1294371 九、發明說明： 【發明所屬之技術領域】 本案係為一種車輛防撞警示系統，尤指一種智慧 型車輛側邊防撞警示系統。 【先前技術】 根據美國NHTSA的資料，美國每年約有10000 人死於側面撞擊的事故中，另外根據交通部統計處統 _ 計92年台閩地區汽車肇事事故統計資料中，事故類型 中排名第一為「側撞」，比重佔所有事故36.7%。因此 側撞意外事件毫無疑問地受到各大車廠的重視，使車 廠積極研發更堅固的車輛侧邊或側邊安全氣囊，但畢 ‘竟這些技術僅是「被動安全」，因此本案動機為輔助駕 • 駛者與乘客避免造成變換車道與開啟車門時車輛側邊 碰撞之危險事故產生，達到「主動安全」保護駕駛者 與乘客目的。 • 請參閱第一圖，其係習知技藝之車輛防側撞警示 系統示意圖，該習知技藝係指中華民國專利申請案號 222099汽車變換車道防止後視鏡死角之電眼裝置，針 對侧撞提供四個各裝置於汽車後保險桿兩側及汽車左 右兩邊門柱適當位置垂直車體侧邊之超音波電眼11， 當汽車方向燈控制桿（未顯示）開啟時且超音波電眼11 偵測到有汽車靠近時，即啟動蜂鳴器（未顯示），使其 發生告警。 然該習知技藝僅針對變換車道時輔助，對於車門 5 1294371 開啟睛的保護卻付諸闕如，例如開門及側邊來車時， 鎖定車門保護車内乘客以及判斷障礙物靠近是否有危 險。穷外，該習知技藝不能偵測側後方的障礙物，無 法對車内發出警示訊號及控制門鎖，同時也無法在& 外對彳則後方之車輛提供警示資訊。 袭是之故’申請人係鑑於上述習知技術之缺失， 經悉心試驗與研究，並一本鍥而不捨的精神，終提出 一種町防止側後方車輛撞擊之設計，創作出本案「智 _ 慧型車輛側邊防撞警示系統」。 曰 【發明内容】1294371 IX. Description of the invention: [Technical field to which the invention belongs] This case is a vehicle anti-collision warning system, especially a smart vehicle side collision warning system. [Prior Art] According to the US NHTSA, about 10,000 people die in side impact accidents each year in the United States, and according to the statistics of the Ministry of Communications, the number of accidents in the statistics of automobile accidents in the Taiyuan area in 1992 One is "side collision", which accounts for 36.7% of all accidents. Therefore, the side collision accident is undoubtedly valued by the major car manufacturers, so that the car factory is actively developing a more robust side or side airbag of the vehicle. However, these technologies are only "passive safety", so the motivation of this case is auxiliary. Drivers and passengers avoid the danger of accidents causing collisions between the lanes and the side of the vehicle when the vehicle is opened, achieving the goal of “active safety” to protect the driver and passengers. • Please refer to the first figure, which is a schematic diagram of a vehicle anti-side collision warning system of the prior art, which refers to the electric eye device of the Republic of China Patent Application No. 222099 car change lane preventing rear view mirror dead angle, provided for side collision Each of the four devices is on the sides of the rear bumper of the automobile and at the appropriate positions on the left and right sides of the car, and the ultrasonic electric eye 11 on the side of the vertical body is vertical. When the car directional light control lever (not shown) is turned on and the ultrasonic electric eye 11 is detected When the car is approaching, the buzzer (not shown) is activated to cause an alarm. However, this prior art is only for assisting in changing lanes. For the protection of the door 5 1294371, for example, when the door is opened and the side is coming, the door is locked to protect the passengers in the vehicle and to determine whether the obstacle is close to danger. In the poor, this skill can't detect the obstacles behind the side, it can't send warning signals and control the door locks in the car, and it can't provide warning information for the vehicles behind the & In view of the lack of the above-mentioned prior art, the applicants have carefully tested and researched, and a perseverance spirit, finally proposed a design to prevent the collision of the rear side vehicles, creating the case "智智慧车" Side collision warning system".曰 【Contents】
本發明的第一構想在於提供一種智慧型車辆側邊 防撞警示系統，包括一障礙物感测解析單元、一車 動態偵測單元、一資料處理與控制單元以及一 ^ 測控制單元。該障礙物感測解析單元，用來感 ^ 車輛側後方之一障礙物，並發出一障礙物解析次·； 該車輛動_測單元，用來即時_該車辆之 轉向並發出-車輛動態_資訊；該資料處理 單元，根據該障礙物解析資訊及該車輛 站，、控制 判斷-危險狀況’並決定是否發出測貧訊 該車門感測控制單元，其係物測以及 當車門經偵測為關閉並收到該控制：否開啟， 器，用來侧料相是邱啟把感測 依據本發明之構想，該系統更包括一警示單元， 6 1294371 其係由該資料處理與控制單元驅使產生一警示訊號。 依據本發明之構想，該危險狀況係透過一碰撞指 數估測方式以計算一危險指數，做為一碰撞預警參考。 依據本發明之構想，當該車輛車速低於一第一速 度，且該資料處理與控制單元接收該障礙物解析資訊 時，經評估如該危險指數大於一門檻值且門把感測器 感測該等車門被開啟，該資料處理與控制單元驅使該 車門控制單元鎖住該等車門，並控制該警示單元產生 該警不訊號；當該危險指數低於該門植值時’該貢料 處理與控制單元驅使該車門控制單元解除該警示訊 依據本發明之構想，當車速高於一第二速度，且 該資料處理與控制單元接收該障礙物解析資訊時，經 評估如該危險指數大於一門檻值且該車輛動態偵測單 元偵知該車輛之轉向時，該資料處理與控制單元驅使 控制該警示單元產生該警示訊號；當該危險指數低於 該門檻值時，該資料處理與控制單元驅使並解除該警 示訊號^ 依據本發明之構想，當該車門控制單元鎖住該等 車門時，該等車門可以手動方式打開。 依據本發明之構想，該障礙物感測器為一雷達。 依據本發明之構想，該障礙物感測器為一影像感 測器。 依據本發明之構想，該車輛動態偵測單元以一方 向燈訊號偵測該車輛之轉向。 7 1294371 依據本發明之構想，該車輛動態偵測單元以一方 向盤轉角訊號訊號偵測該車輛之轉向。 依據本發明之構想，該警示訊號包括一車内防撞 警示資訊以及一車外防撞警示資訊。 依據本發明之構想，該車内防撞警示訊號係至少 包括一喇叭發出之聲響及該車内兩側視野可見之複數 個閃燈閃爍。 依據本發明之構想，該車外防撞警示訊號係至少 ® 包括一側邊燈號閃爍及透過無線通訊傳輸一侧撞警示 資訊給一侧後方車輛接收。 依據本發明之構想，該障礙物解析單元、該車輛 動態偵測單元、該車門控制單元及該資料處理與控制 單元係以一車内網路連接。 ’ 依據本發明之構想，該車内網路具有一 CAN介 面。 依據本發明之構想，該車内網路具有一 LIN介面。 ⑩ 依據本發明之構想，該車内網路具有一 SPI通訊 埠。 依據本發明之構想，該系統尚包括一顯示單元， 其係接收該資料處理與控制單元所發出之一顯示資 訊。 依據本發明之構想，該顯示資訊包括該側後方障 礙物之一相對距離及一相對速度，該危險指數、一障 礙物影像、一車門鎖定資訊或一危險變換車道資訊。 依據本發明之構想，該系統尚包括一功能解除開 8 1294371 關，係將所有系統功能解除。 本發明的第二構想在於提供一種智慧型車輛側邊 防撞警示系統，包括一障礙物感測解析單元、一車輛 動態偵測單元、一資料處理與控制單元、一車門感測 控制單元、一警示單元以及一顯示單元。該障礙物感 測解析單元，用來感測位於車輛侧後方之一障礙物， 並發出一障礙物解析資訊；該車輛動態偵測單元，用 來即時偵測該車輛之車速及轉向並發出一車輛動態偵 • 測資訊；該資料處理與控制單元，用來發出一顯示資 訊及根據該障礙物解析資訊及該車輛動態偵測資訊判 斷一危險狀況，並決定是否發出一控制訊號；該車門 感測控制單元，其係用來偵測車門是否開啟，當車門 ‘ 經偵測為關閉並收到該控制訊號時，鎖定車門；該警 ’ 示單元，其係由該資料處理與控制單元驅使產生一警 示訊號以警示該車輛之乘客及該障礙物；以及該顯示 單元，其係用來接收及顯示該資料處理與控制單元所 ⑩發出之該顯示資訊以提供車輛及該障礙物之一即時狀 態給乘客。 依據本發明之構想，該危險狀況係透過一碰撞指 數估測方式以計算一危險指數，做為一碰撞預警參考。 依據本發明之構想，當該車輛車速低於一第一速 度，且該資料處理與控制單元接收談障礙物解析資訊 時，經評估如該危險指數大於一門檻值且該門把感測 器感測該等車門被開啟，該資料處理與控制單元驅使 該車門控制單元鎖住該等車門，並控制該警示單元產 9 1294371 生該警示訊號；當該危險指數低於該門檻值時，該資 料處理與控制單元驅使解除該警示訊號。 依據本發明之構想，當車速高於一第二速度，且 該資料處理與控制單元接收該障礙物解析資訊時，經 評估如該危險指數大於一門檻值且該車輛動態偵測單 元偵知該車輛之轉向時，該資料處理與控制單元驅使 控制該警示單元產生該警示訊號；當該危險指數低於 該門檻值時，該資料處理與控制單元驅使解除該警示 _ 訊號。 ¥?康本#日月之軍万亙制單元鎖住該 車門時，該等車門可以手動方式打開。 依據本發明之構想，該障礙物感測器為一雷達。 ’ 依據本發明之構想，該障礙物感測器為一影像感 ， 測器。 依據本發明之構想，該車輛動態偵測單元以一方 向燈訊號偵測該車輛之轉向。 • 如依據本發明之構想，該車輛動態偵測單元以一 方向盤轉角訊號訊號偵測該車輛之轉向。 依據本發明之構想，該警示訊號包括一車内防撞 警示資訊以及一車外防撞警示資訊。 依據本發明之構想，該車内防撞警示訊號係至少 包括一喇叭發出之聲響及該車内兩側視野可見之複數 個閃燈閃爍。 依據本發明之構想，該車外防撞警示訊號係至少 包括一側邊燈號閃爍及透過無線通訊傳輸一侧撞警示 χ29437ι 貝訊給-侧後方車輛接收。 動態偵ίϋ明2想:該:章礙物，單元、該車輛 元係以—車内網路連:控制早70及資料處理與控制單 面 依據本發明之構想，該車内網路具有一 CAN介 二據本發日月之構想’ 埠 俊據本發明之媸柏斗生 有UN介面。 月之構想，该車内網路具有一 spi通訊 礙物發明之構想，該顯示資訊包括該侧後方障 礙物影:對距離及—相對速度，該危險指數、-障 ^ 、一車門鎖定資訊或一危險變換車道資訊。 關，佐康本毛明之構想’该系統尚包括—功能解除開 餘將所有系統功能解除。 ^發明的第三構想在於提供—種智慧型車輛側邊 才里吕不方法，該方法包括步驟如下：⑷檢查該功能 解除開關之一狀態；（b)偵測車輛之一車速及一轉向； (C)偵測一障礙物感測資訊；（巾分析該障礙物感測資訊 並計算一危險指數；（e)根據該危險指數及該車速鎖住 車門並發出一第一警示，·以及（f)根據該危險指數及該 車速發出一第二警示。 依據本發明之構想，該步驟(a)之該狀態如為一啟 動狀態，則停止一警示功能。 依據本發明之構想，該步驟（e)包括：（el)顯示該 危險指數及該障礙物感測資訊；（e2)根據該危險指數判 11 1294371 斷是否為一危險狀態；（e3)如步驟(e2)之結果為否，停 止該警示功能並結束；（e4)檢查該車速是否低於一第一 速度；（e5)如步驟(e4)之結果為是，檢查該門把感測器 之一狀態；（e6)如步驟(e5)之該狀態非為一啟動狀態， 啟動一車内燈光閃爍警示並結束；(e7)發出一車門鎖定 訊號以鎖住車門；（e8)顯示車門之一鎖定訊息；以及(e9) 啟動一車内警示以及一車外危險侧邊燈號閃爍警示。 依據本發明之構想，該步驟(f)包括：（fl)如步驟(e2) _ 之結果為否，檢查該車速是否高於一第二速度；（f2) 如步驟(fl)之結果為否，啟動一車内燈光閃爍警示並結 束；（f3)如步驟(Π)之結果為是，無線傳輸一側撞警示 資訊至該障礙物；（f4)顯示一危險變換車道訊息；以及 (f5)啟動該車内警示以及該車外危險侧邊燈號閃爍警 , 示。 依據本發明之構想，該步驟(c)之談障礙物感測資 訊包括該車輛及該危險侧後方車輛之一相對速度、一 相對距離及一影像。 依據本發明之構想，該步驟(d)係透過一碰撞指數 估測方式计异该危險指數，做為一碰撞預警參考。 依據本發明之構想，該步驟(e3)係比較該危險指數 及一門檻值，如超過則係談危險狀態。 依據本發明之構想，該步驟（e9)之該車内警示包 括：啟動一車内聲音警示；以及啟動該燈光閃爍警示。 本案之功效與目的，可藉由下列實施例與圖示說 明，俾有更深入之了解。 12 1294371 【實施方式】 請請參閱第二圖，其係本案實施例之智慧型車輛 側邊防撞警示系統之運作示意圖，本實施例之智慧= 車輛侧邊防撞警示系統（未顯示）之障礙物感測器21 I置於甲車22兩侧，係用來偵測侧後方乙車23之, 訊’當分析該資訊確認乙車23會於曱車22變換車二 或是停車開門時造成危險，智慧型車輛側邊防撞警= 系統（未顯示）會對車内駕駛及乘客與車外迫近之乙= 23發出警訊與控制車門。 请芩閱第三圖，其係本案實施例之智慧型車細 邊防撞警示系統之架構圖’智慧型車油邊防撞警= 系統3G係包括—障礙物感測器3卜一障礙物解‘= 兀32、一車輛動態偵測單元33、一資料處理與控= 元34、一門把感測器35、一車門控制單元祁二―= 示單元37、一顯示單元38以及一系統開關39 ’此二 所謂之障礙物係為一車輛。 匕處 障礙物感測器31、卜裝置於車_側用 =於該車輛側後方所出現障礙物，產生 ^、 資訊，障礙物感測器31可以-雷達或—㈤傻：士測 之；障礙物組把w - 〜像感測1§為 I早礙物％析早凡32係與障礙物 該車輛及側後方車以A first aspect of the present invention provides a smart vehicle side collision warning system including an obstacle sensing and analyzing unit, a vehicle motion detecting unit, a data processing and control unit, and a measurement control unit. The obstacle sensing and analyzing unit is configured to sense an obstacle behind the vehicle side and issue an obstacle analysis time. The vehicle motion measuring unit is used for instant _ the vehicle steering and issuing - vehicle dynamics _ information; the data processing unit, according to the obstacle analysis information and the vehicle station, control the judgment - dangerous situation 'and decide whether to issue a poor sense of the door sensing control unit, which is measured and when the door is detected In order to close and receive the control: No, the device is used for the side phase. Qiu Qi senses the concept according to the invention. The system further includes a warning unit, 6 1294371, which is driven by the data processing and control unit. Generate a warning signal. According to the concept of the present invention, the dangerous situation is calculated by a collision index estimation method to calculate a risk index as a collision warning reference. According to the concept of the present invention, when the vehicle speed is lower than a first speed, and the data processing and control unit receives the obstacle analysis information, it is evaluated that the risk index is greater than a threshold and the door sensor is sensed. The door is opened, the data processing and control unit drives the door control unit to lock the doors, and controls the warning unit to generate the alarm signal; when the risk index is lower than the threshold value, the tribute processing And the control unit drives the door control unit to cancel the warning. According to the concept of the present invention, when the vehicle speed is higher than a second speed, and the data processing and control unit receives the obstacle analysis information, it is evaluated that the risk index is greater than one When the threshold value is detected and the vehicle motion detecting unit detects the steering of the vehicle, the data processing and control unit drives the warning unit to generate the warning signal; when the risk index is lower than the threshold, the data processing and control unit Driving and releasing the warning signal. According to the concept of the present invention, when the door control unit locks the doors, the doors can Open manually. According to the concept of the invention, the obstacle sensor is a radar. According to the concept of the invention, the obstacle sensor is an image sensor. According to the concept of the present invention, the vehicle motion detecting unit detects the steering of the vehicle with a side light signal. 7 1294371 According to the concept of the present invention, the vehicle motion detecting unit detects the steering of the vehicle by a side turn signal signal. According to the concept of the present invention, the warning signal includes an in-vehicle anti-collision warning information and an out-of-vehicle anti-collision warning information. According to the concept of the present invention, the in-vehicle anti-collision warning signal includes at least a sound emitted by a speaker and a plurality of flashing lights visible on the sides of the vehicle. According to the concept of the present invention, the anti-collision warning signal of the vehicle is at least ® comprising one side flashing light and transmitting a side collision warning information through wireless communication to the vehicle at one side. According to the concept of the present invention, the obstacle analysis unit, the vehicle motion detection unit, the door control unit, and the data processing and control unit are connected by an in-vehicle network. According to the concept of the invention, the in-vehicle network has a CAN interface. In accordance with the teachings of the present invention, the in-vehicle network has a LIN interface. According to the concept of the present invention, the in-vehicle network has an SPI communication port. In accordance with the teachings of the present invention, the system further includes a display unit that receives display information from one of the data processing and control units. According to the concept of the present invention, the display information includes a relative distance of the side obstacle and a relative speed, the danger index, an obstacle image, a door lock information or a dangerous lane change information. In accordance with the teachings of the present invention, the system also includes a function to unlock 8 1294371, which removes all system functions. A second aspect of the present invention provides a smart vehicle side collision avoidance warning system, including an obstacle sensing and analyzing unit, a vehicle motion detecting unit, a data processing and control unit, a door sensing control unit, and a A warning unit and a display unit. The obstacle sensing and analyzing unit is configured to sense an obstacle located behind the vehicle side and issue an obstacle analysis information; the vehicle motion detecting unit is configured to instantly detect the speed and turn of the vehicle and issue a Vehicle dynamic detection and measurement information; the data processing and control unit is configured to issue a display information and determine a dangerous condition based on the obstacle analysis information and the vehicle motion detection information, and determine whether to issue a control signal; The control unit is configured to detect whether the door is open. When the door is detected to be closed and the control signal is received, the door is locked; the alarm unit is driven by the data processing and control unit. a warning signal to alert the passenger of the vehicle and the obstacle; and the display unit for receiving and displaying the display information sent by the data processing and control unit 10 to provide an immediate state of the vehicle and the obstacle To the passengers. According to the concept of the present invention, the dangerous situation is calculated by a collision index estimation method to calculate a risk index as a collision warning reference. According to the concept of the present invention, when the vehicle speed is lower than a first speed, and the data processing and control unit receives the obstacle analysis information, it is evaluated that the risk index is greater than a threshold value and the door handle sensor sense Measuring that the doors are opened, the data processing and control unit drives the door control unit to lock the doors, and controls the warning unit to generate the warning signal; when the risk index is lower than the threshold, the data is The processing and control unit drives the release of the alert signal. According to the concept of the present invention, when the vehicle speed is higher than a second speed, and the data processing and control unit receives the obstacle analysis information, it is evaluated that the risk index is greater than a threshold and the vehicle motion detecting unit detects the When the vehicle is turning, the data processing and control unit drives the warning unit to generate the warning signal; when the risk index is lower than the threshold, the data processing and control unit drives the warning signal to be released. ¥?康本# When the Sun Moon Army unit locks the door, the doors can be opened manually. According to the concept of the invention, the obstacle sensor is a radar. According to the concept of the present invention, the obstacle sensor is an image sensor. According to the concept of the present invention, the vehicle motion detecting unit detects the steering of the vehicle with a side light signal. • According to the concept of the present invention, the vehicle motion detecting unit detects the steering of the vehicle by a steering wheel angle signal signal. According to the concept of the present invention, the warning signal includes an in-vehicle anti-collision warning information and an out-of-vehicle anti-collision warning information. According to the concept of the present invention, the in-vehicle anti-collision warning signal includes at least a sound emitted by a speaker and a plurality of flashing lights visible on the sides of the vehicle. According to the concept of the present invention, the anti-collision warning signal of the vehicle includes at least one side flashing light and a wireless communication transmitting side collision warning χ29437ιB signal to the side rear vehicle receiving. Dynamic Reconnaissance 2 thinks: This: Chapter obstacle, unit, the vehicle's elementary system - in-vehicle network connection: control early 70 and data processing and control single-sided according to the concept of the present invention, the in-vehicle network has a CAN medium According to the concept of the present day and the moon, Yu Jun has a UN interface. According to the concept of the month, the in-vehicle network has a concept of invention of a spi communication obstacle, and the display information includes the obstacle image on the side of the side: the distance and the relative speed, the danger index, the obstacle, the door lock information or a Dangerous change lane information. Guan, Zokon Ben Maoming's conception's system still includes - function release to remove all system functions. The third concept of the invention is to provide a smart vehicle side-side method, the method comprising the steps of: (4) checking a state of the function release switch; (b) detecting a vehicle speed and a steering; (C) detecting an obstacle sensing information; (the towel analyzing the obstacle sensing information and calculating a risk index; (e) locking the door according to the risk index and the speed and issuing a first warning, and ( f) issuing a second warning according to the risk index and the vehicle speed. According to the concept of the present invention, if the state of the step (a) is an activated state, the warning function is stopped. According to the concept of the present invention, the step ( e) includes: (el) displaying the risk index and the obstacle sensing information; (e2) determining whether the fault is a dangerous state according to the risk index; (e3) if the result of the step (e2) is no, stopping The warning function ends; (e4) checking whether the vehicle speed is lower than a first speed; (e5) if the result of the step (e4) is YES, checking the state of one of the door handle sensors; (e6) as in the step ( E5) This state is not a startup state, start A car light flashes a warning and ends; (e7) issues a door lock signal to lock the door; (e8) displays a door lock message; and (e9) activates an in-vehicle warning and an out-of-vehicle hazardous side light flashing alert. According to the concept of the present invention, the step (f) comprises: (fl) checking whether the vehicle speed is higher than a second speed as a result of the step (e2) _; (f2) if the result of the step (fl) is no , start a car light flashing warning and end; (f3) If the result of step (Π) is yes, the wireless transmission side hits the warning information to the obstacle; (f4) displays a dangerous change lane message; and (f5) starts The in-vehicle warning and the dangerous side light flashing alarm outside the vehicle are shown. According to the concept of the present invention, the obstacle sensing information in the step (c) includes a relative speed of the vehicle and one of the dangerous side vehicles, and a relative speed. Distance and an image. According to the concept of the present invention, the step (d) is based on a collision index estimation method to calculate the risk index as a collision warning reference. According to the concept of the present invention, the step (e3) is compared. Risk index According to the concept of the present invention, the in-vehicle warning of the step (e9) includes: starting an in-vehicle sound warning; and starting the light flashing warning. The effect and purpose of the case can be borrowed. The following embodiments and illustrations are provided for further understanding. 12 1294371 [Embodiment] Please refer to the second figure, which is a schematic diagram of the operation of the smart vehicle side collision warning system in the embodiment of the present invention, this embodiment Wisdom = Vehicle side collision warning system (not shown) obstacle sensor 21 I is placed on both sides of the car 22, used to detect the side rear car 23, the message 'When analyzing the information to confirm B The car 23 will cause danger when the car 22 changes the car 2 or when the car is opened. The smart vehicle side anti-collision alarm = system (not shown) will send out the warning and control for the car driving and the passengers and the car outside the vicinity. Car door. Please refer to the third figure, which is the structure diagram of the smart car fine side collision warning system in the case of this case. 'Smart car oil side collision warning system> System 3G system includes - obstacle sensor 3 Solution '= 兀32, a vehicle motion detecting unit 33, a data processing and control unit 34, a door sensor 35, a door control unit ―二== display unit 37, a display unit 38, and a system switch 39 'The so-called obstacle system is a vehicle. The obstacle sensor 31 and the device are used in the vehicle_side = an obstacle appearing behind the vehicle side, generating information, and the obstacle sensor 31 can be - radar or - (5) silly: Obstacle group put w - ~ like sensing 1 § for I early obstruction % analysis early 32 series with obstacles to the vehicle and side rear car
#ttfL 單元34姊使㈣切娜。二 13 1294371 與控制單元34進一步處理；車輛動態偵測單元33係 與資料處理與控制單元34相連，用來偵測智慧型車輛 側邊防撞警示系統30所在車輛之車速及利用方向燈 訊號或一方向盤轉角訊號偵測該車輛是否轉向，該等 車輛動態偵測資訊包括該車速及該車輛轉向訊號係傳 送至資料處理與控制單元34進一步處理；門把感測器 35係與資料處理與控制單元34相連，用來偵測該等 車門是否開啟；車門控制單元36係與資料處理與控制 • 單元34相連，當門把感測器35偵測車門為關閉時， 由資料處理與控制單元34控制其鎖住車門，惟雖處鎖 住狀態，仍可以手動方式打開車門；警示單元37係與 資料處理與控制單元34相連，由資料處理與控制單元 β 34驅使其產生一警示訊號，該警示訊號係以車輛喇叭 • 發出聲響以及車内兩側視野可及之複數個閃燈閃爍對 車内乘客警示，同時以一車輛側邊燈號之閃爍及無線 傳送一侧撞警示資訊給側後方之障礙物對其警示；顯 • 示單元38係與資料處理與控制單元34相連，顯示由 資料處理與控制單元34所傳送過來之障礙物相對距 離及相對速度、估算出之危險指數、障礙物之影像、 車門鎖定資訊或一危險變換車道資訊於車内一顯示裝 置上供駕駛參考；系統解除開關39係與資料處理與控 制單元34相連，由資料處理與控制單元34驅使其將 所有系統功能解除。 資料處理與控制單元34為智慧型車輛侧邊防撞 警示系統之中樞，根據所接收到之降礙物解析資訊及 14 1294371 車輛動態偵测資訊，並以下列公式估算一碰撞危險指 數’做為碰撞預警之參考；#ttfL Unit 34 姊 (4) Chenna. 2 13 1294371 is further processed by the control unit 34; the vehicle motion detecting unit 33 is connected to the data processing and control unit 34 for detecting the speed of the vehicle where the smart vehicle side collision warning system 30 is located and using the direction light signal or A steering wheel angle signal detects whether the vehicle is steered, and the vehicle motion detection information includes the vehicle speed and the vehicle steering signal is transmitted to the data processing and control unit 34 for further processing; the door handle sensor 35 is coupled with data processing and control The unit 34 is connected to detect whether the doors are open; the door control unit 36 is connected to the data processing and control unit 34. When the door handle sensor 35 detects that the door is closed, the data processing and control unit 34 is provided. The door is controlled to lock the door, but the door can be manually opened while being locked; the warning unit 37 is connected to the data processing and control unit 34, and is driven by the data processing and control unit β 34 to generate a warning signal. The signal is audible to the passengers in the vehicle with the horn of the vehicle • the sound and the flashing lights on both sides of the vehicle. At the same time, the blinking of the side light of the vehicle and the wireless transmission side hit the warning information to alert the obstacle behind the side; the display unit 38 is connected to the data processing and control unit 34, and is displayed by the data processing and control unit. 34 The relative distance and relative speed of the obstacle transmitted, the estimated hazard index, the image of the obstacle, the door lock information or a dangerous change lane information for driving reference on a display device in the car; the system release switch 39 series and data Processing is coupled to control unit 34, which is driven by data processing and control unit 34 to disable all system functions. The data processing and control unit 34 is a hub of the intelligent vehicle side collision warning system, and based on the received obstacle analysis information and the vehicle motion detection information, and estimates a collision risk index by the following formula as Reference to collision warning;
Danger—idx = w一 dis * Dist」dx(RelDist，Danger—idx = w a dis * Dist”dx(RelDist,
VehSpd) + w—Spd * Spd」dx(RelSpd) ⑴ /、中Danger—idx為危險指數，W—dis為相對距離 危險心數之權重因子，W—spd為相對速度危儉指數之 權重因子，Dist-idx為相對距離危險指數函數， Spd-idx為相對速度危險指數函數，RelDist為距障礙 物之相對距離，RelSpd為距障礙物之相對速度以及 VehSpd為車輛車速。 針對開車門而後方有車輛迫近之危險狀況，如資 料處理與控制單元34確認車速低於一第一速度且危 險指數高於一設定之門檻值時，其將驅使車門控制單 元36鎖住車門，並使警示單元37產生警示訊號，當 障礙物遠離，危險指數下降低於設定之Η檻值時，解 除警示訊號。 針對車輛行進轉換車道時，而侧後方有車輛迫近 之危險狀況，如資料處理與控制單元34確認車速高於 一弟一速度且危險指數兩於一設定之門樣值時，其將 驅使警不早元37產生警不訊號，當障礙物遠離’危險 指數下降低於設定之門檻值時，並解除警示訊號。 •系統解除開關39係與資料處理與控制單元34相 連，當系統解除開關啟動時，智慧型車輛側邊防撞警 15 1294371 示系統30之所有系統功能將被解除。 上述智慧型車輛側邊防撞警示系統30之障礙物 解析單元32、門把感測器35、系統解除開關39、車 輛動態偵測單元33、車門控制單元36、警示單元37、 顯示單元38及資料處理與控制單元34係由一車内網 路（未顯示）將其連接，並提供上述資訊及訊號所需之 傳輸線路，因應不同介接設備，該車内網路具有CAN 介面、LIN介面以及SPI通訊埠。 • 本案除了上述智慧型車輛側邊防撞警示系統，尚 提供一種智慧型車輛侧邊防撞警示方法；請參閱第四 圖，其係本案智慧型車輛侧邊防撞警示方法之流程 圖，該智慧型車輛侧邊防撞警示方法包括以下步驟： _ (a)檢查功能解除開關之狀態，此步驟在於確認功 ^ 能解除開關是否處於一啟動狀態；（b)如步驟（a)之狀 態為一啟動狀態，停止警示功能並結束，此步驟在於 得知功能解除開關啟動後，將系統不再設定為一警戒 • 狀態；（c)偵測車輛之車速及轉向，此步驟在於確認智 慧型車輛側邊防撞警示系統所在之車輛是否處於一行 駛及轉換車道之狀態；（d)偵測一障礙物感測資訊，此 步驟在於偵測一側後方車輛之資訊，包括該車輛之相 對速度、相對距離；（e)分析障礙物感測資訊並計算一 危險指數，此步驟在於利用上述公式（1)及所偵測之障 礙物感測資訊計算危險指數；（f)顯示危檢指數及該障 礙物感測資訊，此步驟在於提供駕駛了解障礙物之危 險程度以便即時因應；（g)根據該危險指數判斷是否為 16 1294371 一危險狀態，此步驟在於當危險指數大於一門檻值 時，該側後方車輛之出現即屬一危險狀態；（h)如步驟 (g)之結果為否，停止該警示功能並結束，此步驟在於 當危險指數低於一門檻值時，側後方車輛之並不構成 一危險狀態，是故可將警示功能停止；（i)檢查該車速 是否低於一第一速度，此步驊在於確認智慧型車輛侧 邊防撞警示系統所在之車輛是否處於一將停車或已停 車之狀態；（j)如步驟（i)之結果為是，檢查該門把感 ⑩ 測器之一狀態，此步驟在於已確認智慧型車輛側邊防 撞警示系統所在之車輛處於一將停車或已停車之狀態 時，檢測車門是否受到開啟車門動作；（k)如步驟（j) 之該狀態非為一啟動狀態，啟動一車内燈光閃爍警示 ^ 並結束，此步驟在於當偵測到車門沒受到開啟動作， ， 啟動車内警示效果以提醒車内乘客側後方有來車，不 宜開車門；（1)發出一車門鎖定訊號至該車門控制單 元，此步驟在於鎖住車門，使車内乘客不至因貿然開 • 車門招致側後方車輛撞擊；（m)顯示該車門之一鎖定訊 息，此步驟在於告知車内乘客車門是否鎖住；（η)啟動 一車内警示以及一車外危險側邊燈號閃爍警示，此步 驟在於利用智慧型車輛側邊防撞警示系統所在之車輛 内之聲音警示及燈光閃爍警示以警示車輛内之乘客以 及利用車外之危險側邊燈號閃爍警示以警示侧後方車 輛勿再接近；（〇)如步驟（i)之結果為否，檢查該車速 是否高於一第二速度，此步驟在於確認智慧型車輛側 邊防撞警示系統所在之車輛是否處於一行駛狀態；（P) 17 1294371 如步驟（0)之結果為否，啟動一車内燈光閃爍警示並結 束，此步驟在於當智慧型車輛側邊防撞警示系統所在 之車輛於行駛狀態但速度不快時，利用車内燈光閃爍 警示以提醒車内乘客側後方有車接近；（q)如步驟（〇) 之結果為是無線傳輸一侧撞警示資訊至一危險侧後方 車輛，此步驟在於傳送一危險警示資訊至一具有無線 傳輸裝置之危險側後方來車以警示其勿再靠近；（r) 顯示一危險變換車道訊息，此步驟在於顯示一危險變 ⑩ 換車道訊息於車内一顯示器上以警示駕駛；以及（s) 啟動一車内警示以及一車外危險側邊燈號閃爍警示， 此步驟在於利用一包括聲音警示及燈光閃爍警示之車 内警示以警示車内乘客以及利用一車外危險側邊燈號 _ 閃爍警示以警示危險側後方來車。 _ 綜上所述，本發明之設計係提供偵測侧後方障礙 物並計算分析其危險威脅程度，不論本發明設計所在 之車輛係於行驶變換車道時或慢速及停車打開車門 ⑩ 時，皆可提供車内外之警示及訊息顯示並鎖住車門； 相較於習知技藝，本發明更提供了一智慧型車輛侧邊 防撞警示系統及其方法。 本案得由熟習此技術之人士任施匠思而為諸般修 飾，然皆不脫申請專利範圍所欲保護者。 【圖式簡單說明】 第一圖係習知技藝之車輛防側撞警示系統運作示 意圖， 18 1294371 第二圖係本案實施例之智慧型車輛侧邊防撞警示 系統之示意圖； 第三圖係本案實施例之智慧型車輛側邊防撞警示 系統之架構圖·，以及 第四圖係本案智慧型車輛側邊防撞警示方法之流 程圖。 主要元件符號說明】VehSpd) + w—Spd * Spd”dx(RelSpd) (1) /, Medium Danger—idx is the risk index, W—dis is the weighting factor of the relative distance dangerous number, and W—spd is the weighting factor of the relative speed critical index. Dist-idx is a relative distance risk index function, Spd-idx is a relative speed risk index function, RelDist is the relative distance from the obstacle, RelSpd is the relative speed from the obstacle, and VehSpd is the vehicle speed. A dangerous condition in which the vehicle is approaching behind the door is opened. If the data processing and control unit 34 determines that the vehicle speed is lower than a first speed and the risk index is above a set threshold, it will cause the door control unit 36 to lock the door. The warning unit 37 is caused to generate an alarm signal, and when the obstacle is far away and the danger index falls below the set threshold, the warning signal is released. When the vehicle is changing lanes, there is a danger situation that the vehicle is approaching at the side, and if the data processing and control unit 34 confirms that the vehicle speed is higher than the speed of the first brother and the risk index is set at a threshold value, it will drive the police. Early warning 37 generates a warning signal, and when the obstacle is far away, the danger index falls below the threshold of the setting and the warning signal is released. • The system release switch 39 is connected to the data processing and control unit 34. When the system release switch is activated, the smart vehicle side collision warning 15 1294371 indicates that all system functions of the system 30 will be released. The obstacle analysis unit 32, the door handle sensor 35, the system release switch 39, the vehicle motion detecting unit 33, the door control unit 36, the warning unit 37, and the display unit 38 of the smart vehicle side collision warning system 30 and The data processing and control unit 34 is connected by an in-vehicle network (not shown) and provides the transmission lines required for the above information and signals. The in-vehicle network has a CAN interface, a LIN interface, and an SPI in response to different interfacing devices. Communication 埠. • In addition to the above-mentioned smart vehicle side collision warning system, this method also provides a smart vehicle side collision warning method; please refer to the fourth figure, which is a flow chart of the smart vehicle side collision warning method in the case, The smart vehicle side collision warning method comprises the following steps: _ (a) checking the state of the function release switch, the step is to confirm whether the power release switch is in an activated state; (b) the state of the step (a) is In a startup state, the warning function is stopped and ended. This step is to know that the system is no longer set to an alarm state after the function release switch is activated; (c) detecting the vehicle speed and steering, this step is to confirm the smart vehicle. Whether the vehicle in which the side collision warning system is located is in a state of driving and changing lanes; (d) detecting an obstacle sensing information, the step of detecting the information of the vehicle behind one side, including the relative speed of the vehicle, Relative distance; (e) analyzing the obstacle sensing information and calculating a risk index by using the above formula (1) and the detected obstacle sensing Calculate the risk index; (f) display the risk index and the obstacle sensing information, this step is to provide driving to understand the degree of danger of the obstacle for immediate response; (g) according to the risk index to determine whether it is 16 1294371 a dangerous state The step is that when the risk index is greater than a threshold, the presence of the vehicle behind the side is a dangerous state; (h) if the result of the step (g) is no, the warning function is stopped and ends, and the step is to be dangerous. When the index is lower than a threshold, the vehicle behind the side does not constitute a dangerous state, so the warning function can be stopped; (i) check whether the speed is lower than a first speed, the step is to confirm the smart vehicle side Whether the vehicle in which the collision avoidance warning system is located is in a state of being parked or stopped; (j) If the result of step (i) is YES, check the state of the door handle sensor, which is to confirm the wisdom The vehicle in which the side collision avoidance warning system of the vehicle is located is in a state of being stopped or stopped, detecting whether the door is actuated by opening the door; (k) the state of step (j) Not a start state, start a car light flashing warning ^ and end, this step is to detect that the door is not opened, start the car inside the warning effect to remind the car inside the passenger side of the car, it is not appropriate to open the door; (1 Sending a door lock signal to the door control unit, this step is to lock the door so that the passengers inside the car are not rushed to open; the door causes the rear side of the vehicle to collide; (m) shows one of the door lock messages, this step is to inform Whether the passenger door in the car is locked; (η) start an in-vehicle warning and a flashing warning on the side of the dangerous side of the vehicle. This step is to use the sound warning and the flashing warning in the vehicle where the smart vehicle side collision warning system is located. Warning of the passengers in the vehicle and the use of the dangerous side lights outside the vehicle to flash the warning to warn the vehicles in the rear side not to approach; (〇) If the result of step (i) is no, check whether the speed is higher than a second speed. The step is to confirm whether the vehicle where the smart vehicle side collision warning system is located is in a driving state; (P) 17 1294371 If the result of step (0) is no, the flashing warning of the inside of the vehicle is started and ended. This step is to use the in-vehicle light flashing warning to remind the inside of the vehicle when the vehicle of the smart vehicle side collision warning system is in the running state but the speed is not fast. There is a car approaching behind the passenger side; (q) as a result of the step (〇), the wireless transmission side hits the warning information to a dangerous side vehicle, this step is to transmit a dangerous warning message to a dangerous side having a wireless transmission device. Come back to the car to warn him not to approach again; (r) display a dangerous change lane message, this step is to display a dangerous change 10 lane change message on a display in the car to alert driving; and (s) start an in-vehicle warning and a The vehicle's dangerous side lights flashing warning. This step consists of using an in-vehicle warning that includes an audible warning and a flashing warning to alert the passengers inside the vehicle and use an out-of-vehicle hazardous side light _ flashing warning to alert the rear of the dangerous side. _ In summary, the design of the present invention provides for detecting side rear obstacles and calculating and analyzing the degree of dangerous threats, regardless of whether the vehicle in which the present invention is designed is in the lane change lane or slow speed and parking to open the door 10 The invention can provide warning and message display inside and outside the vehicle and lock the door; compared with the prior art, the invention further provides a smart vehicle side collision warning system and method thereof. The case can be modified by people who are familiar with the technology, but they are all protected by the scope of the patent application. [Simple diagram of the diagram] The first diagram is a schematic diagram of the operation of the vehicle anti-side collision warning system of the prior art, 18 1294371. The second diagram is a schematic diagram of the smart vehicle side collision warning system of the embodiment of the present invention; The architecture diagram of the smart vehicle side collision warning system of the embodiment, and the fourth diagram is a flowchart of the smart vehicle side collision prevention warning method of the present invention. Main component symbol description]
11超音波電眼 21障礙物感測器 22曱車 23乙車 30智慧型車輛侧邊防撞警示系統 31障礙物感測器 33車輛動態偵測單元 35門把感測器 37警示單元 39系統開關 32障礙物解析單元 34資料處理與控制單元 36車門控制單元 38顯示單元11 ultrasonic electric eye 21 obstacle sensor 22 brake 23 car 30 smart vehicle side collision warning system 31 obstacle sensor 33 vehicle motion detection unit 35 door handle sensor 37 warning unit 39 system switch 32 obstacle analysis unit 34 data processing and control unit 36 door control unit 38 display unit
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