅(65)，若否則回到第二步 之，則㈣警不裝置以提示駕敬人即將產 (66)。然而，誠如第一圖 里 署p收 ® +子路°周邊的建築物（43)所在位 ^ ^ ^ , 的車輛，縱使有此一自 我預警功能，但仍因為建築物的 π , 的阻擋而無法取得所有車輛 的订車心以進行作出有效#威性之判斷 ㈣f ^。 U違到即 因此，再如第五圖所+士 矛α所不，中央處理器（於 自我預警功能（70)外，會隨時 这 J峤田攸即點是否即將進入 12 1336669 如十字路口等交通堕塞的路口 (71)’若判斷為l，則開始 判斷是否接收到來自主節點廣播的行車訊息（72)，以反應 出更為即時且有效的預警效果n當該中央處理器⑴) 依照GPS模組及交通資訊單元判斷本車即將駛人切路口 時，於此-情況下，該中央處理器⑴）立即判斷是否接收 到一主節點廣播的行車訊息。 1 ·若未接收到主節點（10)廣播的行車訊息，則於一預 設時間（T)内執行該主節點推選程序，以下進—步說明主節 點推選程序的詳細步驟，並請配合參閱第六圖所示·· 開始（80); 收集預定時間内的複數從節點廣播之外部行車訊息 (81)’計算目前所在位置所能接㈣之行車資訊息數量: 並於該預設時間（T)到達時（82)，連同本車識別碼對外廣播 該行車資訊數量（vN)、與地理中心之距離u及發出時 間⑴(83)，此時’該中央處理單元⑴）即可判斷本車是否為 行車資訊數量最高者（叫若為非，則維持目前從節點（85)， 若為是，則進-步判斷是否尚有其它相同為最高行車資訊 =量之從節點(86) ’若確認均無，則本車身份由從節點設 定成主節點（88);反之，則進一步比對本車與其它相同最 高行車資訊數量的從點節之與地理中心之距離(A—)是否 最紐(87) ’若是’則代表位於路口收訊最佳的地理位置， 將本車身份由從節點改為主節點(88)，若否則由其它從節 點選任為主節點，而本車仍維持從節點（85)。所謂地理中 心距離誠如第_圖所示，以切路口的巾央為中心，車细 與十字路口中央之間的間距，為方便計算，可以以十字路 13 1336669 中央之間為中心，向外以不同半徑（M ; r2 ;「3)圈晝出不Special types of vehicles - ------------- As most of the intersections have buildings (43ΤήΓ^Τ^" Buildings (43) will block the difference | Before the 12th intersection, the vehicle driving information of other vehicles could not be successfully received. At this time, the vehicle in the right opposite lane or the father's wrong lane has already constituted a threat. 'There is no pre-judgment and no driver; {Yes, the driving safety auxiliary network of the present invention The road management system is the plural slave node (20) in the valid communication range when the slave node (20) enters the effective communication range of the intersection, through the master node (1 〇) existing or when the master node does not exist. The k-node (20) is selected as the master node through a node-selection procedure. 〇) 'Through the master node distinguishes the threat association group' and gives different priority weights according to the degree of threat, and: Notifying a priority weighting threat group about the threatening vehicle's driving message~ and indeed accepting the response packet from each of the slave nodes (20) in the group, thereby knowing the location of the threatening vehicle node( 2〇): Avoid the effective warning because of the blockage of the building; the main node (1〇) can be a roadside unit (Rsu) fixed to the road side or by the access road σ The plural number is selected from the node (2〇). •: The month is shown in the second figure, because the master node (10) and the slave node (20) sentence - again placed in the vehicle, the master node. 〇) and the slave nodes (2〇) respectively include: a central processing unit (11), which has a master node selection and handover program broadcast order and anti-collision warning program; and the central processing unit (1彳) is 1336669 One step is connected with a data storage unit (111), which stores a vehicle identification code. When it is set as the master node (10>, the master node handover program is executed, and if it is the slave node (20), the master node selection procedure is executed. a communication module (12) connected to the central processing unit (11) and bidirectionally connected to the same communication channel (channel) and protocol (P"〇t〇C〇l) communication module for receiving external driving The message is output to the central processing unit (11), and the driving message outputted by the central processing unit (11) is broadcasted to the outside; further, as shown in the figure, each driving message format includes at least a coordinate position, a vehicle speed, a driving direction, and a transmission. Time and vehicle identification code; , GPS module (13), is connected to the central processing unit (^), receives satellite positioning signals, and at least retrieves coordinate, time and speed information to the central processing unit (11) ; ^ — Traffic information unit (14), connected to the central processing unit Π1), = stored, port geographic information (such as the geographical coordinates of the intersection) and traffic management Bellow (such as traffic number, change signal (4) , road speed limit indication, road work, 'traffic events, etc.'; car: sensing unit (15), is the reaction to the car or the external environment of the car to the lieutenant (1)); for example, the direction of the lights, the state of the wiper, Tire pressure value, lamp opening and closing status, etc.; alarm not device (16), is connected to the central processing unit (1)), driven by the central processing unit (11) to set up the device ^ ^ Le & not device k wake up In this embodiment, the tongue is not a device-display, but also a buzzer and the like; and a personal device (17) is connected to the central processing unit (1) for the driver to cancel or cancel the warning. The warning of the device. The above-mentioned _ central processing unit (11) is connected with a GPS module (13), so it is possible to obtain information on the center speed, driving direction, etc. when the vehicle is traveling. Three maps: Central use rights (51), and then take the gentleman, "take the channel to take The coordinates of the car, the speed of the car, the driving information, and the information stored in the information a H direction, etc., then the information is packaged as a private message (5, formatted as a driving message and broadcasted to the public = one::: return The channel usage right is returned after the delay-segment time (=. Step 'continue to continuously broadcast the driving information of the vehicle continuously, as shown in the fourth circle, the vehicle central processing unit (11) also periodically receives The J+ strike of the neighboring car*) 兀 仃 仃 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并 并Once there is a squid ^ waiting to receive the vehicle transmission message from the surrounding vehicle is received, immediately update the vehicle dynamics of the 5 data storage unit ((3d) 'and crying and matching the vehicle dynamic database, π Cut off the trajectory of the β r ... Ding Zhou k vehicle (64), then = car ... to the surrounding vehicle threat (65), if otherwise go back to the second step, then (4) the police do not device to remind the driver to be soon Production (66). However, as in the first picture, the vehicle in the vicinity of the building (43) where the building (43) is located ^ ^ ^ , even if there is such a self-warning function, but still because of the block of the building π, It is impossible to obtain the pricing of all vehicles to make a valid judgment (4) f ^. U is violated, therefore, as in the fifth picture, the + spears are not, the central processor (in addition to the self-warning function (70), will be at any time this J 峤田攸 point is about to enter 12 1336669 such as crossroads, etc. If the traffic congestion intersection (71)' is judged as l, it starts to judge whether to receive the driving information (72) broadcasted by the autonomous node to reflect a more immediate and effective warning effect n when the central processing unit (1)) When the GPS module and the traffic information unit judge that the vehicle is about to enter the pedestrian crossing, in this case, the central processing unit (1) immediately determines whether a driving message broadcast by a master node is received. 1 · If the driving message broadcasted by the master node (10) is not received, the master node selection procedure is executed within a preset time (T). The following steps describe the detailed steps of the master node selection procedure, and please refer to Figure 6 shows the beginning of (80); collects the number of travel messages from the node broadcast in the predetermined time period (81) 'calculates the number of traffic information that can be connected (4) at the current location: and at the preset time ( T) When arriving (82), together with the vehicle identification code, the amount of information (vN) of the driving information, the distance u from the geographic center, and the issuing time (1) (83) are broadcasted. At this time, the central processing unit (1) can judge the present. Whether the car has the highest number of driving information (if it is not, then maintain the current slave node (85), if yes, then step-by-step to determine whether there are other identical driving information=quantity slave node (86)' If there is no confirmation, the identity of the vehicle is set by the slave node as the master node (88); otherwise, it is further compared with the distance between the point and the geographic center of the car with the same maximum traffic information (A-). New (87) 'If it' is representative At the intersection, the best location is received, and the identity of the vehicle is changed from slave node to master node (88). Otherwise, the slave node is selected as the master node, and the vehicle still maintains the slave node (85). The so-called geographic center The distance is as shown in the figure _, centered on the towel center of the fork, the distance between the car and the center of the intersection, for the convenience of calculation, can be centered between the centers of the crossroads 13 1336669, with different radii outwards ( M ; r2 ; "3)
同數道同心圓’因此各車輛可由目前所在位置回報座落於 各道同心圓位置。-旦車輛由從節點(2〇)設定成為主節點 (1〇)後’則該主節點（1〇)依據從節點（2〇)行車訊息再經防撞 :寅算後’言十算出一從節點(2〇)之至少一可能行駛路徑，而 藉該可能行歇路徑以判斷出車輛之間於路徑上之彼此構成 威脅關係’以建立至少—咸脅關聯群組，若依據諸節點（20) 之該可能行駛路徑所建構出之該威脅關聯群組為複數，亦 I7存在一個以上之威脅關聯群組，則依據其威脅程度對該 些威脅關聯群組進行不同優先權權重之分配，再依據優先 權權重尚i ’篩選並過濾高權重的威脅關聯群組，優先對 外發出廣㈣包圖料，該廣播封包格式係含 有’ f ‘位置、車輛速度、行車方向、封包發送時間及列 二别威脅關聯群組之所有車柄識㈣。當從節點收到此 K播封包，並讀取到其所屬之其車輛識別碼 點要立即發屮_门φ 4 ^ tp 發出一回覆確認封包（ACK)，如第八6圖所示’ 此可破認於兮古描 曰 , 亥円榷重威脅關聯群組中之各從節點均可收到 彼此之行皁旬自二、4 _ 衹心而進行警示，若未收到者，則再重覆發送， 女〇 it 匕一* t ，；局權重威脅關聯群組的從節點（2〇)能確實即 ’ ’丨主節點的有效警示。 本車的中央處理器已收到主節點（1 0)廣播 、 w。Ίπ ·始V丨…贋播的行卓 點：其廣播本車行車訊息，並且同時接收主節 點廣播的行的行車訊息，依照主節點及其它從節 進-步C撞演算後對駕駛人進行警…下 丁 s不詳細步驟，並請配合參閱第七圖所示： 14 丄336669 開始⑽)後會取得通道使用權（91)，以先㈣接收周遭 =傳送料車訊息（92)，—旦有行車訊息被接收，則立 卩新至貧料儲存單元之車輛動態資料庫中（93)，並由中 =處理器配合該車㈣態資料庫進行周遭車_之執跡預 ，脅關前座標位置為中心’產生與本車相關的威 資訊(94)’再將目前接收到的威脅關聯群組之 中威脅關聯群組讀出(95)，再以本車識別碼判斷 該驅=列：威脅關聯群組的其中一員(96);若是，則由 節點二：广提示駕敬人即將產生碰撞，並回覆該主 點1覆確認封包(97);若否，則回到第二步驟(91)，直 到從節點駛離十字路口為 干，呤门费+ 明配合參閱第八B圖所 :封封包格式係包含有："節點車輛識別碼、 '、’ I & ’間、本車識別碼及封包發送時間。 由上述本實施例的說明可知，當 "，經本發明網路管理系統會推選二=二 ，古女士 >tA田L 14* 攸卽點作為主朗 ""即2特徵在於可接收到十字路口备少击± 訊息’並進一步將接收到許多車輛 ：：播的 知其已為威脅關聯:::二車訊息後，立即通 定後，即代表其正位於十字路:接— 置；因此，本發明網路管理系 ：：：順暢的位 駛人。 €仍售肊順利且立即警示駕 請參閱第九圖所示，以下進一井^ 威脅關聯群組的詳細步驟： 〃說明上述主節點建立 15 1336669 首先於開始（101)後，接收周遭車輛的行車訊息（i02)， 將最新周遭行車訊息存入資料儲存單元的車_資料庫 (1 03)由中央處理器配合車輛動態資料庫進行車輛之軌 跡預測ϋ依照各車輛預測而得之軌跡判斷是否彼此有威 脅衝突（104) ’右疋’則建立威脅關聯群組（彳〇5)，若判斷未 有威脅衝突者，即回至持續接收料行車訊息的步驟中 (1 02)…旦數個威脅關聯群組被建立，則該主節點中央處 理器即以其目前地理位置為中心，產生列名於各威脅關聯 群組車輛的資訊，並排列各群組之緊迫程度，進行高低優 先權權重分配陶，再依照優先權高低取出廣播車輔資訊 之車輛所在的威脅關聯群組（1Q7)，將威脅關聯群組中各車 輛的車辅識別碼及其所帛收到的訊息填入廣射^中，並 開始廣播高可靠度廣播封包（1 Q8)。於廣播後必須等待該等 車輛的全部回覆（109)，否則將持續廣播直到收到回覆訊息 為止，完成後再廣播次要權重之威脅關聯群組，直到所有 威脅群組均廣播並收到回覆確認封包為止，再回到第二步 驟（102)，如此重覆直到本車身份由主節點設定回從節點為 止0 ^由於主節點終究會駛離該十字路口，因此本發明網路 管理系統對於主節點交接程序請參閱第一圆及第十圖所 示，主節點的中央處理器依照GPS模組，開始後隨時判斷 目前是否往十字路口邊界（A)駛離（5〇1卜—旦判斷駛離，則 立即自車輛動態資料庫中搜尋十字路口的中心邊界是否存 在其它從節點駛入（502)，若有，估算複數從節點中停留於 此十子路口時間長短，並直接挑選停留時間最長的從節點 16 1336669 中央處理單元（31)，係内建有主節點推選程序、廣 播程序及防撞警示程序；又該中央處理器係進—步連接有 資料儲存單元（311 )，其儲存有車輛識別碼； 一通訊模組（32)，係與中央處理單元連接並與相同通 訊通道及協定的通訊模組雙向連線，藉以接收外部行車= 息後輸出至中央處理單元（31)，以及將中央處理單元輸 出的行車訊息對外廣播；又，如第八八圖所示，各行車^The same number of concentric circles' so that each vehicle can be placed in the concentric circle position from the current location. Once the vehicle is set from the slave node (2〇) to the master node (1〇), then the master node (1〇) is based on the slave node (2〇) driving message and then anti-collision: after the calculation, At least one possible travel path from the node (2〇), and the possible break path is used to determine that the vehicles pose a threat relationship with each other on the path to establish at least a salty threat association group, if according to the nodes ( 20) The threat association group constructed by the possible driving path is plural, and if there are more than one threat association group in I7, different priority weights are allocated to the threat association groups according to the threat degree. According to the priority weight, i 'screens and filters the high-weight threat association group, and preferentially sends out the wide (four) package picture, the broadcast packet format contains 'f' position, vehicle speed, driving direction, packet sending time and column. The second threatens all the handles of the associated group (4). When the slave K receives the K broadcast packet and reads the vehicle identification code point to which it belongs, it shall immediately send a reply _ gate φ 4 ^ tp to issue a reply acknowledgement packet (ACK), as shown in Figure 8 It can be confessed to the ancient tracing, and each of the slave nodes in the threat group can receive warnings from each other, from the second to the fourth, and only if they are not received, then Repeatedly sending, 〇 〇 匕 * ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; The car's central processor has received the master node (1 0) broadcast, w. Ί π · Start V 丨 ... broadcast the best point: it broadcasts the vehicle driving information, and at the same time receives the driving information of the line broadcast by the master node, according to the master node and other from the section into the step C calculations after the driver Police...The next step is not detailed, and please refer to the seventh picture: 14 丄336669 Start (10)) will get the channel use right (91), first (four) receive the surrounding = transport truck message (92), - Once the driving information is received, it will be in the vehicle dynamic database of the new to poor storage unit (93), and the medium=processor cooperates with the vehicle (four) state database to carry out the vehicle _ The front coordinate position is centered to generate the information related to the vehicle (94)', and then the threat association group among the currently received threat association groups is read out (95), and then the vehicle identification code is used to judge the drive= Column: one of the members of the threat association group (96); if so, the node 2: wide prompts that the driver will be about to collide, and replies to the main point 1 to confirm the packet (97); if not, then return to the second Step (91), until the slave node leaves the intersection, it is dry, the tuition fee + Ming cooperate B to FIG eighth reading: sealing system comprises packet format: " Node vehicle identification number, ',' I & 'between, the vehicle ID and the packet transmission time. It can be seen from the description of the above embodiment that when ", the network management system of the present invention will select two=two, Ms. Gu>tA Tian L 14* 攸卽 as the main lang"" Go to the crossroads and prepare for a small number of messages~ and further receive many vehicles:: The broadcaster knows that it has been associated with the threat::: After the second car message, immediately after the pass, it means that it is located at the crossroad: pick-up; Therefore, the network management system of the present invention::: a smooth driver. € is still sold out and promptly warning the driver. Please refer to the ninth figure. The following steps are taken to the threat group: 〃 Explain that the above-mentioned master node is established 15 1336669 First, after the start (101), receive the driving of the surrounding vehicles Message (i02), the latest surrounding driving information is stored in the data storage unit of the vehicle_database (1 03). The central processor cooperates with the vehicle dynamic database to predict the trajectory of the vehicle, and judges whether or not each other according to the trajectory predicted by each vehicle. Threat conflict (104) 'Right 疋' establishes a threat association group (彳〇5), if it is judged that there is no threat conflict, it returns to the step of continuously receiving the traffic information (1 02)... When the association group is established, the central processor of the master node centers on the current geographic location, generates information listing the vehicles associated with each threat association group, and ranks the urgency of each group to perform high and low priority weight distribution. Tao, and then the threat association group (1Q7) where the vehicle of the broadcast vehicle auxiliary information is taken according to the priority level, will threaten the vehicle auxiliary identification code of each vehicle in the associated group and its帛 The received message is filled in the wide shot and starts broadcasting high reliability broadcast packets (1 Q8). After the broadcast, you must wait for all the responses of the vehicles (109). Otherwise, the broadcast will continue until the reply message is received. After the completion, the threat weight association group will be broadcasted until all the threat groups broadcast and receive the reply. After confirming the packet, return to the second step (102), repeating until the identity of the vehicle is set back to the slave node by the master node. 0 Since the master node will eventually leave the intersection, the network management system of the present invention For the master node handover procedure, please refer to the first circle and the tenth diagram. The central processor of the master node according to the GPS module, at any time after the start, judge whether it is currently leaving the intersection (A) (5〇1) When leaving, immediately search the vehicle dynamic database for the presence of other slave nodes at the central boundary of the intersection (502). If so, estimate the length of time from the node to the ten-way intersection and directly select the residence time. The longest slave node 16 1336669 central processing unit (31), built-in master node selection program, broadcast program and anti-collision warning program; and the central processor The system is connected to a data storage unit (311), which stores a vehicle identification code; a communication module (32) is connected to the central processing unit and is bidirectionally connected to the same communication channel and the agreed communication module. Receiving external driving = output to the central processing unit (31), and broadcasting the driving information output by the central processing unit to the outside; and, as shown in the eighth figure, each driving ^
息格式至少包含有座標位置、車速、行車方向、發送時間 及本車識別碼；及 B ^ 一交通資訊單元（33)，係連接至該中央處理單元（31)， 係儲存有路口地理資訊（如路口的地理座標）&交通管理 資訊（如交通號誌燈號、變換燈號時間、道路速限指示、 道路施工、交通事件等）。 由於本實施例係以路側機單元作為主節點（3〇)，因此 當駛進路口的車輛均得接收到主節點（3G)廣播的行車訊 ^而不必内建主節點推選程序’因此當車辆進入路側機 單元之有效通訊範圍内，該路側機單元即執行如第九圖所 不之建立威脅關聯群組程序，因此車輛可於進入路口後均 可接收路側機單元廣播的行車訊息，並執行第七圖判斷本 車是否被通知為威脅關聯群組一員；若是，則中央處㈣ 會驅動警示裝置提醒構成威脅車輕的位置警 效果。 | 丁頂s 持續發送本車内部行車訊息及接收外部行車訊息，其 中各仃車訊息係包含有車速、行車方向或車輛位置等； 由所接收的外部行車訊息，判斷周車是否對本車構成 18 潛在咸脅，若判斷為是者，則進一步發出警告； 判斷該外部行車訊息是否由一主節點所廣播； 右否’則於一預設時間内累計已接收自其它從節點廣 播的行車訊息數量，並於預定時間到達時全體向外廣播各 =累计的行車訊息數量，並以最高累計行車訊息數量之從 =點作為主節點；—旦成為主節點，則依據已接收行車訊 了中仟知至少一從節點的可能行車路徑，藉此決定構成至 =一威脅關聯群組，再比較各威脅關聯群組之緊迫程度並 :予不同優先權權重，再依據優先權重高低，篩選並過濾 權重的威脅關聯群組，優先對外轉介廣播封包，並以優 $權權重⑤低依序確認是否收到各威脅關聯群組内複數從 :點之回應封包（ACK)，若無則再重複轉介廣播封包給該威 關聯群組内複數從節點’直到接收到從節點的回應封包 為止；及 若是，除了持續對外廣播本車行車訊息外，同時接收 ^點=其諸節點錢的行車訊息，依照主節點 從卽點廣播的行車訊息經防撞演算後對駕駛人進行馨示。 因此，本發明輔助網路管理系統及其方法係主要於通 訊範圍内推舉出一個能技此^:丨丄 … 此接收到大料車輛廣播行車訊息之 占点關《 即點立即執行防撞演算以建立至少一 威脅關&群組’再以權先權權重高低過濾轉介 勺 除令車輛之間的廣播封包減量 匕 埂播钌c減里外，又可接收 及重要性之行車訊自，描弁夂± 、有時效性 心h升各車輛執行預警效率。 保各威脅關聯群組内複數從節 為確 及叛攸即點收到廣播封包， 度，該主節點會強迫各威脅關聯群組内複數從節點二二 19 1336669 廣播封包後再回覆一回庫 僅係將其接㈣外部行車 對外廣播封包 輕自:判斷是否構成咸;:Γ預^1介’最終仍是由各車 路二二=:2=助網路管理方法能有效解* 本方法亦能以最有造無法預警之功效，且 關聯群組内複數從節#確 =^方式’令各威脅 播封包，確保預警的即時性及有效性。 室要的廣The information format includes at least a coordinate position, a vehicle speed, a driving direction, a sending time, and a vehicle identification code; and a B ^ a traffic information unit (33) connected to the central processing unit (31) for storing intersection geographic information ( Such as the geographic coordinates of the intersection) & traffic management information (such as traffic signal lights, changing signal time, road speed limit indication, road construction, traffic events, etc.). Since the roadside unit is used as the main node (3〇) in this embodiment, when the vehicle entering the intersection receives the driving information broadcast by the master node (3G), it is not necessary to have the built-in master node selection procedure. When the vehicle enters the effective communication range of the roadside unit, the roadside unit performs the threat association group procedure as shown in the ninth figure, so that the vehicle can receive the driving information broadcast by the roadside unit after entering the intersection, and Perform the seventh picture to determine whether the vehicle is notified as a member of the threat association group; if so, the central office (4) will drive the warning device to alert the position alert effect that constitutes a threatening vehicle. Dingding s continuously sends the internal driving information of the vehicle and receives the external driving information. The braking information includes the speed, driving direction or vehicle position. The external driving information received determines whether the weekly vehicle is 18 or not. Potential salty threat, if judged as yes, further issue a warning; determine whether the external driving message is broadcast by a master node; right no' accumulates the number of driving messages that have been received from other slave nodes within a preset time And when the scheduled time arrives, the whole broadcasts the number of accumulated driving messages, and the number of the highest cumulative driving message is taken as the master node; if it becomes the master node, it is based on the received traffic information. At least one possible driving route of the slave node, thereby determining the composition to the = threat association group, and then comparing the urgency of each threat association group: giving different priority weights, and then filtering and filtering the weight according to the priority weight Threat associated groups, prioritize external referral of broadcast packets, and confirm whether each threat association group is received by using the best weight of 5 In the group, the complex number from: the point response packet (ACK), if not, then repeats the referral of the broadcast packet to the plurality of slave nodes in the association group until receiving the response packet from the node; and if so, in addition to continuing to broadcast externally In addition to the driving information of the vehicle, the driving information of the node point = its node money is received at the same time, and the driving information is displayed to the driver according to the driving information broadcasted by the master node from the 卽 point. Therefore, the auxiliary network management system and the method thereof of the present invention mainly recommend a technical skill in the communication range: 此... This receives the occupancy information of the broadcast information of the large-sized vehicle broadcasting, that is, immediately performs the collision avoidance calculation. In order to establish at least one threat to the & group, and then use the weight of the right to filter the weight of the referral, in addition to the broadcast packet reduction between vehicles, the reduction of the broadcast, and the reception and importance of the traffic from , tracing ±, time-sensitive heart h to each vehicle to implement early warning efficiency. In the threat association group, the number of slaves in the threat association group receives the broadcast packet, and the master node forces each of the threat association groups to repeat the slave packet on the second and second 19 1336669 broadcast packets. It is only connected to the (4) external driving external broadcasting package: from judging whether it constitutes salty;: Γ pre-^1' is still still by the car road 22 =: 2 = help network management method can effectively solve * This method It is also possible to use the most effective and unpredictable effects, and the multiple blocks from the associations to make the threats broadcast packets to ensure the immediacy and effectiveness of the warning. Wide room
【圖式簡單說明】 第-圖：係本發明應用於一十字路口的示意圖。 第二圖：係本發明系統方塊圖。 第三圖：係本發明各車輛廣播程序的流程圖。 第四圖：係本發明防撞警示程序的自我預警流程圖 第五圖：係本發明防撞警示程序的流程圖。 第六圖：係、本發明主節點推選程序流程圖。 第七圖：係本發明防撞警示程序的執行警示流程圖 第八A、B圖：係、本發明二種不同行車訊息格式。 第九圖：係本發明建立威脅關聯群組流程圖。 第十圖：係本發明主節點交接程序流程圖 第十一圖：係本發明應用於雙向彎道的示意圖。 第十二圖：係本發明應用於交流道的示意圖。 第十二圖.係本發明第二較佳實施例應用於十字路 的不意圖。 第十四圖：係本發明第二較佳實施例的方塊圖。 20 1336669 第十五圖：係中國大陸公告第CN1291 361號發明專利 第十四圖。 第十六圖：係美國公告第「US6,985,089B2」號專利 第三圖。 【主要元件符號說明】 (10)主節點 (111)資料儲存單元 (13)GPS 模組 (15)車況感測單元 (1 7)輸入單元 (21) 中央處理器 (22) GPS 模組 (2 4)車況感測單元 (26)輸入單元 (31) 中央處理器 (32) 通訊單元 (43)建築物 (51’）車輛 (60’)本車 (11)中央處理器 (1 2)通訊模組 (14)交通管理單元 (16)警示單元 (20)從節點 (211)資料儲存單元 (23)交通管理單元 (25)警示單元 (30)主節點 (311)資料儲存單元 (33)交通管理單元 (50’）車輛 (52’）車輛 (61’）前車 21BRIEF DESCRIPTION OF THE DRAWINGS Fig.: is a schematic view of the present invention applied to an intersection. Second figure: is a block diagram of the system of the present invention. Third: A flow chart of the vehicle broadcasting program of the present invention. The fourth figure is a self-warning flowchart of the anti-collision warning program of the present invention. FIG. 5 is a flow chart of the anti-collision warning program of the present invention. Figure 6 is a flow chart of the selection process of the main node of the present invention. Figure 7 is an execution warning flow chart of the anti-collision warning program of the present invention. Figs. 8A and B are two different driving information formats of the present invention. Figure 9 is a flow chart of establishing a threat association group according to the present invention. Fig. 10 is a flow chart of the handover procedure of the master node of the present invention. Fig. 11 is a schematic diagram of the present invention applied to a bidirectional curve. Twelfth Diagram: A schematic view of the present invention applied to an interchange. Fig. 12 is a schematic view showing the application of the second preferred embodiment of the present invention to a crossroad. Figure 14 is a block diagram of a second preferred embodiment of the present invention. 20 1336669 The fifteenth figure: It is the invention patent No. CN1291 361 of the Chinese mainland. Figure 16: The third picture of the US Patent No. 6,985,089 B2. [Main component symbol description] (10) Master node (111) Data storage unit (13) GPS module (15) Vehicle condition sensing unit (1 7) Input unit (21) Central processing unit (22) GPS module (2) 4) Vehicle condition sensing unit (26) Input unit (31) Central processing unit (32) Communication unit (43) Building (51') Vehicle (60') Vehicle (11) Central processing unit (1 2) Communication module Group (14) Traffic Management Unit (16) Alert Unit (20) Slave Node (211) Data Storage Unit (23) Traffic Management Unit (25) Alert Unit (30) Master Node (311) Data Storage Unit (33) Traffic Management Unit (50') vehicle (52') vehicle (61') front vehicle 21