TWI831370B - Method and system for driving assisting - Google Patents

Abstract

A driving assisting method embodied by a driving assisting method system includes: (A) Calculating a head turning angle according to first activity sensing data and second activity sensing data, wherein the head turning angle represents the angle difference between the moving direction of a vehicle and the direction of a driver’s head; (B) determining, base on the head turning angle, whether a sight deviating condition is met, wherein the sight deviating condition includes that the head turning angle being greater than or equal to an angle threshold; (C) executing a collision pre-warning procedure if the sight deviating condition is met, wherein the collision pre-warning procedure includes outputting an alert notification upon determining the distance between the vehicle and an object ahead is smaller than a warning distance threshold.

Description

Driving assistance methods and systems

The present invention relates to a driving assistance method, and in particular, to a driving assistance method suitable for use in riding vehicles.

Motorcycles have the advantages of high maneuverability and convenient parking. They are a very popular personal transportation vehicle in modern society. However, if the rider is distracted and fails to pay attention to the road conditions ahead while riding, it can easily lead to car accidents. Therefore, how to appropriately provide driving assistance to riders to improve riding safety has become an issue worth discussing.

Therefore, one object of the present invention is to provide a driving assistance method that helps improve vehicle riding safety.

The driving assistance method of the present invention is implemented by a driving assistance system. The driving assistance system includes a first activity sensing unit suitable for being arranged on a vehicle for riding, and a third activity sensing unit suitable for being arranged on a driver's head. Two activity sensing units, an object sensing unit for sensing objects in front of the vehicle, an output unit, and an electrical connection between the first activity sensing unit, the second activity sensing unit, and the object sensing unit. unit and the processing unit of that output unit. The driving assistance method includes: (A) the processing unit based on a first activity sensing data generated by the first activity sensing unit and a second activity sensing data generated by the second activity sensing unit Calculate a head swing angle, wherein the head swing angle represents the angle difference between the traveling direction of the vehicle and the direction in which the driver's head is facing; (B) the processing unit determines a line of sight deviation based on the head swing angle Whether the condition is met, wherein the sight line deviation condition includes that the head swing angle is greater than or equal to an angle threshold; (C) If the processing unit determines that the sight line deviation condition is met, the processing unit executes a collision warning program, wherein the The collision warning program includes: judging whether the distance between the vehicle and an object located in front of the vehicle is less than or equal to a warning distance threshold based on object sensing data generated by the object sensing unit, and when the judgment result is yes The output unit is controlled to output a warning notification.

In some implementation aspects of the driving assistance method of the present invention, in step (B), the sight line deviation condition also includes a duration of the head swing angle being greater than or equal to the angle threshold and greater than or equal to a time length threshold.

In some implementation aspects of the driving assistance method of the present invention, in step (B), the time length threshold is determined by the processing unit based on the current moving speed of the vehicle, and the time length threshold is consistent with the vehicle The movement speed is negatively related.

In some implementation aspects of the driving assistance method of the present invention, in step (C), the collision warning program also includes determining a moving speed and the current head swing angle of the vehicle based on the current moving speed of the vehicle and the current head swing angle. The head swing angle is directly related to the warning distance threshold.

In some implementation aspects of the driving assistance method of the present invention, in step (B), the processing unit also determines whether a direction light unit included in the vehicle is in an on state or an off state, and the processing unit is When it is determined that the direction light unit is in the off state, it is determined whether the line of sight deviation condition is met.

In some implementation aspects of the driving assistance method of the present invention, in step (C), the processing unit also determines whether a direction light unit included in the vehicle is in an on state or an off state, and the processing unit is The collision warning program is only executed when it is determined that the turn signal unit is in the off state and the line of sight deviation condition is met.

In some implementation aspects of the driving assistance method of the present invention, the driving assistance method also includes a step performed simultaneously with steps (A) ~ (C): (D) the processing unit executes a collision detection program, wherein the collision The detection program includes controlling the output unit to output a prompt notification when it is determined based on the object sensing data that the distance between the vehicle and the object is less than or equal to a prompt distance threshold that is always less than the warning distance threshold.

In some implementation aspects of the driving assistance method of the present invention, in step (A), the processing unit calculates a yaw direction head angle and a head swing angle based on the first movement sensing data and the second movement sensing data. Pitch direction head swing angle; in step (B), the processing unit also determines whether a direction light unit included in the vehicle is in an on state or a closed state. If it is determined that the direction light unit is in an off state, the processing unit The unit determines whether a first line of sight offset condition is met. If it is determined that the direction light unit is in the on state, the processing unit determines whether a second line of sight offset condition is met, wherein the first line of sight offset condition represents the The head swing angle in the yaw direction is greater than or equal to a yaw angle threshold or the head swing angle in the pitch direction is greater than or equal to a pitch angle threshold. The second line of sight deviation condition means that the head swing angle in the pitch direction is greater than or equal to the pitch angle threshold. ; In step (C), if the processing unit determines that any one of the first sight deviation condition and the second sight deviation condition is met, the processing unit executes the collision warning program.

The present invention also provides another driving assistance method. Another driving assistance method of the present invention is implemented by a driving assistance system. The driving assistance system includes an activity sensing unit adapted to be disposed on a driver's head and an object sensor for sensing objects in front of the vehicle. unit, an output unit, and a processing unit electrically connected to the activity sensing unit, the object sensing unit and the output unit; the driving assistance method includes: (A) the processing unit based on a signal detected by the activity sensing unit The generated activity sensing data calculates a head swing angle, and the head swing angle represents the pitch angle of the driver's head turning up and down; (B) the processing unit determines whether a line of sight deviation condition is met based on the head swing angle, where , the sight line deviation condition includes that the head swing angle is greater than or equal to an angle threshold; (C) If the processing unit determines that the sight line deviation condition is met, the processing unit executes a collision warning program, wherein the collision warning program includes: Determine whether the distance between the vehicle and an object located in front of the vehicle is less than or equal to a warning distance threshold based on object sensing data generated by the object sensing unit, and control the output unit to output when the judgment result is yes. A warning notice.

Another object of the present invention is to provide a driving assistance system that helps improve vehicle riding safety.

The driving assistance system of the present invention is suitable for application in a vehicle for a driver to ride; the driving assistance system includes a first activity sensing unit suitable for being arranged on the vehicle, and a first activity sensing unit suitable for being arranged on the driver's head. a second activity sensing unit, an object sensing unit for sensing an object in front of the vehicle, an output unit, and an electrical connection between the first activity sensing unit, the second activity sensing unit, and the object sensing unit. testing unit and the processing unit of the output unit. Wherein, the processing unit is configured to perform the following steps: based on a first activity sensing data generated by the first activity sensing unit and a second activity sensing data generated by the second activity sensing unit Calculate a head swing angle, where the head swing angle represents the angle difference between the traveling direction of the vehicle and the direction in which the driver's head is facing; determine whether a line of sight deviation condition is met based on the head swing angle, where, The line of sight deviation condition includes that the head swing angle is greater than or equal to an angle threshold; if it is determined that the line of sight deviation condition is met, a collision warning program is executed, wherein the collision warning program includes: according to a signal generated by the object sensing unit The object sensing data is used to determine whether the distance between the vehicle and an object located in front of the vehicle is less than or equal to a warning distance threshold, and when the determination result is yes, the output unit is controlled to output a warning notification.

In some implementations of the driving assistance system of the present invention, the sight line deviation condition also includes a duration of the head swing angle being greater than or equal to the angle threshold and greater than or equal to a time length threshold.

In some implementations of the driving assistance system of the present invention, the time length threshold is determined by the processing unit according to the current moving speed of the vehicle, and the time length threshold is negatively correlated with the moving speed of the vehicle.

In some implementations of the driving assistance system of the present invention, the collision warning program also includes determining a value that is directly related to the vehicle's moving speed and the current head swing angle based on the current moving speed of the vehicle and the current head swing angle. Warning distance threshold.

In some implementations of the driving assistance system of the present invention, the processing unit also determines whether a direction light unit included in the vehicle is in an on state or an off state, and the processing unit determines whether the direction light unit is in an on state or an off state. In this closed state, it is judged whether the sight line offset condition is met.

In some implementations of the driving assistance system of the present invention, the processing unit also determines whether a direction light unit included in the vehicle is in an on state or an off state, and the processing unit determines whether the direction light unit is in an on state or an off state. The collision warning program is only executed when the off state and the line of sight deviation conditions are met.

In some implementations of the driving assistance system of the present invention, in the process from calculating the head swing angle to executing the collision warning program, the processing unit also executes a collision detection program, wherein the collision detection program is included in When it is determined based on the object sensing data that the distance between the vehicle and the object is less than or equal to a prompt distance threshold that is always less than the warning distance threshold, the output unit is controlled to output a prompt notification.

In some implementations of the driving assistance system of the present invention, the processing unit calculates a head swing angle in the yaw direction and a head swing angle in the pitch direction based on the first motion sensing data and the second motion sensing data; the The processing unit also determines whether a direction light unit included in the vehicle is in an on state or a closed state. If it is determined that the direction light unit is in an off state, the processing unit determines whether a first line of sight offset condition is met. If To determine that the direction light unit is in the on state, the processing unit determines whether a second line of sight offset condition is met, wherein the first line of sight offset condition represents that the head swing angle in the yaw direction is greater than or equal to a yaw angle threshold. Or the head swing angle in the pitch direction is greater than or equal to a pitch angle threshold, the second line of sight deviation condition means that the head swing angle in the pitch direction is greater than or equal to the pitch angle threshold; if the processing unit determines that the first line of sight offset condition and If any one of the second line of sight deviation conditions is met, the processing unit executes the collision warning program.

The present invention also provides another driving assistance system. Another driving assistance system of the present invention is suitable for application in a vehicle for a driver to ride. The driving assistance system includes an activity sensing unit suitable for being disposed on the driver's head, and an activity sensing unit for sensing the vehicle. An object sensing unit for an object in front, an output unit, and a processing unit electrically connected to the activity sensing unit, the object sensing unit and the output unit. Wherein, the processing unit is configured to perform the following steps: calculate a head swing angle based on activity sensing data generated by the activity sensing unit, and the head swing angle represents the pitch angle of the driver's head turning up and down; Determine whether a sight line deviation condition is met based on the head swing angle, where the sight line deviation condition includes that the head swing angle is greater than or equal to an angle threshold; if it is determined that the sight line deviation condition is met, a collision warning program is executed, where, The collision warning program includes: judging whether the distance between the vehicle and an object located in front of the vehicle is less than or equal to a warning distance threshold based on object sensing data generated by the object sensing unit, and when the judgment result is yes The output unit is controlled to output a warning notification.

The effect of the present invention is that the driving assistance system can calculate the angle difference between the traveling direction of the vehicle and the direction of the driver's head based on the first activity sensing data and the second activity sensing data, and The collision warning program is executed when it is determined that the line of sight deviation condition is met to control the output unit to output the warning notification when the vehicle is too close to the object in front. In this way, the driving assistance system can turn the driver's head too much and Timely reminders are issued when the risk of collision increases, thereby improving driving safety.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are represented by the same numbers. If not specifically defined, the "electrical connection" described in this patent specification generally refers to the "wired electrical connection" achieved by connecting multiple electronic devices/devices/components to each other through conductive materials, as well as through wireless communication technology. "Radio connection" for one/two-way wireless signal transmission. On the other hand, the "electrical connection" mentioned in this patent specification also generally refers to the "direct electrical connection" formed by multiple electronic devices/devices/components being directly connected to each other, as well as the "direct electrical connection" between multiple electronic devices/devices/components. They are also indirectly connected to each other through other electronic equipment/devices/components to form an "indirect electrical connection".

Referring to FIGS. 1 and 2 simultaneously, a first embodiment of the driving assistance system 1 of the present invention is suitable for application in a vehicle 20 for a driver 10 to ride. More specifically, the vehicle 20 is a motorcycle in the application of this embodiment. However, all vehicles used for the driver 10 to operate in a riding position (such as general bicycles and electric vehicles) are applicable to this embodiment. object, so the application of this embodiment is not limited to locomotives.

In this embodiment, the driving assistance system 1 includes a first device 11 suitable for being disposed on the vehicle 20 , and a second device 11 suitable for being disposed on the head of the driver 10 and electrically connected to the first device 11 . Device 12. The first device 11 includes a first activity sensing unit 111 for sensing the activity of the vehicle 20 , an object sensing unit 112 for sensing objects in front of the vehicle 20 , and a storage unit 113 , and a processing unit 114 electrically connected to the first activity sensing unit 111, the object sensing unit 112 and the storage unit 113. On the other hand, the second device 12 includes a second activity sensing unit 121 for sensing the head movement of the driver 10 and electrically connected to the processing unit 114, and a second activity sensing unit 121 electrically connected to the processing unit 114. Output unit 122.

In more detail, the first activity sensing unit 111 is a six-axis sensor implemented by a gyroscope and an accelerometer, and can sense a traveling direction D1 of the vehicle 20 (shown in FIG. 2 ). The object sensing unit 112 is a camera exposed outside the vehicle 20 and facing the front of the vehicle 20 , and can capture objects (such as pedestrians, vehicles and other obstacles) in front of the vehicle 20 . The storage unit 113 is a memory capable of storing digital data. The processing unit 114 is a central processor capable of performing data processing and calculations, and the processing unit 114 is electrically connected to the first activity sensing unit 111, the object sensing unit 112 and the storage unit 113 in a wired manner. . In addition, since the object sensing unit 112 is a camera in this embodiment, the first device 11 in this embodiment can be used as a driving recorder.

It should be added that the first activity sensing unit 111 can be implemented as long as it can sense the traveling direction D1 of the vehicle 20 . Therefore, in other embodiments, the first activity sensing unit 111 can also only use Accelerometer implementation does not necessarily require a gyroscope. On the other hand, the object sensing unit 112 can be implemented as long as it can sense objects in front of the vehicle 20 . Therefore, in other embodiments, the object sensing unit 112 can also be implemented as one or more radars. (such as millimeter wave radar), or a combination of radar and camera. Therefore, the implementation of the first activity sensing unit 111 and the object sensing unit 112 is not limited to this embodiment. Furthermore, in this embodiment, the driving assistance system 1 is a set of products independent of the vehicle 20 , so the first device 11 is installed on the vehicle 20 after the vehicle 20 leaves the factory. However, in different implementations, the driving assistance system 1 may also be built into the vehicle 20 when the vehicle 20 leaves the factory. Therefore, the first activity sensing unit 111 and the object sensing unit 112. The storage unit 113 and the processing unit 114 do not necessarily need to be implemented together to be independent of the first device 11 of the vehicle 20 .

In this embodiment, the second device 12 is suitable for being fixed on a safety helmet 30 . Therefore, as shown in FIG. 2 , the second device 12 can be worn by the driver 10 through the safety helmet 30 together with the safety helmet 30 . The cap 30 is provided on the head of the driver 10 . Further, the second activity sensing unit 121 is a six-axis sensor implemented by a gyroscope and an accelerometer, and can sense the rotation of the driver's 10 head, and then sense the rotation of the driver's 10 head. The direction D2 of the face facing the front of the part (shown in Figure 2). The output unit 122 has a vibrator and a speaker, and can emit vibration and sound controlled by the processing unit 114 . In addition, the second activity sensing unit 121 and the output unit 122 are electrically connected to the processing unit 114 in a wireless manner (such as Bluetooth, but not limited to this).

It should be added that the second activity sensing unit 121 can be implemented as long as it can sense the direction in which the front of the driver's head 10 is facing. Therefore, in other embodiments, the second activity sensing unit 121 It can also be implemented using only a gyroscope and does not necessarily require an accelerometer. On the other hand, the second activity sensing unit 121 may be specially used to sense the left and right and/or up and down rotation of the driver's 10 head. On the other hand, the output unit 122 can be implemented as long as it can issue prompts based on auditory or tactile forms. Therefore, in other embodiments, the output unit 122 can also be implemented as one of a vibrator or a speaker. Therefore, the implementation of the second activity sensing unit 121 and the output unit 122 is not limited to this embodiment.

Assume that the driver 10 is riding the vehicle 20 and the second device 12 is also disposed on the head of the driver 10 along with the helmet 30 (ie, the situation shown in FIG. 2 ). With reference to FIG. 3 , the following description will be given. How does the driving assistance system 1 of this embodiment implement a driving assistance method in the aforementioned situation.

First, in step S1, the processing unit 114 controls the first activity sensing unit 111 and the second activity sensing unit 121 to continue to perform activity sensing, and continues to receive a signal generated by the first activity sensing unit 111. first activity sensing data, and a second activity sensing data generated by the second activity sensing unit 121. The first activity sensing data indicates the real-time change of the traveling direction D1 of the vehicle 20, and the second activity sensing data indicates the real-time change of the facial direction D2 of the driver 10. In other words, the first activity sensing data indicates the real-time change of the driving direction D2 of the driver 10. Both the activity sensing data and the second activity sensing data change dynamically.

If the processing unit 114 continues to receive the first activity sensing data and the second activity sensing data, the process proceeds to step S2.

In step S2 , the processing unit 114 continues to calculate a dynamically changing head swing angle θ according to the first movement sensing data and the second movement sensing data, and the head swing angle θ represents the traveling direction of the vehicle 20 The instantaneous angle difference between D1 and the facial direction D2 of the driver 10 . More specifically, in this embodiment, the head swing angle θ refers to the angle difference between the traveling direction D1 and the face direction D2 on the horizontal plane formed by the X-Y axis, that is, the relative angle of the head of the driver 10 The yaw angle of left and right rotation in the direction of travel D1. However, in another embodiment, the head swing angle θ may also reflect the pitch angle of the driver's 10 head rotating up and down relative to the traveling direction D1. Therefore, the actual head swing angle θ is The aspect is not limited to this embodiment. It should be added that the processing unit 114 uses a clock signal in the prior art to continuously update the head swing angle θ according to the first motion sensing data and the second motion sensing data. For example, the processing unit 114 can calculate the latest head swing angle θ based on the current values of the first and second motion sensing data at each signal edge of the clock signal (which can be a positive edge or a negative edge). .

When the processing unit 114 continues to calculate the head swing angle θ, the process proceeds to step S3.

In step S3, the processing unit 114 determines whether a line of sight deviation condition is met based on the head swing angle θ. In this embodiment, the sight line deviation condition represents that the head swing angle θ is greater than or equal to an angle threshold (for example, 30 degrees, but not limited to this). However, in another embodiment, the sight line deviation condition means that the head swing angle θ is greater than or equal to the angle threshold, and the head swing angle θ is greater than or equal to the angle threshold for a duration that is greater than or equal to a time length. threshold value. The time length threshold is determined by the processing unit 114 according to the current moving speed of the vehicle 20 , and the time length threshold is negatively correlated with the moving speed of the vehicle 20 . In other words, the time length threshold value changes dynamically with the moving speed of the vehicle 20 , and the faster the moving speed of the vehicle 20 is, the smaller the time length threshold value determined by the processing unit 114 is (for example, It is 1.2 seconds when the vehicle speed is 40km/hr, and it is 0.8 seconds when the vehicle speed is 60km/hr, but not limited to this). Therefore, the faster the vehicle 20 moves, the easier it is to meet the line of sight deviation condition. It should be added that the time length threshold can also be a preset fixed value and does not necessarily change with the moving speed of the vehicle 20 .

If the processing unit 114 determines in step S3 that the line of sight deviation condition is not met, the process, for example, starts again from step S3 after a preset period (such as 500 milliseconds, but not limited to this), and if The processing unit 114 determines in step S3 that the sight line offset condition is met, and the process proceeds to step S4.

In step S4 following step S3, once the processing unit 114 determines that the line of sight deviation condition is met, the processing unit 114 executes a collision warning program. In this embodiment, the processing unit 114 executes the collision warning program by controlling the object sensing unit 112 to continue object sensing, and to continuously receive an image generated by the object sensing unit 112 and presented with the vehicle. 20 object sensing data in front of the object, at the same time, the processing unit 114 determines a positive correlation with the moving speed of the vehicle 20 and the head swing angle θ according to the current moving speed of the vehicle 20 and the current head swinging angle θ the warning distance threshold, and continuously determines whether the distance between the vehicle 20 and any object located in front of the vehicle 20 is less than or equal to the warning distance threshold based on the object sensing data, and when the judgment result of the processing unit 114 If yes, the processing unit 114 controls the output unit 122 to output a warning notification. For example, assuming that the warning distance threshold is ten meters, the processing unit 114 will control the output unit 122 to output a warning notification when the distance between the vehicle 20 and the object in front shortens to less than ten meters.

To be more specific, in this embodiment, the processing unit 114 calculates the warning distance threshold by, for example, multiplying the moving speed of the vehicle 20 by a weight value corresponding to the head swing angle θ. Moreover, the larger the head swing angle θ is (that is, the larger the amplitude of the driver's 10-turn head is), the larger the weight value is. Therefore, assuming that the moving speed of the vehicle 20 remains unchanged, the larger the head swing angle θ is, the larger the warning distance threshold value calculated by the processing unit 114 is. On the other hand, assuming that the head swing angle θ does not change, the faster the moving speed of the vehicle 20 is, the larger the warning distance threshold value calculated by the processing unit 114 will be. Therefore, when the vehicle 20 moves faster and/or the driver 10 turns his head more widely, the warning distance threshold will also be larger, so that the processing unit will be more sensitive when the vehicle 20 approaches the object in front. Controlling the output unit 122 to output the warning notification earlier is equivalent to advancing the output time point of the warning notification. In this way, this embodiment helps to allow the driver 10 who may turn his head due to distraction to have sufficient driving reaction time when prompted by the warning notification, thereby preventing the vehicle 20 from colliding with an object in front. It is supplementary to note that the numerical correspondence between the head swing angle θ and the weight value is, for example, preset and stored in the storage unit 113, and the processing unit 114, for example, uses a table lookup method to determine the numerical correspondence between the head swing angle θ and the weight value. Determine the weight value, but not limited to it.

On the other hand, since the object sensing unit 112 is a camera in this embodiment, the object sensing data is a video captured by the camera in this embodiment. However, when the object sensing unit 112 is implemented as a radar Or in the implementation of a combination of radar and camera, the object sensing data can also be implemented as a radar scanning result, or a combination of a radar scanning result and a video. Therefore, the implementation of the object sensing data does not It is not limited to this embodiment. In addition, the method by which the processing unit 114 performs object recognition and ranging based on videos can be achieved using existing deep learning technology, and this part is not the technical focus of this patent specification, so its details will not be described in detail.

On the other hand, since the output unit 122 is a combination of a vibrator and a speaker in this embodiment, the warning notification includes a vibration signal generated by the vibrator and a warning sound emitted by the speaker. However, in other embodiments, the warning notification The warning notification can also be implemented as one of a vibration signal and a warning sound, and is not limited to this embodiment.

It is supplementary to note that in a similar implementation aspect of this embodiment, the processing unit 114 may also start to control the object sensing unit 112 to perform object sensing in step S1 and continue to receive data from the object sensing unit 112 The object sensing data (the object sensing data is a video in this embodiment) is stored in the storage unit 113 to realize the function of the driving recorder. In addition, during the execution of the collision warning program, if the processing unit 114 detects that the head swing angle θ is reduced to the angle threshold or another preset angle value (meaning that the driver 10's head has (approximately back to normal), the processing unit 114 ends the execution of the collision warning program, and the process starts execution again from step S3.

The above is an example of how the driving assistance system 1 of this embodiment implements the driving assistance method.

In the first advanced implementation aspect of this embodiment, in step S3 of the driving assistance method, the processing unit 114 first determines whether a direction light unit (not shown) included in the vehicle 20 is in A flashing on state, or a non-blinking off state. Furthermore, the processing unit 114 will continue to determine whether the line of sight deviation condition is met only when it is determined that the direction light unit is in the off state. In other words, if the processing unit 114 determines that the direction light unit is in the on state in step S3, the processing unit 114 will not determine whether the line of sight deviation condition is met, and the process, for example, after the end of a preset period Start again from step S3. In particular, if the direction light unit is in the on state, it usually means that the driver 10 is intending to change the traveling direction D1 of the vehicle 20 (for example, turning, pulling over, or switching lanes). In this case, many drivers For the sake of driving safety, people will turn their heads left and right to confirm the situation of the vehicle behind them. The turning behavior at this time is not caused by distraction, and it is less likely to cause the risk of the vehicle 20 colliding with the object in front. Therefore, by the processing unit 114 only determining whether the line of sight deviation condition is met when the direction light unit is in the off state, this implementation can avoid the driver 10 turning his head to confirm the vehicle condition behind him but being disturbed by the warning notification. situation. It is supplementary to note that in the advanced implementation mode, the processing unit 114 is electrically connected to a trip computer (not shown) of the vehicle 20 , whereby the processing unit 114 can determine the bicycle's speed according to the situation. The computer's blinker status signal determines whether the blinker unit is on or off. Alternatively, in some implementations, the processing unit 114 can also be the driving computer of the vehicle 20 itself or a part thereof, and can naturally determine the current status of the direction light unit. Alternatively, in some implementations, the processing unit 114 may also receive image data from a photographic lens of a lamp that captures the direction light unit, and determine whether the direction light unit is by detecting whether there is light flickering in the image data. is on.

In the second advanced implementation aspect of this embodiment, in step S4 of the driving assistance method, the processing unit 114 first determines whether the direction light unit of the vehicle 20 is in the on state or the off state. Furthermore, the processing unit 114 only executes the collision warning program when it is determined that the turn signal unit is in the off state and the line of sight deviation condition is met. In other words, even if the processing unit 114 has determined in step S3 that the line of sight deviation condition is met and the process proceeds to step S4, if the processing unit 114 determines in step S4 that the direction light unit is in the on state, The processing unit 114 will not execute the collision warning program. By the processing unit 114 only executing the collision warning program when the line of sight deviation condition is met and the direction light unit is in the off state, this implementation can also prevent the driver 10 from turning his head to confirm the vehicle condition behind him but being warned. Notify of interruptions.

In the third advanced implementation aspect of this embodiment, in step S2, the processing unit 114 continuously calculates a dynamically changing yaw direction according to the first movement sensing data and the second movement sensing data. The head angle and the head swing angle in the pitch direction. Wherein, the head swing angle in the yaw direction represents the yaw angle of the driver's 10 head rotating left and right with respect to the traveling direction D1, and the head swinging angle in the pitch direction represents the up and down rotation of the head of the driver 10 relative to the traveling direction D1. pitch angle. Further, in step S3 of the driving assistance method, the processing unit 114 first determines whether the direction light unit of the vehicle 20 is in the on state or the off state. Moreover, if it is determined that the direction light unit of the vehicle 20 is in the off state, the processing unit 114 determines whether a first line of sight offset condition is met, and if it is determined that the direction light unit of the vehicle 20 is in the on state. , the processing unit 114 determines whether a second line of sight offset condition is met. The first line of sight deviation condition represents that the head swing angle in the yaw direction is greater than or equal to a yaw angle threshold (for example, 30 degrees, but not limited to this), or the head swing angle in the pitch direction is greater than or equal to a pitch angle. Angle threshold (for example, 15 degrees, but not limited to this). In other words, as long as the head swing angle in the yaw direction reaches the yaw angle threshold or the head swing angle in the pitch direction reaches the pitch angle threshold, the processing unit 114 will determine that the first line of sight offset condition is met. On the other hand, the second line of sight deviation condition represents that the head swing angle in the pitch direction is greater than or equal to the pitch angle threshold. That is to say, when the turn signal unit is in the off state, the processing unit 114 will simultaneously determine whether to execute the collision warning program based on the head swing angle in the yaw direction and the head swing angle in the pitch direction. When the turn signal unit is in the off state, In this open state, it is only decided based on the head swing angle in the pitch direction whether to execute the collision warning program. In step S4, once the processing unit 114 determines that any one of the first line of sight deviation condition and the second line of sight deviation condition is met, the processing unit 114 executes the collision warning program.

In the fourth advanced implementation aspect of this embodiment, the driving assistance system 1 is suitable for cooperating with a mobile electronic device (not shown) held by the driver 10 . More specifically, the mobile electronic device is a smart phone and is installed with a setting application that can be used to set the driving assistance system 1 . Furthermore, the processing unit 114 of the driving assistance system 1 is adapted to be electrically connected to the mobile electronic device through wireless communication (such as Bluetooth or wireless network). In the advanced implementation aspect, the driving assistance method further includes step S5 (not shown) following step S2. In step S5, the processing unit 114 determines whether the head swing angle θ is greater than or equal to a reasonable head swing angle threshold, where the reasonable head swing angle threshold can be implemented as 90 degrees, for example, but is not limited thereto. . If the processing unit 114 determines that the head swing angle θ is greater than or equal to the reasonable head swing angle threshold, it means that the value of the head swing angle θ has exceeded the reasonable head swing range that may occur when driving a riding vehicle. In this case , the processing unit 114 sends a zero-return correction prompt to the mobile electronic device, for example, in the form of application push, thereby prompting the driver 10 to operate the mobile electronic device through the mobile electronic device by running the setting application. An angle correction program corresponding to the first movement sensing unit 111 and the second movement sensing unit 121 . Specifically, the angle correction procedure is to make the second movement sensing unit 121 still and face the same direction as the first movement sensing unit 111, thereby making the first movement sensing unit 111 and the third movement sensing unit 111 stand still. The actual angle difference between the directions of the two activity sensing units 121 approaches 0 degrees. Then, the mobile electronic device sends an instruction to the processing unit 114 to define the current head swing angle θ as 0 degrees. And complete the angle correction procedure.

The above is the description of the first embodiment of the driving assistance system 1 .

The present invention also provides a second embodiment of the driving assistance system 1. Refer to FIG. 1 together with FIG. 2 and FIG. 4. The difference between the second embodiment and the first embodiment lies in the operation of the driving assistance system 1. Driving assistance methods. In addition, the differences between the second embodiment and the first embodiment will be described below.

In step S1' of the second embodiment, what is different from step S1 (shown in FIG. 3) of the first embodiment is that the processing unit 114 in addition to controlling the first activity sensing unit 111 and the second activity sensing In addition to the unit 121 continuing to perform activity sensing and continuing to receive the first activity sensing data and the second activity sensing data, the processing unit 114 also controls the object sensing unit 112 to continue to perform object sensing and continue to receive the The object sensing unit 112 generates and presents the object sensing data of the object in front of the vehicle 20 .

Steps S2' to S4' of the second embodiment are respectively the same as steps S2 to S4 (shown in Figure 3) of the first embodiment, and will not be repeated here. Different from the first embodiment, the driving assistance method of the second embodiment also includes a step S5' that follows step S1' and is performed simultaneously with steps S2' to step S4'.

Specifically, in step S5', the processing unit 114 executes a collision detection program, and the processing unit 114 executes the collision detection program by determining whether the vehicle 20 is located in the same location according to the object sensing data. The distance between any object in front of the vehicle 20 is less than or equal to a prompt distance threshold, and when the judgment result of the processing unit 114 is yes, the processing unit 114 controls the output unit 122 to output a prompt notification. The prompt distance threshold is, for example, determined by the processing unit 114 according to the moving speed of the vehicle 20 . It is worth noting that the value of the prompt distance threshold is always smaller than the warning distance threshold in step S4 ′. , furthermore, the prompt notification is, for example, the same as the warning notification. In other words, the difference between the collision detection program and the collision warning program is that the distance threshold (warning distance threshold) in the collision detection program is always smaller than the distance threshold (warning distance threshold) in the collision warning program.

Therefore, in the driving assistance method of the second embodiment, if the sight line deviation condition is not met (that is, the driver 10 does not turn his head for too long), the processing unit 114 will execute step S5'. The collision detection program controls the output unit 122 to output the prompt notification when the distance between the vehicle 20 and the object in front is less than the prompt distance threshold, and when the line of sight deviation condition is met (that is, the driver 10 turns his head too long) In this case, the processing unit 114 will execute the collision warning program in step S4' to control the output unit 122 to output the warning notification when the distance between the vehicle 20 and the object in front is less than the warning distance threshold.

For example, assuming that the warning distance threshold is determined by the processing unit 114 to be 5 meters, the warning distance threshold can be, for example, 2 meters, whereby the driver 10 does not turn his head for too long (i.e. If the line of sight deviation condition is not met), the driver 10 will only receive the reminder notification when the vehicle 20 is close to the object in front and is 2 meters away from the object in front. However, if the driver 10 has turned his head for too long (that is, if the line of sight deviation condition is met), the driver 10 will receive the reminder notification when the vehicle 20 approaches the object in front and is 5 meters away, and will have a relatively long reaction time. . Therefore, the second embodiment is based on the resident collision detection program, and further advances the time point of prompting the collision risk when the driver 10 turns his head for too long, thereby allowing the driver 10 to have relatively more sufficient driving experience. reaction time.

The above is the description of the second embodiment of the driving assistance system 1 .

It should be added that the technical means of the second embodiment can be replaced and combined with any of the technical means described in the first embodiment. More specifically, in step S3' of the second embodiment, the processing unit 114 may first determine whether the direction light unit of the vehicle 20 is in the on state or the off state, and determine whether the direction light unit is in the on state or the off state. In this closed state, it is continued to determine whether the sight line offset condition is met. Alternatively, in step S4' of the second embodiment, the processing unit 114 may first determine whether the direction light unit of the vehicle 20 is in the on state or the off state, and then determine that the direction light unit is in the off state. The collision warning program will only be executed when the line of sight deviation conditions are met.

The present invention also provides a third embodiment of the driving assistance system 1 . Referring to FIG. 1 , the differences between the third embodiment and the first embodiment will be described below.

In the third embodiment, the first device 11 does not include the first activity sensing unit 111 in FIG. 1 . In other words, the second activity sensing unit 121 included in the second device 12 in FIG. 1 is In the third embodiment, the driving assistance system 1 includes the only activity sensing unit.

The following describes the differences between the third embodiment and the first embodiment in the implementation of the driving assistance method.

First, in step S1 of the third embodiment, what is different from the first embodiment is that the processing unit 114 only controls the activity sensing unit of the second device 12 (ie, the second activity sensing unit in FIG. 1 121) Continue to perform activity sensing and continue to receive activity sensing data generated by the activity sensing unit of the second device 12 (equivalent to the second activity sensing data described in the first embodiment).

Next, in step S2 of the third embodiment, the processing unit 114 calculates another dynamically changing head swing angle based on the activity sensing data, and, unlike the first embodiment, the other head swing angle is In the third embodiment, the pitch angle represents the pitch angle of the head of the driver 10 (shown in FIG. 2 ) relative to a reference direction, and the reference direction may be a predefined horizontal direction.

Step S3 and step S4 in the third embodiment are the same as step S3 and step S4 described in the first embodiment, so they will not be repeated here.

The driving assistance method implemented in the third embodiment can promptly issue reminders when the driver 10 raises/lowers the head too much (and for too long) and the risk of collision increases, thereby improving the driving safety of the driver 10 .

The above is the description of the third embodiment of the driving assistance system 1 .

The present invention also provides a fourth embodiment of the driving assistance system 1 . Referring to FIG. 1 , the differences between the fourth embodiment and the third embodiment will be described below.

First, what is different from the third embodiment is that the first device 11 still includes the first activity sensing unit 111 in FIG. 1 . In other words, the hardware configuration of the driving assistance system 1 in the fourth embodiment is the same as that in the fourth embodiment. Same as the first embodiment. Therefore, in step S1 of the driving assistance method implemented in the fourth embodiment, the processing unit 114 controls the first activity sensing unit 111 and the second activity sensing unit 121 to continue respectively as described in the first embodiment. Activity sensing is performed, and first activity sensing data and second activity sensing data generated by the first activity sensing unit 111 and the second activity sensing unit 121 are continuously received. Further, in step S2 of the fourth embodiment, what is different from the third embodiment is that the processing unit 114 defines the reference direction according to the first activity sensing data, and defines the reference direction according to the second activity sensing data. The head swing angle is calculated to represent the pitch angle of the driver's 10 head up and down relative to the reference direction, and the reference direction represents the traveling direction D1 of the vehicle 20 (shown in FIG. 2 ). Thereby, the reference direction of the fourth embodiment can reflect the forward and backward inclination of the vehicle 20 (shown in FIG. 2 ) when it is on a slope, so that the head swing angle of the fourth embodiment can more accurately reflect the driving 10 ( Shown in Figure 2) is the raising and lowering range of the vehicle 20 when riding on a slope.

The above is the description of the fourth embodiment of the driving assistance system 1 .

To sum up, by implementing the driving assistance method, the driving assistance system 1 can be based on the first activity sensing data indicating the traveling direction D1 of the vehicle 20 and the third activity sensing data indicating the facial direction D2 of the driver 10 . The second activity sensing data calculates the rotation angle of the driver's 10 head relative to the traveling direction D1, and executes the collision warning program when it is determined that the sight deviation condition is met, so as to prevent the vehicle 20 from getting too close to the object in front. By controlling the output unit 122 to output the warning notification, the driving assistance system 1 can timely issue a reminder when the driver 10 turns his head too much (and for too long) and the risk of collision increases, thereby improving the driving safety of the driver 10 . The purpose of the present invention can indeed be achieved.

However, the above are only examples of the present invention, and should not be used to limit the scope of the present invention. All simple equivalent changes and modifications made based on the patent scope of the present invention and the content of the patent specification are still within the scope of the present invention. Within the scope covered by the patent of this invention.

1: Driving assistance system 11:First device 111: First activity sensing unit 112: Object sensing unit 113:Storage unit 114: Processing unit 12:Second device 121: Second activity sensing unit 122:Output unit 10: Driving 20:Vehicle 30:Hard hat D1: direction of travel D2: Facial direction θ: head swing angle S1~S4: steps S1’~S5’: steps

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, in which: Figure 1 is a block diagram illustrating a first embodiment of the driving assistance system of the present invention; Figure 2 is a schematic top view illustrating the first embodiment being applied to a vehicle and a driver; Figure 3 is a flow chart for illustrating how the first embodiment implements a driving assistance method; and FIG. 4 is a flow chart illustrating how the second embodiment implements another driving assistance method.

S1~S4: steps

Claims (11)

A driving assistance method is implemented by a driving assistance system. The driving assistance system includes a first activity sensing unit suitable for being arranged on a vehicle for riding, and a third activity sensing unit suitable for being arranged on a driver's head. Two activity sensing units, an object sensing unit for sensing objects in front of the vehicle, an output unit, and an electrical connection between the first activity sensing unit, the second activity sensing unit, and the object sensing unit. unit and a processing unit of the output unit; the driving assistance method includes: (A) the processing unit based on a first activity sensing data generated by the first activity sensing unit and a processing unit generated by the second activity sensing unit The generated second activity sensing data calculates a head swing angle, wherein the head swing angle represents the angle difference between the traveling direction of the vehicle and the direction in which the driver's head is facing; (B) the processing unit is based on The head swing angle determines whether a sight line deviation condition is met, wherein the sight line deviation condition includes that the head swing angle is greater than or equal to an angle threshold; and (C) if the processing unit determines that the sight line deviation condition is met, the processing The unit executes a collision warning program, wherein the collision warning program includes: judging whether the distance between the vehicle and an object located in front of the vehicle is less than or equal to a warning distance based on object sensing data generated by the object sensing unit threshold value, and when the judgment result is yes, the output unit is controlled to output a warning notification. The driving assistance method as described in claim 1, wherein in step (B), the sight line deviation condition also includes that the head swing angle is greater than or equal to the angle threshold A duration of the value is greater than or equal to a duration threshold. The driving assistance method as described in claim 2, wherein in step (B), the time length threshold is determined by the processing unit according to the current moving speed of the vehicle, and the time length threshold is consistent with the vehicle The movement speed is negatively related. The driving assistance method as described in claim 1, wherein in step (C), the collision warning program also includes determining a moving speed and the current head swing angle of the vehicle based on the current moving speed of the vehicle and the current head swing angle. The head swing angle is directly related to the warning distance threshold. The driving assistance method according to claim 1, wherein in step (B), the processing unit also determines whether a direction light unit included in the vehicle is in an on state or an off state, and the processing unit is When it is determined that the direction light unit is in the off state, it is determined whether the line of sight deviation condition is met. The driving assistance method according to claim 1, wherein in step (C), the processing unit also determines whether a direction light unit included in the vehicle is in an on state or an off state, and the processing unit is The collision warning program is only executed when it is determined that the turn signal unit is in the off state and the line of sight deviation condition is met. The driving assistance method as described in claim 1 also includes a step performed simultaneously with steps (A) ~ (C): (D) the processing unit executes a collision detection program, wherein the collision detection program is included in the When the object sensing data determines that the distance between the vehicle and the object is less than or equal to a prompt distance threshold that is always less than the warning distance threshold, the output unit is controlled to output a Prompt notification. The driving assistance method as described in claim 1, wherein: in step (A), the processing unit calculates a yaw direction head angle and a head swing angle based on the first activity sensing data and the second activity sensing data. Pitch direction head swing angle; in step (B), the processing unit also determines whether a direction light unit included in the vehicle is in an on state or a closed state. If it is determined that the direction light unit is in an off state, the processing unit The unit determines whether a first line of sight offset condition is met. If it is determined that the direction light unit is in the on state, the processing unit determines whether a second line of sight offset condition is met, wherein the first line of sight offset condition represents the The head swing angle in the yaw direction is greater than or equal to a yaw angle threshold or the head swing angle in the pitch direction is greater than or equal to a pitch angle threshold. The second line of sight deviation condition means that the head swing angle in the pitch direction is greater than or equal to the pitch angle threshold. ; and in step (C), if the processing unit determines that any one of the first sight deviation condition and the second sight deviation condition is met, the processing unit executes the collision warning program. A driving assistance method is implemented by a driving assistance system. The driving assistance system includes an activity sensing unit adapted to be disposed on a driver's head, an object sensing unit used to sense an object in front of a vehicle, and an an output unit, and a processing unit electrically connected to the activity sensing unit, the object sensing unit and the output unit; the driving assistance method includes: (A) the processing unit based on an activity generated by the activity sensing unit The sensing data calculates a head swing angle, and the head swing angle represents the driving behavior. The pitch angle of the head turning up and down; (B) the processing unit determines whether a line of sight deviation condition is met based on the head swing angle, wherein the line of sight deviation condition includes that the head swing angle is greater than or equal to an angle threshold; and (C) ) If the processing unit determines that the line of sight deviation condition is met, the processing unit executes a collision warning program, wherein the collision warning program includes: judging whether the vehicle is in contact with the vehicle based on object sensing data generated by the object sensing unit. The distance between an object located in front of the vehicle is less than or equal to a warning distance threshold, and when the judgment result is yes, the output unit is controlled to output a warning notification. A driving assistance system, suitable for application in a vehicle for driving and riding; the driving assistance system includes: a first activity sensing unit, suitable for being arranged on the vehicle; a second activity sensing unit, suitable for Set on the driver's head; an object sensing unit for sensing objects in front of the vehicle; an output unit; and a processing unit electrically connected to the first activity sensing unit and the second activity sensing unit , the object sensing unit and the output unit, the processing unit is configured to implement the driving assistance method according to any one of claims 1 to 8. A driving assistance system, suitable for application in a vehicle for a driver to ride; the driving assistance system includes: an activity sensing unit, suitable for being disposed on the driver's head; an object sensing unit, used for sensing Measure objects in front of the vehicle; an output unit; and a processing unit electrically connected to the activity sensing unit, the object sensing unit and the output unit, the processing unit being configured to implement the driving assistance method as described in claim 9.

Images