TWI871795B - Warning method used for mobile vehicle - Google Patents

Abstract

A warning method for mobile vehicles is provided. An Event is detected. The event is related to collision predictions of the moving vehicle or motion changes of the moving vehicle. A warning message is generated based on the event. The content of the warning message is used to notify the event. The warning message is broadcast wirelessly. The warning message is received wirelessly. The content of the warning message is parsed. The driving operation is controlled based on the event. Therefore, driving safety could be improved.

Description

Alarm method for mobile vehicle

The present invention relates to an alarm technology, and in particular to an alarm method for a mobile vehicle.

Driving safety has always been a very important issue. Among the types of vehicles on the road, electric bicycles (hereinafter referred to as eBikes) are smaller in size, less maneuverable, and have no outer shell to protect the riders, so their riders are a very vulnerable group. However, common safety measures are based on the perspective of ordinary vehicles and may not be applicable to eBikes. For example, for collision warnings, when ordinary vehicles detect that a collision is about to occur, the driver can turn the vehicle urgently to avoid the collision. However, eBikes are not suitable for emergency turns and may cause the rider to fall off the bike. Therefore, even if the eBike rider receives a warning and learns that there is a possibility of an imminent collision, it is still difficult to respond appropriately in time.

The present invention provides a warning method for a mobile vehicle, which can actively warn nearby vehicles to reduce the chance of collision.

The alarm method for a mobile vehicle of the embodiment of the present invention includes (but is not limited to) the following steps: detecting an event, wherein the event is related to a collision prediction of the mobile vehicle or a change in the movement of the mobile vehicle; generating an alarm message based on the event, wherein the content of the alarm message is used to notify the event; and wirelessly broadcasting the alarm message.

The alarm method for a mobile vehicle of the embodiment of the present invention includes (but is not limited to) the following steps: wirelessly receiving an alarm message; parsing the content of the alarm message, wherein the content of the alarm message is used to notify an event, and the event is related to a collision prediction of the mobile vehicle or a movement change of the mobile vehicle; and controlling driving operations according to the event.

The alarm method for a mobile vehicle of the embodiment of the present invention includes (but is not limited to) the following steps: detecting an event, wherein the event is related to a collision prediction of the mobile vehicle or a movement change of the mobile vehicle; generating an alarm message based on the event, wherein the content of the alarm message is used to notify the event; wirelessly broadcasting the alarm message; wirelessly receiving the alarm message; parsing the content of the alarm message; and controlling driving operations based on the event.

Based on the above, the warning method for mobile vehicles of the embodiment of the present invention can actively broadcast corresponding warning messages based on collision prediction and movement changes, so that nearby vehicles can perform corresponding treatments in time according to the received warning messages. In this way, driving safety can be improved.

In order to make the above features and advantages of the present invention more clearly understood, the following is a detailed description of the embodiments with the accompanying drawings.

FIG1 is a schematic diagram of a system 1 according to an embodiment of the present invention. Referring to FIG1 , the system 1 includes (but is not limited to) one or more mobile vehicles 10, one or more transmission devices 20, one or more mobile vehicles 30, and one or more receiving devices 40.

The mobile vehicle 10 may be a bicycle, a scooter, a self-balancing vehicle, a motorcycle, or a scooter. In some embodiments, the mobile vehicle 10 may also be a car, a bus, or a truck.

The transmission device 20 is loaded, connected externally or built into the mobile vehicle 10.

FIG2 is a block diagram of components of a transmission device 20 according to an embodiment of the present invention. Referring to FIG2 , the transmission device 20 includes (but is not limited to) a memory 21, a communication transceiver 22, a detector 23, and a processor 24.

The memory 21 can be any type of fixed or removable random access memory (RAM), read only memory (ROM), flash memory, traditional hard disk drive (HDD), solid-state drive (SSD) or similar components. In one embodiment, the memory 21 is used to store program code, software modules, configurations, data (e.g., messages, events, or packets) or files.

The communication transceiver 22 may be a transceiver supporting Wi-Fi, Bluetooth, RFID or other wireless networks (which may include (but not limited to) antennas, digital to analog/analog to digital converters, communication protocol processing chips, etc.). In one embodiment, the communication transceiver 22 is used to transmit data. In some embodiments, the communication transceiver 22 is also used to receive data.

The detector 23 can be a distance sensor (e.g., radar, lidar, or depth camera), a motion sensor (e.g., accelerometer, gyroscope, or inertial sensor), a driving operation sensor (e.g., a component used to detect or trigger the mobile vehicle 10 to change lanes, brake, accelerate, etc.), or a combination thereof. The sensor that detects or triggers the operation is used, for example, to receive the user's operation on the turn signal, brake, or throttle.

The processor 24 is coupled to the memory 21, the communication transceiver 22 and the detector 23. The processor 24 may be a central processing unit (CPU), a graphic processing unit (GPU), or other programmable general-purpose or special-purpose microprocessor, digital signal processor (DSP), programmable controller, field programmable gate array (FPGA), application-specific integrated circuit (ASIC) or other similar components or a combination of the above components. In one embodiment, the processor 24 is used to execute all or part of the operations of the transmission device 20, and can load and execute one or more software modules, files and/or data stored in the memory 21.

The mobile vehicle 30 may be a car, a bus or a truck. In some embodiments, the mobile vehicle 30 may also be a bicycle, a scooter, a self-balancing vehicle, a motorcycle or a scooter.

The receiving device 40 is mounted, connected externally or built into the mobile vehicle 30.

FIG3 is a block diagram of components of a receiving device 40 according to an embodiment of the present invention. Referring to FIG3 , the receiving device 40 includes (but is not limited to) a memory 41, a communication transceiver 42, a vehicle-mounted system 43, and a processor 44.

The functions and implementations of the memory 41, the communication transceiver 42 and the processor 44 can refer to the descriptions of the memory 21, the communication transceiver 22 and the processor 24 respectively, and will not be repeated here. The processor 44 is coupled to the memory 41, the communication transceiver 42 and the vehicle system 43.

The vehicle system 43 may be (but not limited to) a vehicle automatic/assisted driving system, a collision warning system, an on-board diagnostic system (OBD), a forward collision warning system (FCWS), a rear collision warning system or a combination thereof.

In the following, the method described in the embodiment of the present invention will be described with the various devices, components and modules in the system 1. The various processes of the method can be adjusted according to the implementation situation, but are not limited to this.

FIG4 is a flow chart of an alarm method for a mobile vehicle according to an embodiment of the present invention. Referring to FIG4, the processor 24 of the transmission device 20 detects an event (step S410). Specifically, the event is related to a collision prediction of the mobile vehicle 10 or a motion change of the mobile vehicle 10. The collision prediction is used to predict the possibility of a collision between a first mobile vehicle (e.g., the mobile vehicle 10) and at least one second mobile vehicle (e.g., the mobile vehicle 30) (or other objects). The motion change is related to a change in speed and/or direction.

In one embodiment, the processor 24 can obtain the relative distance and/or relative speed of the mobile vehicle 10 and the mobile vehicle 30 (or other objects) through the detector 23. The processor 24 can predict the collision time (i.e., the time point of collision) of the mobile vehicle 10 and the mobile vehicle 30 (or other objects) based on the relative distance and relative speed. For example, the quotient of the relative distance divided by the relative speed. The collision time can be used as a reference factor for collision prediction. Generally speaking, the closer the collision time is to the current time, the more difficult it may be for people to deal with collision avoidance in time, thereby increasing the possibility of collision, but the prediction criterion is not limited to this.

In one embodiment, the processor 24 may determine that the collision time of the collision prediction is less than the reaction threshold (e.g., 3, 5, or 7 seconds), and judge that the event has occurred accordingly. It should be noted that the reaction threshold is related to the time that a person may handle to avoid the collision, and can be adjusted according to actual needs.

In one embodiment, the processor 24 can obtain the relative distance between the mobile vehicle 10 and the mobile vehicle 30 (or other objects) through the detector 23. Since it is difficult to predict the movement changes of the mobile vehicle 30 or other objects, the relative distance can be directly used as a reference factor for collision prediction. Generally speaking, the shorter the relative distance, the more difficult it may be for people to handle collision avoidance in time, thereby increasing the possibility of collision, but the prediction criterion is not limited to this.

In one embodiment, the processor 24 may determine that the relative distance of the collision prediction is less than a distance threshold (e.g., 150, 200, or 300), and judge that an event has occurred accordingly. It should be noted that the distance threshold is related to the distance that a person may handle to avoid a collision, and can be adjusted according to actual needs. In one embodiment, the processor 24 may set multiple distance thresholds, and the smaller the value, the higher the risk. For example, 150 cm corresponds to a higher risk than 200 cm.

In one embodiment, the processor 24 may receive a pre-notification operation of a movement change of the mobile vehicle 10. In one embodiment, the processor 24 may know the movement change of the mobile vehicle 10 based on the user's operation of the turn signal, brake or throttle (i.e., pre-notification operation) received by the detector 23, and judge that an event has occurred. For example, the user turns on the turn signal. In one embodiment, the processor 24 may detect an operation (i.e., pre-notification operation) related to communication, indication or other main notification through an input device (not shown in the figure, such as a touch screen or button), and judge that an event has occurred. For example, the user interface provides a notification option of "Thanks for giving way".

In one embodiment, the processor 24 can obtain the movement change of the mobile vehicle 10 based on the movement amount (e.g., acceleration or angular velocity) of the mobile vehicle 10 received by the detector 23, and judge that an event has occurred. For example, if the angular velocity is greater than the corresponding threshold value, the processor 24 judges that the mobile vehicle 10 is turning or changing lanes.

Please refer to FIG. 4 , the processor 24 generates an alarm message according to the event (step S420). Specifically, the content of the alarm message is used to notify the event. The content of the alarm message can describe the details of the event. For example, relative speed, relative distance or active notification message.

In one embodiment, the processor 24 may encode the warning message according to the identification information and movement status of the mobile vehicle 10. The identification information is, for example, the type, name, model or user identity of the mobile vehicle 10. The movement status is, for example, the aforementioned relative distance and/or relative speed. The processor 24 may convert the text, number or symbol into a binary, decimal, hexadecimal or other encoding or a string composed of English and/or numbers according to a comparison table (including the correspondence between text and codewords), one-hot or other encoding algorithms (for example, zip, JSON, or HEX). In some embodiments, the warning message may also record the size, service name or other information of the mobile vehicle 10.

In one embodiment, the processor 24 may add the warning message to the broadcast packet. For example, Wi-Fi, Bluetooth, RFID or other wireless communication technologies provide broadcast packets. For example, iBeacon based on the Bluetooth standard. The processor 24 may add the warning message to the payload field of the broadcast packet. In addition, compatible or identical communication transceivers 22, 42 may receive the broadcast packet transmitted by another communication transceiver 22, 42.

FIG5 is a schematic diagram of the data format of a broadcast packet according to an embodiment of the present invention. Referring to FIG5, taking the Bluetooth protocol as an example, the processor 24 detects an event and constructs a Bluetooth broadcast packet through an operating system (e.g., Android, iOS, or Unix). The data format of the Bluetooth broadcast packet is shown in the figure. According to the specification of the Bluetooth Association, the processor 24 can set the advertising (AD) type (Type) of the Bluetooth broadcast packet to 0x16 (Service Data), define the service's universally unique identifier (UUID) as {ACE2}, and define the service content as "r,150,eBii,158,55,103,20". "r,150,eBii,158,55,103,20" is a custom string: In this example, different data contents are separated by commas. l/r is the abbreviation of left/right and represents the left/right side; 150 represents the distance (cm); eBii is the name/model of the eBike; the following four numbers represent the length/width/height (cm) and speed (km/h) of the eBike respectively. The transmission mode of the communication transceiver 22 can select Bluetooth Low Energy (BLE). In some application scenarios, if the communication transceiver 22 has multiple wireless transmitters, the transmission mode can be selected according to the factory initial settings or user preferences.

The broadcast packet of Wi-Fi is, for example, a packet used by an access point (AP) to broadcast a service set identifier (SSID). It should be noted that in some application scenarios, changes in the broadcast packet may involve the data link layer (Data Link Layer), but it is not limited to this. The data field of RFID can be used to identify the type of the mobile vehicle 10, for example.

It should be noted that the use of broadcast packets to carry alarm messages is not limited to pre-established connections or local area network mechanisms. Any compatible or corresponding communication transceiver 42 can receive the alarm message.

Please refer to FIG. 4 , the processor 24 wirelessly broadcasts the alarm message through the communication transceiver 22 (step S430). Specifically, the communication transceiver 22 transmits the alarm message according to the broadcast mechanism in the supported or compatible communication protocol (e.g., Wi-Fi, Bluetooth or RFID). The broadcast mechanism is, for example, that the alarm message is transmitted through a broadcast packet or the destination of the message is set to null or no value, but is not limited thereto.

In one embodiment, for the above-mentioned multiple distance threshold values, the smaller the value of the multiple distance threshold values, the higher the danger, and the processor 24 can increase the frequency of sending warning messages. For example, when the mobile vehicle 30 is detected to be within 200 cm, the transmission device 20 should send a warning message to let the driver of the mobile vehicle 30 know that the neighbor is close to the mobile vehicle 10. At this time, the transmission frequency can be lower, for example, the transmission period is one second and the rest period (i.e., the period of stopping transmission) is four seconds, and the five-second cycle (i.e., the combination of the transmission period and the rest period) continues until a considerable safety distance (e.g., 300 cm) is maintained, and the warning message can be stopped. However, when a moving vehicle is detected within 100 cm, the frequency of sending warning messages can be changed to a transmission period of two seconds and a rest period of one second. It should be noted that the frequency of sending warning messages can still be changed according to actual needs.

The processor 44 of the receiving device 40 wirelessly receives the alarm message through the communication transceiver 42 (step S440). The content of the alarm message can be referred to the above description and will not be repeated here. According to the specifications of the communication transceivers 22 and 42 (for example, power, coding or bandwidth) and the wireless channel conditions, the receiving device 40 adjacent to the transmitting device 20 can receive the alarm message.

The processor 44 parses the content of the alarm message (step S450). Specifically, the content of the field of the alarm message can be parsed according to the communication protocol supported by the communication transceiver 42 (for example, Wi-Fi, Bluetooth or RFID). Taking Figure 5 as an example, the content of the service obtained from the field with AD type 0x16 and service UUID {ACE2} is "r,150,eBii,158,55,103,20".

In one embodiment, if the content of the alarm message is encoded by a lookup table (including the correspondence between text and codewords), one-hot or other encoding algorithms, the processor 44 can decode the content of the alarm message through the same or corresponding algorithm or lookup table. Taking the above example, since the service UUID is known, the processor 44 can know through the operating system (for example, Android, iOS or Unix) that the broadcast packet is sent by the transmission device 20 of the mobile vehicle 10, and how to parse the content string of the service. Then, the processor 44 can know: 150cm to the right, there is an electric bicycle named eBii, This electric bicycle is 158cm long, 55cm wide, 103cm high, and has a speed of 20km/h.

In one embodiment, the processor 44 can obtain the identification information and movement status of the mobile vehicle 10 from the warning message. In this embodiment, the content of the warning message records the identification information and the movement status. The examples of the identification information and the movement status can refer to the above description and will not be repeated here. Taking "r,150,eBii,158,55,103,20" as an example, the identification information is "eBii" representing an electric bicycle and its size "158,55,103", and the movement status is "20" representing the speed. It should be noted that the content of the warning message may also record other contents, and the embodiment of the present invention does not limit the types of these contents.

Please refer to FIG. 4 , the processor 44 controls the driving operation of the mobile vehicle 30 according to the event (step S460). Specifically, the driving operation is, for example, acceleration, deceleration, turning, or warning prompts. Since the event is related to an impending collision with the mobile vehicle 10, a neighbor reminder, or other active notifications, the mobile vehicle 30 can be actively controlled or prompted.

In one embodiment, the processor 44 may notify the vehicle system 43 of the event. The vehicle system is used to change the driving operation of the mobile vehicle 30. For example, in the case of a collision prediction event, the collision warning system may sound a warning sound and/or display a warning message (a graphic or text message about an impending collision); for another example, the vehicle automatic/assisted driving system may slow down or brake the mobile vehicle 30 (accompanied by turning on the warning light). For an event of a change in motion, the collision warning system may display a notification message (about, for example, turning or other active notifications); for another example, the vehicle automatic/assisted driving system may turn the mobile vehicle 30 (accompanied by turning on the turn signal).

FIG6 is a flow chart of an alarm method for a mobile vehicle according to an embodiment of the present invention. Please refer to FIG6. The description of steps S610 to S630 can refer to steps S410 to S430 of FIG4, and will not be repeated here.

FIG. 7 is a flow chart of an alarm method for a mobile vehicle according to an embodiment of the present invention. Please refer to FIG. 7. The description of steps S710 to S730 can refer to steps S440 to S460 of FIG. 4, and will not be repeated here.

In summary, in the warning method for mobile vehicles of the embodiment of the present invention, the corresponding warning message can be actively broadcast based on the predicted possibility of collision or the movement change of the mobile vehicle, so that the neighboring mobile vehicles can change the driving operation or provide notification according to the warning message. In this way, the driver's perspective can be supplemented (for example, it is impossible to see all the conditions around the vehicle with the naked eye), and the deficiencies of the vehicle-side collision avoidance system can be supplemented (for example, it is impossible to see all environmental variables from the vehicle side), and the predictive collision avoidance capability and driving safety of vulnerable vehicles can be effectively enhanced accordingly.

Although the present invention has been disclosed as above by the embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the relevant technical field can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of the attached patent application.

1: System

10, 30: Mobile Vehicles

20: Transmission device

40: Receiving device

21, 41: Storage

22, 42: Communication transceiver

23: Detector

24, 44: Processor

43: Vehicle system

S410~S460, S610~S630, S710~S730: Steps

Figure 1 is a schematic diagram of a system according to an embodiment of the present invention.

Figure 2 is a block diagram of components of a transmission device according to an embodiment of the present invention.

Figure 3 is a component block diagram of a receiving device according to an embodiment of the present invention.

Figure 4 is a flow chart of an alarm method for a mobile vehicle according to an embodiment of the present invention.

FIG5 is a schematic diagram of the data format of a broadcast packet according to an embodiment of the present invention.

Figure 6 is a flow chart of an alarm method for a mobile vehicle according to an embodiment of the present invention.

Figure 7 is a flow chart of an alarm method for a mobile vehicle according to an embodiment of the present invention.

S410~S460: Steps

Claims (7)

A warning method for a mobile vehicle, comprising: detecting an event, wherein the event is related to a collision prediction of a mobile vehicle or a movement change of the mobile vehicle; generating an alarm message according to the event, wherein the content of the alarm message is used to notify the event, and the step of generating the alarm message according to the event includes: encoding the alarm message according to the identification information and the movement situation of the mobile vehicle; and adding the alarm message to a broadcast packet, wherein the broadcast packet is set to a broadcast type and includes a unique identification code and a service content corresponding to the unique identification code, the service content is defined as the movement situation, and the movement situation includes at least one of a relative distance and a relative speed with another mobile vehicle; and wirelessly broadcasting the alarm message. As described in claim 1, the alarm method for a mobile vehicle, wherein the step of detecting the event includes: determining that the collision time of the collision prediction is less than a reaction threshold value; or receiving a pre-notification operation of the movement change of the mobile vehicle; or determining that the relative distance of the collision prediction is less than a distance threshold value. A warning method for a mobile vehicle, comprising: wirelessly receiving a warning message; parsing the content of the warning message, wherein the content of the warning message is used to notify an event, the event is related to a collision prediction of a mobile vehicle or a movement change of the mobile vehicle, and the step of parsing the content of the warning message includes: obtaining identification information and movement status of the mobile vehicle from the warning message, wherein the warning message originates from a broadcast packet, the broadcast packet is set as a broadcast type and includes a unique identification code and a service content corresponding to the unique identification code, the service content is defined as the movement status, and the movement status includes at least one of a relative distance and a relative speed with another mobile vehicle; and controlling a driving operation according to the event. As described in claim 3, the step of controlling the driving operation according to the event includes: notifying a vehicle system of the event, wherein the vehicle system is used to change the driving operation. An alarm method for a mobile vehicle, comprising: detecting an event, wherein the event is related to a collision prediction of a mobile vehicle or a movement change of the mobile vehicle; generating an alarm message based on the event, wherein the content of the alarm message is used to notify the event, and the step of generating the alarm message based on the event includes: encoding the alarm message based on identification information and movement status of the mobile vehicle; and adding the alarm message to a broadcast packet, wherein the broadcast packet is set to a broadcast type and includes A unique identification code and a service content corresponding to the unique identification code, the service content is defined as the motion situation, and the motion situation includes at least one of the relative distance and relative speed with another mobile vehicle; wirelessly broadcasting the warning message; wirelessly receiving the warning message; parsing the content of the warning message, including: obtaining the identification information and the motion situation of the mobile vehicle from the warning message, wherein the warning message originates from the broadcast packet; and controlling a driving operation according to the event. As described in claim 5, the alarm method for a mobile vehicle, wherein the step of detecting the event includes: determining that the collision time of the collision prediction is less than a reaction threshold value; or receiving a pre-notification operation of the movement change of the mobile vehicle; or determining that the relative distance of the collision prediction is less than a distance threshold value. As described in claim 5, the alarm method for a mobile vehicle, wherein the step of controlling the driving operation according to the event includes: notifying a vehicle-mounted system of the event, wherein the vehicle-mounted system is used to change the driving operation.

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