TWI755815B - A warning system for detecting approaching vehicle and method thereof - Google Patents

Abstract

A warning system for detecting approaching vehicle and method thereof are provided. The system includes a detection unit detecting a relative distance with respect to the approaching vehicle and a driving path of the approaching vehicle in a detection area; a storage unit storing a warning information; and a processing unit receiving the detection signal provided by the detection unit to acquire an immediate time to collision and the driving path. When the time to collision is equal to or shorter than a predetermined collision time, and also when the driving path falls in the warning area and fulfills the confirmation condition, the processing unit sends a warning signal. Therefore, a potentially dangerous approaching vehicle is accurately determined, and the warning is correctly sent.

Description

Early warning system and method for approaching object detection

The present invention relates to a detection and early warning system, especially an early warning system and method for approaching object detection.

Radar detection systems, such as Blind Spot Detection System, Rear Crash Collision Warning System, Pre Crash System, etc., have been very maturely used in smart vehicles. For example, in the Advanced Driver Assistance System (ADAS), the use of these radar detection systems is to ensure that the vehicle does not collide with others or objects during the driving process, making driving safer. .

However, it is often heard that the faulty car was parked on the side of the road, and the car behind the faulty car collided without paying attention, causing injuries or death to the people inside or beside the car. In addition, if the police put up roadblocks during a temporary inspection, or use a stationary vehicle body as a cover at the crime scene, if the police do not detect that an oncoming vehicle is approaching quickly, it may cause injuries to the personnel following the collision of the oncoming vehicle. .

A conventional detection and warning system is statically placed to prevent collision of oncoming vehicles, and uses radar to detect the approaching speed or approaching distance of the approaching vehicle as a basis for judging whether it is a dangerous vehicle. Of course However, when the approaching speed or approaching distance of the oncoming vehicle is within the set range, if the driving path of the oncoming vehicle is far away and not threatening, the system will continue to issue a warning, thus causing the on-site personnel to misjudge the oncoming vehicle as a dangerous vehicle. This leads to fear or panic.

In order to solve the above problem, the present invention provides an early warning system and method for detecting an approaching object. By detecting the moving path of the approaching object, when it is determined that the moving path is in the warning path and meets the confirmation conditions, the arithmetic processing unit outputs a warning signal, and warn.

An embodiment of the present invention provides an early warning system for approaching object detection. The approaching object can be a vehicle. The early warning system includes a detection unit, a storage unit, and an arithmetic processing unit. The detection unit detects a moving path of the approaching object, converts it into a detection signal and outputs it; the storage unit stores an early warning information, and the early warning information includes a warning path set in the detection area and a confirmation Describe the confirmation condition that the approaching object continues to move in the warning path, wherein the warning path has a warning area and a buffer area, the warning area extends with a predetermined width that can be detected by the detection unit, and the buffer area expands outside the warning area; calculation The processing unit is electrically connected to the detection unit and the storage unit, receives the detection signal to obtain the real-time moving path of the approaching object, starts the operation and judgment of the confirmation condition when the approaching object is detected to move into the buffer area, and moves When the path is in the warning path and meets the confirmation condition, the operation processing unit outputs a warning signal.

An embodiment of the present invention provides an early warning method for approaching object detection. The steps include: detecting a moving path of the approaching object in a detection area with a detection unit, converting it into a detection signal, and converting it into a detection signal. Output: a storage unit stores a warning information, the warning information includes a warning path set in the detection area, and a confirmation condition for confirming that the approaching object continues to move in the warning path, The warning path has a warning area and a buffer area. The warning area extends with a predetermined width that can be detected by the detection unit, and the buffer area extends outside the warning area. The operation processing of the detection unit and the storage unit is electrically connected to The unit receives the detection signal to obtain the real-time movement path of the approaching object, and starts the calculation and judgment of the confirmation condition when the approaching object is detected to move into the buffer zone, and the movement path is in the warning path and meets the confirmation condition , the arithmetic processing unit outputs a warning signal.

Therefore, the movement path detected by the approaching object is within the warning path, and the confirmation condition must be met to confirm that the approaching object is indeed continuously moving within the warning path, and only when the conditions are met When it is confirmed that the approaching object is in a dangerous state of imminent collision, the arithmetic processing unit will also output a warning signal to warn, so as to solve the problem of misjudging the approaching object in a dangerous state, and avoid the occurrence of fear or panic caused by the warning issued by the misjudgment.

100: Early Warning System

10: Detection unit

20: Storage unit

30: Operation processing unit

A, B, C, D: waypoints

L: warning path

P: move path

P1, P2: endpoints

P3, P4: the location

V: Approaching an object

W: predetermined width

Z1: Straight line warning area

Z2: Buffer

Z3, Z4: Curve warning area

Z5, Z6: Buffer

FIG. 1 is a block diagram of the early warning system of the present invention.

FIG. 2 is a flow chart of the early warning system and method of the present invention in a straight line mode.

3 is a schematic diagram of the early warning system and method of the present invention detecting that an approaching object is approaching and has reached a warning state.

FIG. 4 is a schematic diagram of the early warning system and method of the present invention detecting that an approaching object is approaching but has not reached a warning state.

FIG. 5 is a flow chart of the early warning system and method of the present invention in a curve mode.

FIG. 6 is a schematic diagram of the early warning system and method of the present invention detecting that an approaching object is approaching but has not reached a warning state.

FIG. 7 is a schematic diagram of the early warning system and method of the present invention detecting that an approaching object is approaching and has reached a warning state.

In order to facilitate the description of the central idea of the present invention expressed in the column of the above-mentioned summary of the invention, specific embodiments are hereby expressed. Various objects in the embodiments are drawn according to proportions, sizes, deformations or displacements suitable for description, rather than the proportions of actual elements, which will be described first.

Please refer to FIG. 1 to FIG. 7 , the present invention provides an early warning system and method for approaching object detection. The early warning system 100 for approaching object detection includes a detection unit 10 , a storage unit 20 and an arithmetic operation The processing unit 30, the early warning system 100 is statically placed on the faulty vehicle (not shown in the figure) or presented with an object such as a triangular warning cone, so as to detect the approaching object V. In the embodiment of the present invention, the approaching Object V can be a moving vehicle. In fact, any approaching object can be used as a detection target. For example, it can also be applied to rockfall detection and approaching object detection of ships in waters. The first warning method of approaching object detection is described. The description is as follows: the detection unit 10 detects a moving path P of the approaching object V (the traveling path of the moving vehicle in this embodiment) in a detection area (not shown in the figure), and converts it into a detection The detection signal is output; the storage unit 20 is used to store a warning information, the warning information includes a warning route L and a confirmation condition, the warning route L is set in the detection area, and the confirmation condition is to confirm that the approaching object V continues to drive in The warning path L; the arithmetic processing unit 30 is electrically connected to the detection unit 10 and the storage unit 20 to receive the aforementioned detection signal output by the detection unit 10 to obtain the real-time movement path P of the approaching object V.

The confirmation condition is, in this embodiment, a preset count value. When the approaching object V enters the warning path L, it starts to count an actual count value, if the actual count value has reached the count preset value. value, the arithmetic processing unit 30 determines that the moving path P of the approaching object V in the warning path L meets the confirmation condition. On the contrary, if the actual count value does not reach the preset count value, the arithmetic processing unit 30 determines that the moving path P of the approaching object V in the warning path L does not meet the confirmation condition.

In this embodiment, the preset value of the count is 5, and the actual value of the count is 0 to 5. The counting process is that when the approaching object V is outside the warning path L, the count is not counted, and the actual count value is equal to 0 at this time; After the approaching object V enters the warning path L, it starts counting until the actual count value is equal to 5, and the count actual value reaches the count preset value. The preset count value and the actual count value can be adjusted according to the situation, and are not limited to the above-mentioned embodiments.

In this embodiment, the detection unit 10 further detects a relative distance of the approaching object V in the detection area to obtain a time to collision (TTC), and the collision time is the relative distance measured by the detection unit 10. After the distance, the relative distance is differentiated to obtain a relative velocity of the approaching object V, and the relative distance is divided by the relative velocity to obtain. In this embodiment, the warning information also includes a preset value of the collision time, and the preset value of the collision time is about 3.5 seconds. In the present embodiment, when the detected moving path P of the approaching object V is in the warning path L and meets the aforementioned confirmation conditions, and it is judged that the aforementioned collision time is equal to or less than the aforementioned collision time preset value, the operation processing unit 30 determines A warning signal is output. The condition for the operation processing unit 30 to output the warning signal of the present invention is not limited to the determination that the collision time is equal to or less than the preset value of the collision time, that is, the moving path P of the approaching object V is detected in the warning path. When L and the aforementioned confirmation conditions are met, the arithmetic processing unit 30 can output the warning signal, and in this embodiment, the arithmetic processing unit 30 further determines that the aforementioned collision time is equal to or less than the aforementioned collision time preset value, and then sends out the aforementioned warning signal. The warning signal is only an example, and the present invention is not limited to this example.

The early warning system for approaching object detection includes a "straight line mode" and a "curve mode" in this embodiment. In the above-mentioned "straight line mode", the warning path L includes a straight warning zone Z1 and a buffer zone Z2 (as shown in Figures 3 and 4). The buffer zone Z2 extends outside the straight warning zone Z1, and the straight warning zone The display area Z1 extends with a predetermined width W that can be detected by the detection unit 10, and in this embodiment, the linear warning area Z1 extends linearly in the same direction with the predetermined width W, and the buffer area Z2 extends in a straight line The warning zone Z1 is expanded on both sides and the distance is symmetrical.

As shown in Fig. 2, it is the approaching process of detecting approaching objects in the "straight line mode", and as shown in Fig. 3, when the approaching object V does not enter the buffer zone Z2, it is not counted, indicating that the approaching object V has not entered the buffer zone Z2. Entering the warning path L, the early warning system 100 is in the standby state at this time; when the approaching object V enters the buffer zone Z2, the calculation and judgment of the confirmation condition is started, and in this embodiment, the actual count value starts from 0 and counts up. To 5, if the approaching object V leaves the buffer zone Z2 in the process, it will count down until the actual value of the count is 0. When the actual count value starts to count up from 0 to 5, the approaching object V is either in the buffer zone Z2, or enters the linear warning zone Z1 from the buffer zone Z2, and when the count reaches 5, because the count actual value reaches the count By default, the arithmetic processing unit 30 determines that the moving path P of the approaching object V in the warning path L meets the confirmation condition.

Continuing from the above, if the arithmetic processing unit 30 has determined that the moving path P of the approaching object V is within the linear warning zone Z1, and the moving path P of the approaching object V also complies with the above-mentioned confirmation conditions, in this embodiment, it is further processed by arithmetic processing. The unit 30 determines whether the collision time measured by the approaching object V is equal to or less than the predetermined collision time value of 3.5 seconds, that is, whether the collision time measured by the approaching object V is within the predetermined collision time value of 3.5 seconds. In other words, when the arithmetic processing unit 30 determines that the collision time measured by the approaching object V is greater than the aforementioned predetermined collision time value of 3.5 seconds, the early warning system 100 is in a state of no warning; When the collision time is equal to or less than the aforementioned collision time preset value of 3.5 seconds, it is determined that the approaching object V is a dangerous vehicle in a dangerous state. The personnel in or by the side of the faulty vehicle can immediately know that the dangerous vehicle is approaching and evade as soon as possible.

4 , if the arithmetic processing unit 30 also determines that the moving path P of the approaching object V is within the straight line warning zone Z1, and the moving path P of the approaching object V also meets the confirmation conditions, but the approaching object V is close to Before the collision time measured by object V reaches the aforesaid preset collision time within 3.5 seconds, it has already driven out of the straight line warning zone Z1. At this time, the collision time measured by approaching object V reaches the aforesaid collision time preset value of 3.5 seconds. Within seconds, since the approaching object V has already driven out of the straight line warning zone Z1, it will not cause danger to the people in the faulty vehicle or the people beside it. or fear or panic of those around.

In this embodiment, in the aforementioned “curve mode”, the triangle area formed by the three-point connecting line between the two end points P1 and P2 of the predetermined width W and the point P3 at one of the positions close to the object V is the curve warning area Z3, Z4, and buffer zones Z5 and Z6 expand on both sides of the curve warning zones Z3 and Z4 (as shown in Figures 6 and 7). As shown in Fig. 5, it is the approaching process of detecting approaching objects in the "curve mode", and as shown in Fig. 6, when the approaching object V does not enter the buffer zones Z5 and Z6, it is not counted, indicating that the approaching object V is not counted. The warning path L is not entered, and the early warning system 100 is in a standby state at this time. When the approaching object V enters the buffer zone Z5, the count starts, and the actual count value starts to count up from 0 to 5. During the process, if the approaching object V enters the curve warning zone Z3 and then leaves, it will count down to the count actual value. is 0.

As shown in FIGS. 6 and 7 , as the moving path P of the approaching object V changes, for example, the moving path P of the approaching object V leaves the curve warning zone Z3 and meets a distance condition. For example, in this embodiment, the distance condition is: The moving path P when the approaching object V moves away from the curve warning zone Z3 as described above successively captures four path points such as path points A, B, C, and D (as shown in FIG. 6 ), and the arithmetic processing unit 30 compares the path points The first path point A to the last path point D in A, B, C, and D are gradually moving away from the curve warning zone Z3. At this time, the point P4 and the two end points P1 and P2 are changed to the point P4 where the object V meets the distance condition. The triangle area formed by the connection lines redefines the curve warning zone Z4 and the buffer zone Z6 (as shown in FIG. 7 ), and so on, until the confirmation condition is met and the arithmetic processing unit 30 outputs the warning signal, or approaches the object V is moved away by the detection unit 10 . Conversely, if the first waypoint A to the last waypoint D among the waypoints A, B, C, and D are not gradually moving away from the curve warning zone Z3, it is deemed that they do not meet the above-mentioned separation conditions, and the curve warning zone Z3 is still maintained at this time. will reset righteous.

In "curve mode", approaching object V enters buffer zone Z5 or buffer zone Z6, and the actual count value starts from 0 and counts up to 5. Approaching object V enters curve warning zone Z3 from buffer zone Z5, or enters from buffer zone Z6. In the curve warning zone Z4, when the continuous count reaches 5, since the actual count value reaches the count preset value, the arithmetic processing unit 30 determines that the moving path P of the approaching object V in the warning path L meets the confirmation condition.

Continuing from the above, if the arithmetic processing unit 30 has determined that the moving path P of the approaching object V is within the curve warning area Z3 or the curved warning area Z4, and the moving path P of the approaching object V also meets the above-mentioned confirmation conditions, then the same The arithmetic processing unit 30 determines whether the collision time measured by the approaching object V is equal to or less than the aforementioned collision time preset value of 3.5 seconds. In other words, when the arithmetic processing unit 30 determines that the collision time measured by the approaching object V is greater than the aforementioned predetermined collision time value of 3.5 seconds, the early warning system 100 is in a state of no warning; When the collision time is equal to or less than the aforementioned collision time preset value of 3.5 seconds (as shown in Figure 7), it is determined that the approaching object V is a dangerous vehicle in a dangerous state, and the warning signal is output at this time for warning, so that the Personnel in or by the side of the faulty vehicle can immediately know that a dangerous vehicle is approaching and evade as soon as possible. If the approaching object V drives out of the curve warning zone Z4 (not shown in the figure), even if the collision time measured by the approaching object V reaches the aforementioned preset value of the collision time within 3.5 seconds, it will not affect the people in the faulty vehicle or by the side. No danger is caused, and the arithmetic processing unit 30 does not output the warning signal and does not give a warning, so as to avoid fear or panic of the people in the faulty vehicle or by the side.

The above is a description of the straight line mode and the curve mode respectively. In actual use, the approaching object V approach can be detected in the straight line mode or the curve mode alone, or the straight line mode and the curve mode can be paralleled, for example, the approaching object can be detected in the straight line mode and the curve mode at the same time. V approaching, or the straight line mode and the curve mode alternately detect approaching objects V approaching, so that the approaching detection mode of approaching objects can be used more flexibly. Reduce the occurrence of misjudgments.

It is not difficult to find the characteristics of the present invention by the above-mentioned description, mainly lies in:

1. The early warning system and method for approaching object detection provided by the present invention is that the moving path P of the approaching object is in the warning path L, and the confirmation conditions must be met to confirm that the approaching object V is indeed driving continuously in the warning path. When all of the above conditions are met, the approaching object will be confirmed to be in a dangerous state, and the arithmetic processing unit 30 will output a warning signal for warning, so as to solve the problem of misjudging the approaching object as being in a dangerous state and avoid the misjudgment that the approaching object is in a dangerous state. Warn of a situation that causes fear or panic among people.

2. The early warning system and method for approaching object detection provided by the present invention further use the collision time detected by the detection unit 10 for approaching objects, except that the moving path P of the approaching object is in the warning path L and The confirmation conditions must be met, and the arithmetic processing unit 30 must determine that the collision time is within the preset value before confirming that the approaching object is in a dangerous state and outputting the aforementioned warning signal for warning, so as to use the collision time to assist The correctness of judging that an approaching object is in a dangerous state.

3. In the early warning system and method for approaching object detection provided by the present invention, when the moving path P of approaching object V enters from the side, good detection and early warning effect can be obtained in the curve mode, and it can be seen as approaching. The moving path P of the object V adjusts the range of the warning area (for example, the aforementioned curved warning area Z3 is adjusted to the curved warning area Z4 ), thereby further achieving the effect of accurately detecting the moving path P of the approaching object V.

Further, the detection unit 10 is a radar detection module in this embodiment, which detects the approaching object V driving outside the buffer zones Z2, Z5, Z6 with a first detection count, and detects the When the approaching object V travels in the buffer zones Z2 , Z5 , and Z6 , there is a second detection number, and the second detection number is higher than the first detection number at the same detection time. For example, when the approaching object V travels outside the buffer zones Z2, Z5, and Z6, the detection unit 10 measures a first detection count of, for example, only 50 times per second, which belongs to the slow detection mode; when When the approaching object V travels in the buffer zones Z2, Z5, and Z6, the detection unit 10 can measure a second detection count, for example, only 500 times per second, which belongs to the fast detection mode. Therefore, by driving the approaching object V outside the buffer zones Z2, Z5, and Z6, the slow detection mode can save power compared to the fast detection mode, so that the detection unit 10 can achieve the effect of power saving when detecting. .

Further, when the approaching object V travels in the buffer zones Z2, Z5, and Z6, it can start to output a warning signal for warning, and the warning signal is the operation processing unit 30 when the approaching object V travels in the warning zones Z1, Z3, Z4. The output is higher than the warning level output by the arithmetic processing unit 30 when the approaching object V travels in the buffer zones Z2 , Z5 , and Z6 . In other words, when the approaching object V travels in the buffer zones Z2, Z5, and Z6 and starts to output the warning signal for warning, the warning level is low (for example, the buzzer sounds less or the warning light flashes less frequently). Approaching object V can be detected when driving in buffer zone Z2, Z5, Z6, and if approaching object V is driving to warning zone Z1, Z3, Z4, the warning level will be increased (for example, the buzzer sounds louder or the warning light flashes higher frequency), to help personnel know that the situation is critical and evade as soon as possible.

In addition, the early warning system 100 detects the approaching object V. In the above-mentioned embodiment, it is illustrated by statically placing objects such as a faulty vehicle or displaying an object such as a triangular warning cone, but not limited to this, the early warning system 100 can also The detection is performed during the movement of the placed vehicle. For example, the early warning system 100 is placed at the side and rear of the vehicle. When the vehicle starts to reverse, the early warning system 100 can also be used to detect the rear of the vehicle within its detection range. There is a forward or sideways approaching object approaching detection, and when an approaching object is detected, the warning signal is output for warning, thereby also achieving the effect of reversing and collision avoidance.

The above-mentioned embodiments are only used to illustrate the present invention, but not to limit the scope of the present invention. All the modifications or changes that do not violate the spirit of the present invention belong to the intended protection category of the present invention.

Early Warning System 100 Detective Unit 10 storage unit 20 operation processing unit 30

Claims (18)

An early warning system for approaching object detection, which is placed statically, the system includes: a detection unit, which detects a moving path of the approaching object in a detection area, and converts it into a detection signal output; a The storage unit is used to store a warning information, the warning information includes a warning path set in the detection area and a confirmation condition for confirming that the approaching object continues to move on the warning path, wherein the warning path has a warning area and a buffer area, the warning area extends with a predetermined width that can be detected by the detection unit, the buffer area expands outside the warning area, and the confirmation is activated when the approaching object moves into the buffer area conditions; and an arithmetic processing unit electrically connected to the detection unit and the storage unit, receiving the detection signal to obtain the real-time moving path of the approaching object, and judging that the moving path is in the warning path and complies with the warning path When the condition is confirmed, the operation processing unit outputs a warning signal. The early warning system for approaching object detection according to claim 1, wherein the detection unit detects a relative distance of the approaching object in a detection area to obtain a collision time, and the early warning information includes a collision time By default, the arithmetic processing unit receives the detection signal to obtain the immediate collision time of the approaching object, the movement path is in the warning area and meets the confirmation condition, and determines that the collision time is equal to or less than the collision When the time is preset, the operation processing unit outputs the warning signal. The early warning system for approaching object detection according to claim 1, wherein the confirmation condition is a preset count value, and the approaching object starts to count an actual count value when it enters the buffer zone. When the count preset value is reached, the operation processing unit determines that the moving path in the warning area meets the confirmation condition; and the actual count value does not reach the count preset value, the operation processing unit determines that the moving path is in the warning area. This confirmation condition is not met in the area. The early warning system for approaching object detection according to claim 3, wherein the warning area is a straight warning area, which extends linearly in the same direction with the predetermined width, and the buffer area expands on both sides of the straight warning area and Symmetrical distance. The early warning system for approaching object detection according to claim 1, wherein the warning area is a curvilinear warning area, which is connected by three points between two ends of the predetermined width and one of the positions of the approaching object. The triangle area formed by the line leaves the curve warning area along with the moving path of the approaching object, and when a distance condition is met, the point where the approaching object meets the distance condition is connected with the two end points by three points. The triangle area formed by the line redefines the curve warning area, and so on, until the confirmation condition is met and the operation processing unit outputs the warning signal, or the approaching object is moved away by the detection unit. The early warning system for approaching object detection according to claim 5, wherein the distance condition is that the moving path of the approaching object when it moves away from the curve warning area successively captures a plurality of path points, and the arithmetic processing unit If the first to last waypoints in the complex number of waypoints are gradually farther away from the curve warning area, it is deemed that the distance condition is met; in addition, the first to last waypoints in the complex number of waypoints are not gradually away from the curve When it is in the warning area, it is deemed that the conditions for keeping away are not met. The early warning system for approaching object detection according to claim 4, further comprising a curved warning area, which is formed by a three-point connecting line between two ends of the predetermined width and one of the positions of the approaching object The triangular area of the approaching object leaves the curve warning area along with the moving path of the approaching object, and when a distance condition is met, it is replaced by a line connecting the point where the approaching object meets the distance condition and the two end points. The triangle area redefines the curve warning area, and so on, until the confirmation condition is met and the operation processing unit outputs the warning signal, or the approaching object is moved away by the detection unit. The early warning system for approaching object detection according to claim 7, wherein the distance condition is that the approaching object moves away from the curve warning area according to the aforementioned moving path to successively capture a plurality of path points, and the arithmetic processing unit If the first to last waypoints in the complex number of waypoints are gradually farther away from the curve warning area, it is deemed that the distance condition is met; in addition, the first to last waypoints in the complex number of waypoints are not gradually away from the curve When it is in the warning area, it is deemed that the conditions for keeping away are not met. An early warning method for approaching object detection, which uses a statically placed early warning system for approaching object early warning. The steps of the early warning method include: detecting a moving path of the approaching object in a detection area with a detection unit , and converted into a detection signal and output; a storage unit stores a warning information, the warning information includes a warning path set in the detection area, and a confirmation that the approaching object continues to move in the warning path The confirmation condition, wherein the warning path has a warning area and a buffer area, the warning area extends with a predetermined width that can be detected by the detection unit, and the buffer area expands outside the warning area; an electrical connection is made The detection unit and the arithmetic processing unit of the storage unit receive the detection signal to obtain the real-time moving path of the approaching object. When the moving path is in the warning path and meets the confirmation condition, the arithmetic processing unit outputs a warning signal. The early warning method for approaching object detection according to claim 9, wherein the detection unit detects a relative distance of the approaching object in a detection area to obtain a collision time, and the early warning information includes a collision time By default, the arithmetic processing unit receives the detection signal to obtain the immediate collision time of the approaching object, the movement path is in the warning area and meets the confirmation condition, and determines that the collision time is equal to or less than the collision When the time is preset, the operation processing unit outputs the warning signal. The early warning method for approaching object detection as described in claim 9, wherein the confirmation bar is The item is a preset count value. When the approaching object enters the buffer zone, it starts to count an actual count value. If the actual count value has reached the count preset value, the arithmetic processing unit determines that the moving path is in the warning area. If the confirmation condition is met, and the actual count value is smaller than the count preset value, the arithmetic processing unit determines that the movement path in the warning area does not meet the confirmation condition. The early warning method for approaching object detection according to claim 11, wherein the warning area is a linear warning area that extends linearly in the same direction with the predetermined width, and the buffer area expands on both sides of the linear warning area and has a symmetrical distance . The early warning method for approaching object detection according to claim 9, wherein the warning area is a curvilinear warning area, which is connected by three points between two ends of the predetermined width and one of the positions of the approaching object. The triangle area formed by the line, after the moving path of the approaching object leaves the curve warning area, and when a distance condition is met, the point where the approaching object meets the distance condition and the three points at the two ends are changed. The triangle area formed by the connection redefines the curve warning area, and so on, until the confirmation condition is met and the operation processing unit outputs the warning signal, or the approaching object is moved away by the detection unit. The early warning method for approaching object detection as claimed in claim 13, wherein the distance condition is that the approaching object moves away from the curvilinear warning area as described above to successively capture a plurality of path points, and the arithmetic processing unit Comparing the first way point to the last way point in the complex number of way points are gradually away from the curve warning area, it is considered that the distance condition is met, and the first way point to the last way point in the complex number of way points are not gradually away from the curve. When it is in the warning area, it is deemed that the conditions for keeping away are not met. The early warning method for approaching object detection according to claim 12, further comprising a curved warning area, which is formed by a three-point connecting line between two ends of the predetermined width and one of the positions of the approaching object The triangle area of the approaching object leaves the curve warning area with the moving path of the approaching object, and And when a distance condition is met, the warning area of the curve is redefined by the triangle area formed by the point where the approaching object meets the distance condition and the three-point connection between the two end points, and so on, until the confirmation is met. condition and the arithmetic processing unit outputs the warning signal, or the approaching object is moved away by the detection unit. The early warning method for approaching object detection as claimed in claim 15, wherein the distance condition is that the approaching object moves away from the curve warning area as described above and successively captures a plurality of path points, and the arithmetic processing unit Comparing the first way point to the last way point in the complex number of way points are gradually away from the curve warning area, it is considered that the distance condition is met, and the first way point to the last way point in the complex number of way points are not gradually away from the curve. When it is in the warning area, it is deemed that the conditions for keeping away are not met. The early warning method for approaching object detection according to claim 9, wherein the detection unit is a radar detection module, which detects that the approaching object moves outside the buffer zone with a first detection count, When detecting that the approaching object enters the buffer zone, there is a second detection number, and the second detection number is higher than the first detection number in the same detection time. The early warning method for approaching object detection according to claim 9, wherein the warning signal is output by the operation processing unit when the approaching object is driving in the warning area, compared to the operation processing unit in the warning area. The warning level outputted when an approaching object is driving in the buffer zone is high.

Images