TWM591941U - Driving safety auxiliary system for enhancing judgment accuracy and issuing early alert - Google Patents

Abstract

A driving safety auxiliary system capable of improving judgment accuracy and early warning, which mainly includes an information collection module for sensing the surrounding of the vehicle and a processing unit for analyzing judgment, and uses a positioning communication module to provide positioning signals and The exchange and sharing of positioning information does increase the range and target number that the processing unit can analyze and judge, thus improving the accuracy of judgment and early warning, so that drivers can get early warning before the critical situation is approaching, and improve driving comfort And security.

Description

Driving safety auxiliary system for improving judgment accuracy and early warning

This book is about the application of assisted driving, especially a driving safety assistance system and method that uses information exchange to improve the accuracy of system prediction.

Advanced Driver Assistance System (ADAS) is the key development direction of various factories in recent years. It mainly uses various sensors mounted on the vehicle to collect external environmental data based on the vehicle itself. The electronic control unit (ECU, Eletronic Control Unit) analyzes and processes the information collected by the sensor to warn of possible dangerous situations in advance, allowing the driver to respond early, or assisted by the system for emergency treatment in case of emergency, so as to reduce the occurrence of accidents Probability.

ADAS includes a variety of auxiliary functions, such as Blind Spot Detection System (BSD), Autonomous Emergency Braking System (AEB), Parking Aid System (PAS), Active Distance Control Cruise control system (ACC, Adaptive Cruise Control System), lane departure warning system (LDW, Lane Departure Warning System), forward collision warning system (FCW, Forward Collision Warning System), etc., and even more, can be installed on the car body Internal sensors identify the driver's face, determine the driver's concentration level, and achieve monitoring and early warning of the driver's physiological state Of effect.

The accuracy of the above-mentioned known driving assistance systems is based on the number of sensors installed on the vehicle, the sensing quality, and the arithmetic processing technology for analysis and judgment. To improve accuracy, high-precision sensing devices, chips, and other components must be used , The cost is high, it is difficult to achieve the purpose of popularization. In addition, the intelligence source of such systems is mainly based on the sensors loaded on the vehicle itself, so the scope of analysis is limited. Even if an early warning occurs when an emergency occurs, it may not provide the driver with sufficient reaction time. For example, in general driving, in addition to using the distance method or the time distance method to maintain a safe distance with the car in front, most drivers will refer to the driving state of the car in front to judge their acceleration or deceleration. However, when driving at high speeds, the low limit The safety distance is not enough to ensure safety. When you see the front brake light is on, it often takes a while to detect and judge whether to change the speed (judging whether the front car is a small deceleration or emergency braking). The perception time is only 1~2 seconds (100km/ h is about 55m for 2 seconds under h), it is very likely that the safety distance is not enough for braking to stop, so it collides with the vehicle in front; although the known driving system can assist the driver to monitor the safety distance, in fact the conditions of each vehicle (such as The weight load, tire performance, braking performance, braking distance, etc.) are different, and the system's sensing and recognition performance is limited. Simply relying on system-assisted judgment cannot completely avoid the danger; in 2009, the Swiss AXA Winterthu insurance company once aimed at "braking time- The "incident rate" investigation and study found that if the driver can be notified 1.5 seconds in advance, 90% of the rear collision accidents can be avoided, and if the driver can be notified 2 seconds in advance, almost all types of collision accidents can be avoided.

In addition, in reality, it is inevitable that the under-sensory system fails to warn as expected, such as the sudden appearance of people or vehicles behind pillars and low walls, or the reduced level of alertness of the night environment sensing analysis, as well as the large The fog, heavy rain environment is prone to misjudgment, etc., all of which indicate that the driver assistance system still has great deficiencies and room for improvement.

In the currently known driving safety assistance system, the general structure is an information collection module and a processing unit, the information collection module includes a plurality of on-board sensors for sensing information obtained from the surroundings of the vehicle, The processing unit is connected to the information collection module to identify people or vehicles around the car based on the sensed information, and output control signals after analysis and judgment. By controlling deceleration or issuing warning signals, the effect of assisting driving safety is achieved .

The main purpose of this creation is to provide a driving safety assistance system and method that can improve the accuracy of judgment and early warning. By sharing the information of sensing and positioning, the range and target base of the system can be greatly improved by analyzing and judging the system, and the system is indeed improved. Pre-judgment ability, while improving the accuracy of judgment, can give early warning, so that drivers can get early warning before the emergency situation is approaching, and respond to the danger of approaching as early as possible.

In order to achieve the above purpose, the method of improving judgment accuracy and early warning can be applied to the driving safety assistance system as mentioned above. The main concepts include: (a) Provide a positioning communication module connected to the processing unit; (b ) The positioning communication module obtains the positioning signal, and locates the positioning information of the vehicle and the surrounding people or vehicles; (c) The positioning communication module obtains the extended positioning information of other people or vehicles through wireless communication; ( d) Integrate self-vehicle positioning information and extended positioning information to cross-check the owner or car within a distance; and (e) analyze and judge the dynamic change of the owner or car to output the control signal.

In summary, the main structure of the driving safety assistance system provided by this creation includes an information collection module, a processing unit, and a positioning communication module; the information collection module includes plural numbers for sensing and obtaining information about the surroundings of the vehicle Vehicle-mounted sensor; the processing unit is connected to the data The information collection module is used to identify people or vehicles around the car based on the sensing information, and output control signals after analysis and judgment; the positioning communication module is connected to the processing unit to obtain positioning signals and transmit positioning information; , The processing unit locates the own vehicle positioning information of the vehicle and the surrounding people or vehicles according to the positioning signal, and obtains the extended positioning information of other people or vehicles through the positioning communication module, and integrates the self-car positioning information and the extended positioning information cross ratio For an owner or car within a distance, analyze and judge the dynamic change of the owner or car to output the control signal.

In this way, through the positioning and information sharing, the driving safety auxiliary system created by this system can proofread many targets that can not be sensed by the vehicle (targets generally refer to the dynamic targets identified by the system, which is quite equivalent in this case) (Referring to people or vehicles), and then track and judge to achieve the effect of improving accuracy and safety warning; compared with known driving systems (detecting a limited range of targets with on-board sensors), the original can predict a wider distance Range, early warning when the danger is not yet close, not only reinforces the problem that the sensor is limited to the environment, but also does not need to be equipped with an overly expensive sensor that is difficult to popularize. Through multi-party information proofreading, the target can be judged more accurately and the accuracy can be improved And widely used effects.

With the present invention, it is no longer limited to the monitoring of low safety distance, it can track and observe the target dynamics outside the traditional safety distance, and provide early warning when it is judged that there is a risk, so that the driver can respond a few seconds earlier, according to Known investigations (such as the aforementioned investigations conducted by the Swiss AXA Winterthur insurance company in 2009), when a driver who has received a warning notice, even if he can’t see or see the accident ahead, he can slow down early for early warning, and when it continues When approaching the accident area, you can directly deal with the situation and avoid the danger when you have received the warning notice. There is no need to use a few seconds to judge the scene (so that the braking distance is not enough), thereby almost completely avoiding possible chasing The probability of collision.

According to the above creation framework, the vehicle sensors in the information collection module can be selected from one or more combinations of millimeter wave radar, ultrasonic radar, thermal radar, optical radar or image sensor; the processing unit is ECU (Eletronic Control Unit, vehicle-specific microcontroller), used for analysis, judgment and output of control signals; and the positioning communication module includes a satellite positioning unit and a wireless communication unit, the satellite positioning unit is used to Receives satellite (GPS) positioning signals. The wireless communication unit is used to connect to a wireless communication network to obtain LBS positioning signals and transmit positioning information through the wireless communication network.

In practice, the processing unit derives the position of the vehicle from the comprehensive analysis of the satellite (GPS) positioning signals and LBS positioning signals obtained from the positioning communication module, and then uses the position of the vehicle and the information sensed by the vehicle sensor , You can calculate the location of the surrounding objects (people and car) from the sensing direction and distance, and comprehensively generate vehicle positioning information; through the wireless communication unit, you can share the vehicle positioning information externally and obtain other people or vehicles from the outside Provided extended positioning information, all target positions within a predetermined distance range (which can be much larger than the self-vehicle sensing range) can be resolved through cross-comparison, and the movement direction and momentum (i.e. moving direction and speed) of all targets are comprehensively analyzed in chronological order ), the warning value associated with the distance is generated according to the movement of the vehicle and the momentum, and when the momentum of the target at a certain distance is judged to be lower than the corresponding warning value, the control signal is output.

The aforementioned control signals can be used for throttle control, brake control, warning control, etc., such as output to the vehicle's power system, when the warning standard is reached, the throttle is automatically released or the brake is activated for deceleration control, or output to a warning device, For example, buzzer or voice announcer, etc., provide the driver's warning with sound; the predetermined distance range can be determined according to the needs of the use, such as the speed of the car can be increased or decreased, or driving Set the status accordingly. Moderate range setting can avoid analyzing too many unnecessary targets and affecting performance.

Further, this creation can be further combined with a map system (such as a geographic information system (GIS, Geographic Information System)) to dynamically integrate all the positioning targets (people or vehicles) into a virtual map interface, which is output to a display for presentation; In the above, the processing unit is connected to a map database to obtain the provided map information. The map database may belong to the storage unit used by the system for memory or a remote map database connected through the wireless communication unit.

In order to gain a more specific understanding of the above purpose, features and functions of this creation, the preferred embodiments of this creation are described below with the accompanying drawings as follows:

1‧‧‧ Driving Safety Assistant System

10‧‧‧ processing unit

S1~S4‧‧‧Program

20‧‧‧Information collection module

21‧‧‧ Radar

22‧‧‧Image sensor

30‧‧‧Positioning communication module

31‧‧‧Satellite positioning unit

32‧‧‧Wireless communication unit

41‧‧‧ Map database

42‧‧‧Monitor

43‧‧‧Warning

44‧‧‧Power system

50‧‧‧Mobile device

51‧‧‧Positioning communication module

V0‧‧‧car (own car)

V1~V9‧‧‧‧car (small car)

T‧‧‧car (large car)

P, P1~P6 ‧‧‧ people

BS‧‧‧ Base station

A, B‧‧‧ area

Figure 1 is a schematic diagram of the authoring system.

Figure 2 is a schematic diagram of the authoring system architecture.

Figure 3 is a schematic diagram of the transmission of positioning information in this creation.

Figure 4 is a schematic diagram of an actual application state.

Figure 5 is a schematic diagram of the map interface in Figure 4.

FIG. 6 is a schematic diagram of another map interface implementing an application state.

FIG. 7 is a schematic diagram of a map interface for implementing an application state again.

Fig. 8 is a schematic diagram of a map interface for yet another application state.

Please refer to figures 1 to 3, it can be seen that the main driving safety system 1 The system architecture includes a processing unit 10, an information collection module 20, and a positioning communication module 30. The information collection module 20 is connected to the processing unit 10, and includes a plurality of on-vehicle sensors for sensing the surroundings of the vehicle and providing the obtained sensing information to the processing unit 10; the positioning communication module 30 is connected to the The processing unit 10 is used to obtain positioning signals for calculation by the processing unit 10, and can transmit positioning information through the wireless communication network provided by the base station BS; the processing unit 10 is a vehicle-specific microcontroller ECU (Eletronic Control Unit) ), used for analysis and calculation, and can be judged according to the preset conditions, output control signals; the control signal can be the signal output to the vehicle's power system, for control such as throttle, brake, etc., or can be output to The signal of a warning device 43 is used to drive the warning device 43 to warn the driver.

In this embodiment, the vehicle sensors in the information collection module 20 take a combination of several radars 21 (millimeter wave radar and ultrasonic radar) and several image sensors 22 as an example to sense Measure the surroundings of the vehicle, and transmit the obtained sensing information to the processing unit 10 to identify the target (person or vehicle) around the vehicle. In practice, these onboard sensors can also be combined with other sensing devices, such as thermal radar, optical radar, etc.

The positioning communication module 30 mainly includes a satellite positioning unit 31 and a wireless communication unit 32; the satellite positioning unit 31 can receive satellite (GPS) positioning signals and provide it to the processing unit 10 for satellite (GPS) positioning; and the wireless The communication unit 32 can connect to the wireless communication network of the base station BS, obtain the LBS positioning signal, and provide it to the processing unit 10 for LBS positioning.

The processing process of the processing unit 10 can be divided into several main procedures. In procedure S1, the received satellite (GPS) positioning signal is used for satellite (GPS) positioning to obtain the vehicle positioning coordinates; in procedure S2, it is used Receive the LBS positioning signal for LBS positioning and obtain Self-locating coordinates; in program S3, it can identify the target (person or car) around the car based on the received sensing information and analyze the position of each target relative to the car, the results of the comprehensive program S1 and program S2, That is, the positioning coordinates of all targets (people or vehicles) can be calculated from the vehicle's positioning coordinates, and the positioning coordinates of the vehicle and all targets can be integrated into the vehicle's positioning information; in program S4, the wireless communication unit 32 can output Vehicle positioning information, as well as extended positioning information provided by other people or vehicles through the wireless communication unit 32, the extended positioning information includes at least the positioning coordinates of the individual or the vehicle itself, and may further include other vehicles identified by sensing Positioning coordinates; after synthesizing self-vehicle positioning information and obtained extended positioning information, the cross-comparison can resolve the positioning coordinates of all persons or vehicles. Preferably, a distance range can be preset to resolve people within the distance range Or the positioning coordinates of the car, according to the map information provided by a map database 41, is further integrated into a virtual map interface, and output to a display 42 for visual presentation; in addition, in the program S4, it is a chronological analysis of all people or The movement and momentum of the vehicle (ie, the movement direction and speed) generate a warning value associated with the distance according to the movement and momentum of the vehicle. When the target is judged to be at a certain distance and its momentum is lower than the corresponding warning value, the control signal is output.

According to the above-mentioned system mechanism, the distance range observed by the system can be determined according to the actual situation or needs. For example, the system presets a safety distance of 5 times. The safety distance varies according to the vehicle speed. The speed of the car increases or decreases, and the distance above the safe distance of several times can be observed and predicted. When it is judged that there is a situation in the distance, such as when the car in front of the car decelerates suddenly, the driver can be reminded early. Get more adequate response time. As for the system's judgment mechanism, it can generate a warning value related to the distance according to the vehicle's movement and momentum. When it is judged that the target momentum of a certain distance is lower than the warning value, it outputs a control signal, such as a small car moving at a speed of 100km/h. The safety distance is about 50m, before the system automatically analyzes comprehensive positioning information For the target within 250m, the warning value conditions can be assumed as follows: the warning value of 50m ahead is 100 (that is, the speed requirement is 100km/h), the warning value of 100m ahead is 70, the warning value of 150m ahead is 40, and so on, When the car at the front is 150m (may be the second or third car ahead, the driver may not be able to see it), when the emergency brake suddenly stops and the speed is reduced to below 40km/h (below the relative warning value), the system outputs the control signal according to the judgment. According to the setting of automatic deceleration or prompting the driver, let the driver have more adequate response time. If the car is the first car in front, there is no need to wait for the slow vehicle in front to enter the safe range before issuing a warning as in the traditional warning system. For the second or third car ahead, the driver does not have to wait for the front car to slow down before starting to judge, so that he can learn about the emergency ahead and obtain more sufficient response time. .

In a feasible embodiment, the control signal can be output to the vehicle's power system for throttle control, brake control, etc., or it can be output to a warning device 43 connected to the processing unit 10 to provide a warning such as sound. Drivers, usually the buzzer 43, voice announcer, etc. can be used as the warning device 43.

Please refer to Figures 3 to 5 again. In practical application, this creation can use the positioning communication module 30 in the vehicle V0 driving safety assistance system 1 to connect to the wireless communication network of the base station BS. Vehicle position and self-positioning information for sensing surrounding target positions, as well as obtaining extended positioning information for other people or vehicles; as shown in Figure 3, when other vehicles (such as vehicles V1, V2 and T) also have a driving safety assistance system At 1, it is possible to obtain expanded positioning information including the positions of the cars themselves and the surrounding target positions through the process of sharing the positioning information, and when other cars or people (such as cars V3 and V4, person P) do not have When the driving safety assistance system 1 is provided, the positioning information can be shared through the mobile device carried by it, and the extended positioning information including only the positions of the persons or the car itself can be obtained; the integrated self-vehicle positioning information and all the extended positioning information can be crossed ratio Tracking and alerting the location of the owner or car according to the predetermined distance range can achieve the effect of early warning.

Assume that as shown in Figure 4, the self-vehicle V0 is traveling at a speed of 80km/h. The distance range judged by the system to track forward is 200m. The car V3 at about 40m in front, the large car T at about 80m, and about 120 By blocking the vehicle V1 and the opposite vehicles V2 and V4 that cannot be directly observed, more people or vehicles that cannot be measured by the vehicle information collection module 20 can be analyzed through the positioning information exchange, as shown in Figure 5 In the map interface, other people P and car V5 can be further presented. When the self-driving V0 speed is 80km/h, according to the preset warning conditions of the driving safety assistance system 1, it is assumed that the warning value of 40m ahead is 80, the warning value of 80m ahead is 60, and the warning value of 120m ahead is 40. Fang's first car V3, second car T and third car V1 are all driving at a speed of 80km/h, they are higher than the corresponding warning value system, and no danger warning will be issued; while the current third car is invisible When V1 is decelerating, for example, when it is reduced to below 40km/h (that is, below the warning value 40 corresponding to the distance), as shown in the figure, the processing unit 10 of the original driving safety assistance system 1 can output a control signal according to the judgment. Before the large vehicle T and the vehicle V3 in front notice and start decelerating in sequence, the self-driver can stop acceleration or decelerate as soon as possible according to the warning notice received, and have more time to respond, without waiting for the first vehicle V3 in front Braking and decelerating urgently when decelerating can effectively use accurate and early warning notices to improve driving comfort and safety.

Entering the car, the safety assist system 1 can continuously track and observe all targets in a wider distance range, and the driver can learn more target information that is not seen in the line of sight or cannot be sensed by the car For example, the vehicle status in the adjacent lane and the approaching status in the opposite lane can be used as a reference basis when changing lanes or overtaking in the opposite lane. The system can be used to judge and provide warnings. For example, when the left/right turn lights are activated, the system starts Judging the traffic condition of the left/right lane, assisting in providing Driver warning.

As also shown in the situation shown in FIG. 6, suppose that when the self-vehicle V0 drives out of the roadway, the driver’s line of sight or the sensing range of the self-vehicle information collection module 20 is limited, so the driver can only know the large car T, To the vehicle V4 and the pedestrian P on the roadside, the vehicle V2 and the vehicle V3 cannot be noticed due to the blockage of the area A. If the driver judges that the vehicle is passable and drives out directly, it is very likely to cause an accident ; On the contrary, by using the authored driving safety assistance system 1, by sharing the results of cross-comparison through location information, the user can find the incoming vehicles V2, V3 that are not seen in sight from the map interface presented on the display 42 or hit the left After turning the turn signal, the system analyzes the driving path and the speed of the vehicle to inform the vehicles V2 and V3 that need to be alert, so that the driver can predict more people or vehicles, so as to accurately interpret more goals and drive safely.

In addition, in other situations, such as an environment with many obstacles, such as the parking lot environment shown in Figures 7 and 8, the application of this creative driving safety assistance system 1 helps to improve the safety of yourself and others; In Figure 7, when the vehicle V0 is backed into the parking bay, whether it is the driver's sight or the vehicle information collection module 20, it is restricted by obstacles and the situation behind the obstacles cannot be known, such as behind the pillar Pedestrian P1, Pedestrian P2 behind the car, if the driver fails to pay enough attention, it is easy to cause collision or injury to others; through this creative driving safety assistance system 1, the positioning communication module 30 can be fully used to share and communicate positioning information According to the driving status of the driver, the target within a certain distance is displayed in the map interface. Even when the system is used to judge and the people in the rear warning range P1 and P2 are judged by the reverse status, the warning can be provided in time to improve the driving. Security with others.

In Figure 8, it is another possible scenario in the parking lot environment. When the self-driving car V0 wants to back up and out of the parking space, the range of sight and the sensing range of the traditional on-board sensor are not available. Knowing the situation of coming or pedestrians outside the range, with this creative driving safety assist system 1, the driver of the vehicle V0 can accurately know the person P5 in front of the pillar and the people P4 and P6 in front of and behind the car through the map interface , And the approaching V8 approaching in the lane, or it can be judged by the system, judging by the reversing situation, and telling people P6 and V8 coming to the rear that need to be alert, effectively improving the safety of driving.

Based on the above, the creation of a driving safety assistance system and method that improves the accuracy of judgment and early warning can use information exchange to proofread the goal of more demand, provide interpretation and early warning, and will not reduce performance due to weather and environmental impact. It can indeed improve the accuracy of the driving safety assistance system. It is actually a novel and progressive creation. The patent application is filed according to law; but the above description is only for the description of the preferred embodiment of this creation. Any changes, modifications, changes or equivalent substitutions of the technical means and scope of the extension shall fall within the scope of the patent application for this creation.

1‧‧‧ Driving Safety Assistant System

10‧‧‧ processing unit

S1~S4‧‧‧Program

20‧‧‧Information collection module

21‧‧‧ Radar

22‧‧‧Image sensor

30‧‧‧Positioning communication module

31‧‧‧Satellite positioning unit

32‧‧‧Wireless communication unit

41‧‧‧ Map database

42‧‧‧Monitor

43‧‧‧Warning

44‧‧‧Power system

Claims (8)

A driving safety assisting system capable of improving judgment accuracy and early warning includes an information collection module and a processing unit. The information collection module includes a plurality of on-board sensors for sensing information obtained from the surroundings of the vehicle. The processing unit is connected to the information collection module to identify people or vehicles around the vehicle based on the sensed information, and outputs control signals after analysis and judgment; it is characterized in that the driving safety auxiliary system further includes a positioning communication module. The positioning communication module is connected to the processing unit for obtaining positioning signals and transmitting positioning information; wherein, the processing unit locates the own vehicle positioning information of the vehicle and the surrounding people or vehicles according to the positioning signal, and through the positioning communication module Obtain the extended positioning information of other people or vehicles, comprehensively compare the self-vehicle positioning information and the extended positioning information to cross-examine the owner or car within a distance, analyze and judge the dynamic change of the owner or car to output the control signal. According to the driving safety assistance system described in item 1 of the patent application, wherein the positioning communication module at least includes a wireless communication unit, which is used to connect to a wireless communication network to obtain LBS positioning signals, and transmit the positioning through the wireless communication network News. According to the driving safety auxiliary system described in item 2 of the patent application scope, wherein the positioning communication module further includes a satellite positioning unit, which is used to receive satellite (GPS) positioning signals. The driving safety assistance system according to any one of the patent application scopes 1 to 3, wherein the processing unit is an ECU (Eletronic Control Unit), which analyzes the movement and momentum of the owner or car in chronological order, and is based on The vehicle movement and momentum generate a warning value associated with the distance. When it is judged that the momentum of each person or vehicle from the vehicle is lower than the corresponding warning value, the control signal is output. According to the driving safety assistance system described in item 4 of the patent application scope, the on-board sensors may be millimeter wave radar, ultrasonic radar, thermal radar, optical radar or image sensing One or more combinations. According to the driving safety assistance system described in item 4 of the patent application scope, wherein the processing unit is further connected to a warning device, which can be driven by the control signal to provide a warning. According to the driving safety assistance system described in item 4 of the patent application scope, wherein the processing unit is further connected to a map database for providing map information, and the processing unit integrates the owner or vehicle and map information into a virtual map interface. According to the driving safety assistance system described in item 7 of the patent application scope, the processing unit is further connected to a display for displaying the map interface.

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