TW200815224A - Alarm method for preventing vehicle side impact - Google Patents

Abstract

The present invention provides an alarm method for preventing vehicle side impact, which comprises using at least one sensor mounted to one side of the vehicle to detect a linear distance and an included angle between an external vehicle and the vehicle and calculating the distances between the external vehicle and the vehicle in both X-axis and Y-axis to effect determination and comparison for X-axis impact time and Y-axis impact time. As such, when the solved X-axis or Y-axis impact time is not infinite, no alarm is issued and when either the solved X-axis or Y-axis impact time is infinite, an alarm is issued to thereby eliminate an error detection of the vehicle alarm device caused by vehicle intersection, parallel moving, or passing and thus enhance the accuracy of alarm for preventing vehicle side impact.

Description

200815224 IX. Description of the Invention: [Technical Field] The present invention relates to a warning method for preventing a vehicle from encountering a side collision, and more particularly to a technique for issuing a danger alarm based on a collision time. [Prior Art] Γ -*1 As in the prior art, in order to prevent a side collision accident in a vehicle that is being respected, the driver can generally understand the danger and prevent it by means of the inside and outside mirrors. However, because there is still a blind spot between the inside and outside of the rear view mirror, it is located at the rear side of the vehicle body. For the moving vehicle, especially in the lane change vehicle, the vehicle and The line of sight between the exterior mirrors of the vehicle is prone to accidental collision between adjacent vehicles and the vehicle. In order to overcome the above problems, the major automakers in the market have seen the design of installing multiple sensors (such as ultrasonic radar, laser radar, micro-wave + da or pulse wave radar) on the double-end side of the vehicle. Measure the danger of the side of each side of the vehicle, and whether there is a vehicle (or obstacle) in the vehicle and input the data of the detected _ into the vehicle/crash warning system to make it judge the time when the vehicle is reduced by the side collision, so as to assist the vehicle and The exterior mirrors of the exterior of the vehicle are 'immediately::,, sound or voice warnings, etc., and thus prevent the vehicle defense (four) materials of the above-mentioned prior art towel, and the method for judging that the vehicle is subjected to the side collision timing, In the safety distance ^, the other is based on the calculation of the two-car straight-line distance (fine-secret 5 coffee, TTC), and the calculation of the ten-time calculation is the collision time collision time 5 200815224 (in the formula: The linear distance between the two vehicles measured by this sensor must be the linear distance between the two vehicles measured by the front under-sensor. η is the time point when the first sensor receives the signal, which is the previous time. The point in time when the sensor first received the signal). However, the above method based on the safety distance or the collision time calculated by the linear distance between the two vehicles is often used in the two-vehicle rendezvous and the “Car-integration = the distance reduction between the two vehicles” to make the warning system misidentified as non-safe. : The collision time that the warning system counts is too small, causing 罄 5

The misjudgment of the timing of the side collision caused the warning system to be misjudged; the frequent = vehicle signal plagued the driver. The invention is in order to effectively overcome the problems in the prior art described above, and the system is shown as the vehicle warning system. The reading of the vehicle (4) is caused by the collision of the vehicle and the relative distance between the longitudinal axis and the horizontal axis of the rain truck. It is estimated that when the collision time is judged to be dangerous by the second collision time, the vehicle is prevented from hitting the side, and by issuing a dangerous warning, it can avoid the misjudgment of the two cars, parallel or overtaking warnings. Fish red steep / 丨 认 ° ° ° 遇 遇 遇 ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° ° 月 月 月 月 月 月 月 月 月 月 月 月 月 月The straight line distance and angle between the vehicles; 冽 一 外 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用 利用Calculate the comparison; the collision time and one axis touched the distance between the external vehicle and the vehicle on the x-axis and the collision time of the parent 6 200815224, respectively: Dx = Dc〇s0 angle); (where D is Measured by the sensor Car linear distance, Dx is the distance in the X-axis, the X axis 0 time to collision between the vehicle and the foreign alien vehicle between the vehicle and the vehicle =:

(In the middle of the DX1, the distance between the two cars on the x-axis is the distance of the two cars on the X-axis, and Ti is the first day the sensor receives the signal. The custodial point, Ti-l is the time point when the previous sensor first received the signal); and the distance between the external vehicle and the vehicle on the Y-axis and the Y-axis collision time are respectively expressed as:

Dy = Dsin θ (where: D is the linear distance between the two vehicles measured by the sensor, Dy is the distance between the external vehicle and the vehicle on the γ axis, and 0 is the angle between the foreign vehicle and the vehicle); Y-axis collision time =

(In the formula: Dyi is the distance of the two cars solved on the Y-axis, Dy (iD is the distance U of the two cars on the Y-axis previously solved) is the first signal received by the sensor. At the time point, Ti-ι is the first time point when the previous sensor received the signal. 7 200815224: When the X-axis or / and γ-axis collision time is solved as infinity, the distance of the external vehicle is displayed; When the X-axis or γ-axis collision time solves the external non-infinity, the out-of-plane car's near-time is the distance of the vehicle, and 'shows that the foreign car solves the X-axis and γ-axis collision time at the time of the non-infinity, and releases the danger. Alarm. The approach time of the soap tank is =, in order to be able to add a detailed description of the present invention, and to exemplify the examples, the detailed description will be described later with reference to the drawings: f and Fig. 1 of the figure [Embodiment] The present invention prevents the vehicle from encountering side collisions. The warning method can be used in the vehicle 1 (as shown in Fig. 1), the vehicle side-proof collision is also in the program (as shown in Fig. 2), and includes: the control constructed in the system is in the above On the side of the car 1 from the B-pillar 11 to the corner of the rear corner I], several rafts are constructed in an array; Wave-to-da, laser, micro-wave or pulse-wave radar = vehicle 10 (or obstacle) for continuous detection 31. Bud has a benefit or benefit (or barrier) in the effective side distance of each sensor 2 The object is close to 32. When the sensor 2 does not measure the external vehicle approaching the vehicle == 371', the vehicle anti-side collision warning system will display the signal with the -Lm). The sensor 2 detects that there is an alien vehicle. Close to the car i-measurement measured the distance and angle 33 of the two cars, and will be the same as the angle _ people's car i-vehicle anti-side collision warning system into different, and then calculate the two cars between X The relative distance between the shaft and the yoke is 34. 200815224 Relative distance or obstacle) Between the vehicle 1 and the line distance d on the x-axis and the relative arrangement of the clips are measured separately. Straight equation: * Calculated by the calculation of the formula of the two-angle function, such as the following == Dcos e vehicle and ^ car record _, Dx is the angle of the foreign car); & from '0 between the foreign vehicle and the car of

Dy = Dsin 0 and the distance between the two cars is the straight line distance, Dy is the angle of the foreign car). The distance between the axis is «Dy between the foreign vehicle and the vehicle, and the definition of the X-axis collision time (TTCx) and the γ-axis collision time (TTCx) is based on the outside of the car. θ (TTCy) relative velocity _, such as the following obstacles) and the X-axis collision time = one (Dxi-Dx (in / ( Τ, -Τμ), two 弋 1 丄) this solution The distance between the two cars in dimension, _) is the distance of the secondary material 1 on the x-axis, and the first time the sensor receives the first point of the signal: the first sensor of the under-sensing device - 9 200815224 Time point); __Dyi (Dyi-Dy (i-1) Y-axis collision time i TVTi,

...JL1 XM J (In the formula, Dyi is the distance D of the two cars on the ¥ axis for the current solution. The distance between the two cars on the γ axis that was previously solved is 糸 too, the time point of y). —Different-received_ When the X-axis collision time or the Y-axis collision time is solved, the external vehicle is infinity 361'. The above-mentioned vehicle collision warning system 4 displays the distance of the foreign vehicle by the number or voice. Lights When the X-axis collision time and the Y-axis collision time solve the external vehicle = 2: The above-mentioned vehicle anti-side collision warning system will also display the external vehicle distance 363 with 2 lights or impotence. When the X-axis collision time or the 丫-axis collision time is solved, the foreigner is non-infinity. 36 buckles indicate that the foreign vehicle is only the detection range of 蚪2, and then it leaves, there is no occurrence ==3 collision ¥ no system Will be displayed with -LED light or voice 1

The axle collision time and the γ-axis collision time are solved when the foreign workshop is non-infinite. 366, the above-mentioned vehicle anti-side collision warning system signal, warning sound or voice display or release of the dangerous report 367θ ED method of the invention is obtained by (TTCx> And mcy) 'Collection of status' as the timing for issuing the hazard alert 367. , 1 insurance By the above method, it can avoid the misjudgment of the vehicle warning system caused by the intersection of the vehicle i and the foreign vehicle due to the intersection, 200815224 parallel or overtaking, so as to improve the warning degree of the vehicle against side collision. In addition, the above numerical values are attached to specific data to explain in detail the specific implementation results of the present invention as follows:

When the vehicle 1 (shown in FIG. 3) advances at a constant speed of 10 m/s, the foreign vehicle 10 advances at an initial velocity of 15 m/s and an acceleration of 2 m//, and the vehicle is approached by the vehicle when the vehicle time approaches 5 seconds. 1 Parallel advancement, then away from the car 1; during this period, through the relationship between the two sets of collision time (TTCx and TTCy) and the travel time (as shown in Figure 4), when the driving time approaches 5 seconds, although TTCx will reach zero seconds, but TTCy will remain in the state of ten seconds, which means that the external vehicle 10 is advancing in parallel with the vehicle 1. Therefore, the vehicle's anti-side collision alarm will not be judged as safe, so it is not A danger alert will be issued. On the right, although the winter drought 1 (shown in Figure 5) advances at the initial velocity i〇m/s, the foreign vehicle 10 advances at an initial velocity of 15 m/s and an equal acceleration of 2 w/i2, and switches lanes when the travel time reaches 5 seconds. Keep away from the car 1; during this period, through the relationship between the two collision time (TTCx and TTCy) and the travel time (as shown in the figure), it can be seen that during the travel time has not reached 5 seconds, TTCy is bran = but TTCx Can still maintain the state of more than two seconds, and suppress the ^ to the wire that turns to ten seconds, this watch is the time when the foreign vehicle (7) is = switch lanes, so the vehicle of the car _ collision warning system will be judged π ΐχ Wang =ί t cloth hazard alarm; then, when the driving time reaches 5 seconds, it means that it is at this time - it is maintained in the state of ten seconds, and the second defense is in parallel with this *1, so the car 1 is. Judging as safe, it will not release dangerous scent. As described above, it can be seen that the present invention has superior accuracy in comparison with the prior art, and is industrially usable. While the present invention has been described above, it is intended that the invention be construed as the invention as defined by the appended claims. Tian [Simple description of the schema] - Figure 1 · Uncover the relative position map of the vehicle according to the method of the present invention, and explain the knowledge of the j-function calculation between the vehicle and the vehicle on the x-axis and the x-axis. A block diagram of the control program of the method of the present invention is used to illustrate that the anti-side warning is issued when the γ-axis collision (four) is smashed when the stern axis collides. ",, gentleman Figure 3: reveals the dynamic relative position map of the vehicle according to the method of the present invention, saying that the vehicle outside the sea is advancing in parallel with the vehicle through acceleration. Ί The relationship between the vehicle collision time and the travel time of FIG. 3 cannot be revealed. In the figure, when the driving time approaches 5 seconds, the TTCx will reach zero seconds, and it will remain in the state of ten seconds. The other method of the present invention is used to display the dynamic relative position map of the vehicle, which indicates that the foreign vehicle switches lanes through acceleration. Η 二 二 二 二 出 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图 图

Maintained in a state of ten seconds. Υ, J [Key component symbol description], the car Foreign vehicle 1 ... a 10 200815224 11 ---------------- B column 12 ............ car tail 2 sensor 13

Claims (1)

200815224 X. Application for Patent Park: L A warning method to prevent vehicles from encountering side collisions. Packages · Cards ^ At least - Sensing set on the side of a car 11 , Town measurement ~ Between the vehicle and the vehicle The straight line distance and the angle of the line; ,,] take the distance between the above-mentioned linear distance and the angle between the X-axis and the γ-axis to calculate the collision time between the ball and the vehicle. Comparison; Collision time and ~ When the above X-axis or γ-axis collision time is solved, the danger alarm is not issued; and the near-time is = the above X-axis and γ-axis collision (4) _ when the foreign car is non-infinite, the release Danger alert. The time is 2. If the towel is in the scope of the patent, the vehicle is protected from _方\’, where the sensing system is ultrasonic radar, laser radar, micro=da or pulse wave radar. Mipoley 3. Prevent the vehicle from encountering a side collision as described in item i of the patent application area. The sensor has a plurality of sensors to detect the distance and angle of the external vehicle. 4. The method for preventing the vehicle from encountering a side collision as described in the first paragraph of the patent application section, wherein the distance between the external vehicle and the vehicle on the x-axis and the collision time of the x-axis are respectively expressed as: Dx = Dcos 〇 ( Where D is the linear distance between the two vehicles measured by the sensor, Dx is the distance between the external vehicle and the vehicle on the X axis, and Θ is the angle between the external vehicle and the vehicle); and __Dx^ ( Dxi-Dx (i-1 X-axis collision time = '(TVTVi) 200815224 (The distance between the two cars that are solved this time on the axis, ~i) is the distance of the previous solution ^1, TiA The time point of the secondary system). For the first - received signal 5. If you apply for the special item, the first method of the vehicle, Weng Weaving's invitation method, its towel line car minus the 岐 γ axis = collision time , respectively: Ε Ϊ Ϊ Ϊ D D D D D D ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( = = = = = = = = = = = = = = Dyi (Dyi-Dy (Μ) Y-axis collision time Α Τ^Τ, ι) (In the formula: Dyi is the distance of the two cars solved on the axis of the solution 'L is the current sense =: _~Previous sense_第一Received: 6. If you apply for a patent _ 彳 职 职 职 ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' The vehicle encounters the side hitting drum ^, the X* and γ axis collision time is solved outside J, and when there is no time, the distance of the foreign vehicle is displayed. Proximity time 15 200815224 8. Prevention as described in claim 1 The vehicle is subjected to the _ method, in which the X-axis or the 丫-axis collision time is solved when the external vehicle approaches § not infinity, indicating that the foreign vehicle passes the detection range instantaneously, and the outer 2 is the distance. 、..., Bu Lai 9· If the application for preventing the vehicle from encountering a side collision as described in item 1 of the scope of the patent application = 'there is at least - LED signal, police _ money language: = issue a dangerous alarm. 颙 No or hit L0. If the scope of patent application is 6 7, 7 or 8 to prevent the vehicle from encountering the gamma-inflicted police method, 苴中—^ encounter the side vehicle auxiliary distance. /, the middle 乂 to 7 LED lights or voice display outside 16