1260560 九、發明說明： 【發明所屬之技術領域】 本發明係與導航系統有關，特別是指一種導航系統之 彎道安全預警及行車紀錄方法。 5【先前技術】 就父通運輸方面，目前有越來越多的使用者，漸漸仰 賴導航系統來指引行車路徑及地名；然，早期許多導航系 統之道路資訊僅用圖像的方式來顯示資訊，對於行車前方 之路況條件，並無任何指引，使得此種導航系統，僅能提 H)供行車方向之參考，其導航之價值較低。 近來’導航系統之功能已提升，對於前方之路況條件， 有較充分之指引，如提供前方之法定最高速限指引，或擷 取前方路口形狀，並予以顯示放大，或前方彎道之指引， 以提供此彎道條件下之最高安全速限；對於前述彎道條件 15下之最高安全速限之設計，如美國專利US 5,315,295「 VEHICLE SPEED CONTROL SYSTEM」係利用座標偵測裝置、 路面溫度感知器、路面溼度感知器、速度感知器檢測相關 訊息後，傳回内部之CPU進行「即時運算（rea卜time calculation)」出安全速限值，若現行車速超過安全速限 2〇值，則予以警告，此種「即時運算（rea卜timecalculati〇n) 」，只要任何一感知器故障或即時訊息錯誤，將會計算錯 誤而提供一錯誤之安全速限值，進而造成駕駛者判斷錯誤 而易釀成重大之車禍，另外，上述安全速限值之計算模式 仍有不足之處，因此此種系統之風險度較高。 1260560 於行車之後端服務卻嫌不夠 次士再者，現仃之導航系統，對於行車之前端服務已提供 貝^如提供前述之車輛的行車方向及速限值，然而，對 【發明内容】 安全；系統之-道 *及行車紀錄:法目安全預 乂 ，、奴供仃皁紀錄之纪載，可用以監控 月,】之仃車蹤跡或事後肇事之判斷。 預擎^成=揭目的，本發明之一種導航系統之彎道安全 危害，所設計内駕驶因疲勞或疏忽造成安全上之 車輛目套幫道安全預警方式；其利用Gps得知 15 並利^輛目及慣性量測裝置得知車輛行進方向， 依照目前車速前取一段距離作為預估距離， :進_’若車速====安:;速 座中’將車輛實際車速、方向盤轉角、奶 从點及_，予处程紀錄。 【實施方式】 構與=配步合 楚m兄明’其中所闕示之簡要說明如下： θ '、發明—較佳實施例之安全預警及行車紀錄 20 1260560 方法流程圖； ^二圖A係本發明單曲線之示意圖； =二圖β之本發明複曲線之示意圖； 5 f,圖〇之本發明反向曲線之示意圖； 5 ,第三圖係本發明圖資中任意區段的地圖資訊與道路座 標點之範例； 、，第四圖係本發明圖資中作預估行駛路徑區段内與車輛 目則行駛路線的夾角示意圖； 第五圖係本發明車輛實際車速與車輛行進方向6>之 10比對表。 第六圖係本發明車輛實際車速與車輛行進方向-(5 <9之 比對表。 第七圖係本發明車輛實際車速與車輛行進方向中之R 值比對表。 15 第八圖係本發明將彎道安全車速預估值放入第三圖之 範例。 本發明之一種導航系統之彎道安全預警及行車紀錄方 法’首先在彎道安全預警方法方面： 步驟一:建立圖資資訊：1260560 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a navigation system, and more particularly to a method for warning of cornering safety and driving of a navigation system. 5 [Prior Art] As far as the parent transportation is concerned, more and more users are gradually relying on the navigation system to guide the driving route and place names. However, the road information of many early navigation systems only uses images to display information. There is no guidance on the conditions of the road ahead of the road, so that the navigation system can only mention H) for the direction of the driving direction, and the value of the navigation is low. Recently, the function of the navigation system has been upgraded. There are more adequate guidelines for the road conditions ahead, such as providing the legal maximum speed limit guidance in front, or taking the shape of the front intersection, and displaying the magnification, or the guidance of the forward curve. To provide the highest safe speed limit under the conditions of the curve; for the design of the highest safe speed limit under the above-mentioned curve condition 15, for example, US Patent No. 5,315,295 "VEHICLE SPEED CONTROL SYSTEM" utilizes a coordinate detecting device and a road surface temperature sensor. After the relevant information is detected by the road surface humidity sensor and the speed sensor, the CPU is sent back to the internal CPU for "real time calculation" (the time calculation) to reach the safety speed limit. If the current speed exceeds the safety speed limit 2, the warning is given. Such an "instant operation (reacalculati)", as long as any sensor malfunctions or an instant message error, will calculate the error and provide a false safety speed limit, thereby causing the driver to judge the error and easily In a major car accident, in addition, there are still deficiencies in the calculation mode of the above-mentioned safety speed limit, so the risk of such a system High. 1260560 After the driving service, it is not enough for the second-class service. The current navigation system provides the driving direction and speed limit of the aforementioned vehicle for the front-end service of the vehicle. However, the [invention] safety System-way* and driving record: the safety precautions of the law, the record of the slaves and the soap records, can be used to monitor the month, the car trail or the judgment of the aftermath. Pre-engineering = inadvertently, the navigation system of the present invention has a cornering safety hazard, and the designed driving safety mode is caused by fatigue or negligence; The vehicle and inertial measurement device knows the direction of travel of the vehicle. According to the current speed, a distance is taken as the estimated distance. If the vehicle speed is ====A: In the speed seat, the actual vehicle speed, the steering wheel angle, Milk from the point and _, to the process record. [Embodiment] The following is a brief description of the structure and the following: θ ', invention - safety warning and driving record of the preferred embodiment 20 1260560 method flow chart; ^ two figure A Schematic diagram of a single curve of the present invention; = schematic diagram of the complex curve of the present invention of the second graph β; 5 f, schematic diagram of the inverse curve of the present invention; 5, the third graph is a map of any section of the map of the present invention An example of information and road coordinate points; and, the fourth figure is an angle between the estimated driving path section and the vehicle traveling route in the drawing of the present invention; the fifth figure is the actual vehicle speed and the vehicle traveling direction of the present invention. 6 > 10 comparison table. The sixth figure is the actual vehicle speed of the present invention and the direction of travel of the vehicle - (5 < 9 comparison table. The seventh diagram is the comparison of the actual vehicle speed of the present invention with the R value in the traveling direction of the vehicle. 15 The invention puts the estimated value of the cornering safety vehicle speed into the example of the third figure. The method for the warning of the cornering safety and the driving record of the navigation system of the present invention is first in the aspect of the warning method for the cornering safety: Step 1: Establishing the information of the curve :
2〇 (A)首先將區域圖資内所有道路，先定義出如第二圖A 之單曲線，或如第二圖B之複曲線及或如第二圖C之反向 曲線等三種曲線組合； (B)先自行定義車輛重量’並依據道路工程設計規範5 定義出每一座標點上之道路平均外軌超高率，路面//值； 1260560 (c)如第三及四圖所示，其中如第三圖，範例路段中共 取出18點，亦即由S〇至S17 ;並依上述彎道組合中，計算 出兩相鄰之行進直線夾角；例如取L1為S0(X0，Y0)至 S^X^Yi)之直線方程式，其中該兩點之間距為15”（Γ為 5 經緯度之單位，Γ =31·0281公尺），L2為SJX^Yi)至 S2(X2，Y2)之直線方程式，藉由數學公式可計算出L1與L2 之0夾角；依上述之類推；可算出直線L2與L3之Θ夾角， 直線L3與L4之6>夾角等等； (D)取出上述彎道組合中之三點S0(X0，Y0)，SKXbYi)， ίο S2(X2，Y2)，其中任兩點之間距為15”（Γ為經緯度之單 位，1” =31· 0281公尺），並求出其路徑方程式y=f(x)，藉 由路徑方程式可分別求出： 曲率 p(X，Y): 1 +2〇(A) First, define all the roads in the area map, first define a single curve as shown in Figure A, or a complex curve as in Figure 2B or a reverse curve as in Figure 2C. (B) Define the weight of the vehicle first' and define the road's average outer rail superelevation rate per road point according to the road engineering design specification 5, pavement/value; 1260560 (c) as shown in Figures 3 and 4 , as shown in the third figure, a total of 18 points are taken out from the example road segment, that is, from S〇 to S17; and according to the above-mentioned curve combination, the angles of the two adjacent traveling straight lines are calculated; for example, taking L1 as S0 (X0, Y0) To the linear equation of S^X^Yi), where the distance between the two points is 15" (Γ is 5 units of latitude and longitude, Γ = 31·0281 meters), L2 is SJX^Yi) to S2 (X2, Y2) The linear equation can be calculated by mathematical formula to calculate the angle between L1 and L2; according to the above; the angle between the straight line L2 and L3 can be calculated, the angle between the straight line L3 and L4 can be calculated, etc.; The three points in the combination are S0 (X0, Y0), SKXbYi), ίο S2 (X2, Y2), and the distance between any two points is 15" (Γ is the unit of latitude and longitude, 1" = 31· 0281 meters), and find the path equation y=f(x), which can be obtained separately by the path equation: Curvature p(X,Y): 1 +
、办J, do J
Zz dx2 15 並利用遞增區間為f’（X)>0可求出X之範圍值； 遞減區間為f’（x)<0可求出X之範圍值； 上凹區間為Γ (x)>0可求出X之範圍值； 下凹區間為Γ (x)<0可求出X之範圍值； 反曲點為 Γ (X)二0 可求出X值； 20 亦即每一座標點之彎道半徑可得： R=p(Xn, Yn) (Ε)依據<9變化量，結合道路平均外轨超高率，路面 1260560 "值及車重，分職㈣力學運算式來估算轉 平衡下之安全車速值Vsi:f(W ;此安全車=輛之力 中之角動量對車輛之影響，避免車_轉；考慮彎道 (F) 依據彎道R值’結合道路平均外軌超 #值及車重，分職用動力學運算式來估算轉路面 平衡:之安全車速值Vs2，);此安全車速值係;慮= 之離心力對車輛之影響，避免車輛偏離路面；心弓、 (G) 建立(9值所對應之安全車速值之對照表 六圖所示； 如弟五及 (H) 建立R值所對應之安全車速值之對照表，如第七 所示； ® ⑴在取較大之安全係數下，以上述(G)及(H)中之較低安 全車速值，作為每一座標點之標準安全車速值，即標準安 全車速值Vs=Min(Vsl，VsO ;並整合至衛星導航系統之電子 15地圖資訊中，如第八圖所示，在範例路段中之18點，均建 立標準安全車速值，如SG至S!為直線段路，標準安全車速 值為60Km/hr，如S2至S6為彎道段路，標準安全車速值為 55Km/hr，如S1G至S12為連續彎道段路，標準安全車速值之 最低值為40Km/hr ; 20 步驟二:請參閱第一圖所示，首先利用GPS定位資訊擷 取目前車輛之座標位置，並偵測車輛是否移動； 步驟三:在車輛上置設慣性量測裝置(gyro)與直角平面 座標系（地球經緯度座標系），以得知目前車輛行進方向；其 中慣性量測裝置為一種角動量量測工具，如陀螺儀； 1260560 步驟四··利用車輛目前位置座標點往前取一段適當長度 作為預估距離取出一對比座標點；在預估距離設定方面， 可以固定模式往前取100km，或以變動模式取值，例如現行 車速為lOOkm/hr，則取1〇個車身為預估距離，若現行車速 5為50km/hr ’則取5個車身長為預估距離，換言之，預估距 離依現行車速每增加l〇km/hr，則增加一車身長單位； v驟五.在車輛上置g史車速偵測器、G_sens〇r偵測器、 方向盤角度偵測器，以偵測並擷取目前車速、G sens〇r數 值與方向盤之角度訊號； 1〇 步驟六:依照目前車速與圖資資料之預估安全車速進行 比對；亦即，目前車速與預估距離取出之對比座標點上之 標準安全車速值(依步驟一所得之標準安全車速值)作比對； 步驟七:若車速超過標準安全車速值，則予以警示，·若 車輛到達對比座標點時之當下車速超過標準安全車速值， 15且無任何肇事車槁，則圖資資訊將自動更新標準安全車速 值，以提供下次車輛行經速度之判斷標準； 另外，就本發明導航系統之行車紀錄方法，係於上述 ，驟中在車輛上置设車速摘測器、G-sensor偵測器、方 向盤角度偵測器，同時由GPS定位，在行車過程中全程紀 2〇錄即f座標點、奶時間、車速值、G備sor值、方向盤角 二虎，由於上述之訊號，均為數字紀錄，因此佔取記憶 =間並不大’當然，若考量記憶體空關題，則設収 =儲存方式，為儲存—段時間後或—段記憶容量空間， 售貧料自動被新資料覆蓋之模式； 1260560 事貫上，本發明導航系統之行車紀錄方法，對於行車 之後端服務，具有-大貢獻；亦即，假設車輛肇事後，可 將行車紀錄GPS座標點、GPS時間、車速值、G侧财值、 方向盤角度訊號匯入具有判讀功能之裝置上（如筆記型電 5腦或PDA···)，即可判讀肇事過程中車輛狀態與駕駛人操二 狀況；或可將行車紀錄GPS座標點、GPS時間、車速值、 G-sensor值、方向盤角度訊號匯入具有電子圖資之裝置上 i如筆記型電腦或PDA···)，即可模擬行驶過之路徑及車輛狀 態；換言之，本發明導航系統之行車紀錄，間接提供了行 ίο驶過之路徑、車輛狀態與駕駛人操作狀況，對於車搞鑑定， 刑事辦案，或追蹤監控具有一定之參考價值； *因此，本發明在彎道安全預警方法方面，每一座標點 之標準f全車速值，以預存方式整合至衛星導航系統之電 ^地圖貧訊中，可排除感知器即時故障或即時訊息錯誤所 is提供之錯誤安全速限值，以降低使用之風險性；同時，本 發明之標準安全速現值之計算模式，除考慮R值下的安全 速限值外，亦考慮<9值下之安全速限值，因此在多重考慮 下，具有較大之安全係數，亦具有自我更新資料之功能， 所以本發明相較於習用導航系統更具多重功效；再者，本 20 ^明^航系統之行車紀錄方法，將行車紀錄Gps座標點、 GPS %間、車速值、G sens〇r值全程記載，對於車輛行車之 後端服務，功能果更佳。 10 1260560 【圖式簡單說明】 、第一圖係本發明一較佳實施例之安全預警及行車紀錄 方法流程圖； 第二圖A係本發明單曲線之示意圖； 第二圖B之本發明複曲線之示意圖； 第二圖C之本發明反向曲線之示意圖； 第三圖係本發明圖資中任意區段的地圖資訊與道路座 標點之範例； 二第四圖係本發明圖資中作預估行駛路徑區段内與車輛 目岫行馱路線的夾角示意圖； 第五圖係本發明車輛實際車速與車輛行進方向6 <9之 比對表。 之 弟六圖係本發明車輛實際車速與車輛行進方向Θ 比對表。 15Zz dx2 15 and use the increment interval f'(X)>0 to find the range value of X; the decrement interval is f'(x)<0 to find the range value of X; the concave interval is Γ (x ) > 0 can obtain the range value of X; the concave interval is Γ (x) < 0 to obtain the range value of X; the inflection point is Γ (X) 2 to obtain the X value; The radius of the curve of each punctuation can be obtained: R=p(Xn, Yn) (Ε) according to the change of <9, combined with the average outer rail height of the road, the road surface 1260560 " value and vehicle weight, sub-division (4) mechanics The calculation formula is used to estimate the safe vehicle speed value under the balance of balance Vsi:f (W; the impact of the angular momentum of the safety vehicle=the vehicle on the vehicle, avoiding the vehicle_turn; considering the curve (F) according to the curve R value' Combined with the road average outer rail super# value and vehicle weight, the sub-service dynamics formula is used to estimate the balance of the road surface: the safe vehicle speed value Vs2,); the safe vehicle speed value; the influence of the centrifugal force on the vehicle, avoiding the vehicle Deviation from the road surface; the heart bow, (G) is established (the value of the safe speed value corresponding to the value of 9 is shown in the figure 6; if the fifth and (H) establish the R value corresponding to the safe speed value, such as the seventh As shown; ® (1) Under the larger safety factor, the lower safe vehicle speed value in (G) and (H) above is used as the standard safe vehicle speed value of each punctuation, that is, the standard safety vehicle speed value Vs=Min(Vsl, VsO; And integrated into the electronic navigation map information of the satellite navigation system, as shown in the eighth figure, at 18 points in the example road section, the standard safety vehicle speed value is established, such as SG to S! is a straight section road, and the standard safety vehicle speed value is 60Km/hr, if S2 to S6 are curved section roads, the standard safe speed value is 55Km/hr. If S1G to S12 are continuous curved section roads, the minimum value of standard safety speed is 40Km/hr; 20 Step 2: Referring to the first figure, first use the GPS positioning information to capture the coordinates of the current vehicle and detect whether the vehicle is moving. Step 3: Set the inertial measurement device (gyro) and the right-angle plane coordinate system (the earth) on the vehicle. Longitude and latitude coordinate system) to know the current direction of vehicle travel; wherein the inertial measurement device is an angular momentum measurement tool, such as a gyroscope; 1260560 Step 4··Use the current position coordinate point of the vehicle to take an appropriate length forward as an estimate Take a comparison Coordinate point; in the estimation of the distance setting, the fixed mode can be taken 100km forward, or the value can be changed in the variable mode. For example, if the current speed is lOOkm/hr, then one vehicle is taken as the estimated distance. If the current speed is 5km, 50km /hr 'takes 5 body lengths as the estimated distance. In other words, the estimated distance increases by 1 /km/hr according to the current speed, and then increases the length of the body; v. V. On the vehicle, the speed of the vehicle is detected. , G_sens〇r detector, steering wheel angle detector to detect and capture the current speed, G sens〇r value and steering wheel angle signal; 1〇Step 6: According to the current speed and map data estimates The safe vehicle speed is compared; that is, the current standard vehicle speed value on the comparison coordinate point of the current vehicle speed and the estimated distance (according to the standard safety vehicle speed value obtained in step 1) is compared; Step 7: If the vehicle speed exceeds the standard safety speed If the value reaches the standard coordinate speed, 15 if there is no accident, the map information will automatically update the standard safe speed value to provide the next vehicle line. In addition, as for the driving record method of the navigation system of the present invention, the vehicle speed measuring device, the G-sensor detector, the steering wheel angle detector are disposed on the vehicle, and the GPS positioning is performed at the same time. In the course of driving, the whole process is recorded as p-point punctuation, milk time, speed value, G-sor sor value, and steering wheel angle. Because the above signals are digital records, the memory is not large. 'Of course, if you consider the memory empty space question, then set the storage mode, for storage - after the time period or - segment memory capacity space, the sales of the material is automatically covered by the new data; 1260560 events, the navigation of the present invention The driving method of the system has a big contribution to the service at the end of the driving; that is, after the vehicle is an accident, the GPS coordinate point, GPS time, vehicle speed value, G side financial value, and steering wheel angle signal can be imported into the vehicle. On the device that reads the function (such as the notebook type 5 brain or PDA···), you can judge the vehicle status and the driver's operation status during the accident; or you can record the GPS coordinate point, GPS time, and vehicle. The speed value, the G-sensor value, and the steering wheel angle signal are imported into the device having the electronic image, such as a notebook computer or a PDA (····), to simulate the route and the state of the vehicle; in other words, the navigation system of the present invention The driving record indirectly provides the path of the vehicle, the state of the vehicle and the operation status of the driver. It has certain reference value for the vehicle identification, criminal case handling, or tracking and monitoring; * Therefore, the invention is in the warning method of corner safety. The standard f-speed value of each punctuation is integrated into the satellite navigation system's electric map in a pre-stored manner, which can eliminate the false safety speed limit provided by the sensor's immediate fault or instant message error to reduce the use. At the same time, the calculation mode of the standard safe and fast present value of the present invention, in addition to considering the safe speed limit under the R value, also considers the safe speed limit value under the value of <9, so The larger safety factor also has the function of self-updating data, so the present invention has more multiple functions than the conventional navigation system; The method of driving record, the driving recorder Gps coordinate point, between the GPS%, vehicle speed value, G value throughout sens〇r described, the rear end of the vehicle traffic services, functions better results. 10 1260560 [Simplified description of the drawings], the first figure is a flowchart of a method for safety warning and driving record according to a preferred embodiment of the present invention; FIG. 2 is a schematic diagram of a single curve of the present invention; Schematic diagram of the complex curve; schematic diagram of the reverse curve of the present invention in the second graph C; the third graph is an example of map information and road coordinate points of any section in the map of the present invention; The angle between the actual driving speed of the vehicle and the vehicle traveling direction 6 < 9 is shown in the figure. The sixth figure is a comparison table between the actual vehicle speed of the present invention and the direction of travel of the vehicle. 15
信+ 圖係本發明車輛貝際車速與車輛行進方向中之R 值比對表。 範例第八圖係本發明將彎道安全車速預估值放人第三圖之 【主要元件符號說明】 L3行進直線 R彎道半徑 L1行進直線 L2行進直線 L4行進直線 Θ行進直線夾角 20The letter + map is an R-value comparison table of the vehicle-to-vehicle speed of the present invention and the direction of travel of the vehicle. The eighth example of the present invention is to put the estimated value of the safe speed of the curve into the third figure. [Main component symbol description] L3 traveling straight line R corner radius L1 traveling straight line L2 traveling straight line L4 traveling straight line Θ traveling straight line angle 20