Vehicle assistance device and vehicle assistance method

Abstract

The invention provides an auxiliary device for a vehicle and an auxiliary method for the vehicle. The auxiliary device for the vehicle comprises a first optical sensor, a second optical sensor, a projection system and a processor, wherein the first optical sensor is arranged on the first side in the moving direction of the vehicle; the second optical sensor is arranged on a second side in the moving direction of the vehicle, and the second side is different from the first side; the processor is configured to measure a first speed of a first moving vehicle other than the vehicle through the first optical sensor. Measuring a second speed of a second moving vehicle other than the vehicle through a second optical sensor; and based on the first vehicle speed, the second vehicle speed and the vehicle speed of the vehicle, a projection system is controlled to carry out warning projection in the projection range.

Description

Technical Field

[0001] The present invention relates to a vehicle assistance mechanism, and in particular to a vehicle assistance device and a vehicle assistance method. Background Art

[0002] Generally speaking, on highways, due to the high speed of vehicles, emergency braking is not only easy to lose control and overturn, but also the vehicles behind may not be able to react in time and cause a chain collision. Therefore, unless the situation is really urgent, the Ministry of Transportation also recommends not to brake suddenly, and to avoid slowing down and blocking the road. At a safe distance, slow down when encountering a situation, pay attention to the vehicles behind when braking, increase the reaction time of the road users behind, and beware of rear-end collisions.

[0003] However, when vehicles are moving in a line, the vehicles behind cannot react immediately to the vehicle ahead of the vehicle in front of them due to obstructed vision. In addition, the situation often occurs suddenly, and the driver's instinctive reaction of sudden braking cannot be prevented. The reaction time of the vehicle behind is almost no room for judgment, which easily leads to rear-end collision crisis. In addition, when driving at night, the driver can only pay attention to the vehicle ahead and cannot pay attention to the vehicle behind. Accidents often occur in which the vehicle behind is hit by the vehicle behind due to sudden braking of the vehicle behind. Therefore, if the appropriate warning can be effectively given to the vehicle behind, it is believed that the vehicle behind can be provided with the expected braking judgment and reduce the risk of rear-end collision.

[0004] Therefore, it is necessary to design a new type of vehicle assistance device and vehicle assistance method to overcome the above defects. Summary of the invention

[0005] The object of the present invention is to provide a vehicle assistance device and a vehicle assistance method, which can provide immediate warning identification to the rear vehicle to reduce the risk of rear-end collision.

[0006] To achieve the above-mentioned objectives, the present invention provides a vehicle auxiliary device, comprising: a first optical sensor, arranged on a first side in a moving direction of a vehicle; a second optical sensor, arranged on a second side in the moving direction of the vehicle, the second side being different from the first side; a projection system; and a processor, coupled to the first optical sensor, the second optical sensor and the projection system, wherein the processor is configured to: measure a first vehicle speed of a first moving vehicle other than the vehicle through the first optical sensor; measure a second vehicle speed of a second moving vehicle other than the vehicle through the second optical sensor; and control the projection system to perform warning projection within a projection range based on the first vehicle speed, the second vehicle speed and the vehicle's own speed.

[0007] Preferably, the processor is configured to: calculate a braking distance based on the first vehicle speed, the second vehicle speed and the vehicle speed; calculate an adjustment angle based on the height of the projection system and the road surface and the braking distance; and adjust the projection angle of each projection device by driving a motor corresponding to each projection device in the projection system based on the adjustment angle, so that each projection device projects a projection pattern within the projection range at the projection angle.

[0008] Preferably, the first moving vehicle is located behind the vehicle, and the second moving vehicle is located in front of the vehicle; the processor is configured to: calculate a first distance based on the first vehicle speed, a first instantaneous acceleration and the vehicle speed, wherein the first instantaneous acceleration is obtained by measuring the first moving vehicle through the first optical sensor; calculate a second distance based on the second vehicle speed, the vehicle speed and the vehicle instantaneous acceleration; and obtain the braking distance based on the first distance and the second distance.

[0009] Preferably, the processor is configured to: calculate a braking distance based on the first vehicle speed, the second vehicle speed and the vehicle speed; add the braking distance to at least one reserved distance to obtain a warning distance; calculate an adjustment angle based on the height of the projection system above the road surface and the warning distance; and adjust the projection angle of each projection device in the projection system by driving a motor corresponding to each projection device in the projection system based on the adjustment angle, so that each projection device projects a projection pattern within the projection range at the projection angle, wherein the projection pattern includes a primary area and at least one secondary area, the primary area corresponds to the braking distance, the at least one secondary area corresponds to the at least one reserved distance, and the primary area and the at least one secondary area have different visual presentations.

[0010] Preferably, the first moving vehicle is located behind the vehicle, and the second moving vehicle is located in front of the vehicle, and the processor is configured to: calculate a relative acceleration based on a first instantaneous acceleration of the first moving vehicle and the instantaneous acceleration of the vehicle itself; calculate a reference speed based on the relative acceleration, a current distance between the vehicle and the first moving vehicle, and the speed of the vehicle itself; and present the reference speed on the rear windshield of the vehicle through display technology.

[0011] Preferably, the processor is configured to: calculate a warning time based on the current distance between the vehicle and the first moving vehicle and the first vehicle speed; and present the warning time on the rear windshield via the display technology.

[0012] Preferably, the vehicle further includes: an in-vehicle projection device coupled to the processor, wherein the in-vehicle projection device is configured to project the reference speed onto the rear windshield.

[0013] Preferably, the rear windshield is mounted with a display coupled to the processor; the processor is configured to output the reference speed to the display.

[0014] Preferably, the processor is configured to: determine whether to perform the warning projection through the projection system based on whether the vehicle's own speed is greater than a preset value, wherein the warning projection is performed in response to the vehicle's own speed being greater than the preset value, and the warning projection is not performed in response to the vehicle's own speed being not greater than the preset value; or, determine whether to perform the warning projection through the projection system based on whether the distance between the vehicle and the first moving vehicle located behind the vehicle is greater than a safety distance, wherein the warning projection is performed in response to the distance being not greater than the safety distance, and the warning projection is not performed in response to the distance being greater than the safety distance.

[0015] Preferably, the projection system includes two projection devices, which are respectively arranged on two rear lights of the vehicle.

[0016] The present invention also provides a vehicle assistance method, which is executed through a processor arranged in a vehicle, and the vehicle assistance method includes: measuring a first vehicle speed of a first moving vehicle other than the vehicle through a first optical sensor, wherein the first optical sensor is arranged on a first side in the moving direction of the vehicle; measuring a second vehicle speed of a second moving vehicle other than the vehicle through a second optical sensor, wherein the second optical sensor is arranged on a second side in the moving direction of the vehicle, and the second side is different from the first side; and based on the first vehicle speed, the second vehicle speed and the vehicle's own speed, controlling a projection system arranged in the vehicle to perform a warning projection within a projection range

[0017] Preferably, the step of controlling the projection range of the projection system arranged in the vehicle based on the first vehicle speed, the second vehicle speed and the vehicle speed includes: calculating the braking distance based on the first vehicle speed, the second vehicle speed and the vehicle speed; calculating the adjustment angle based on the height of the projection system and the road surface and the braking distance; and adjusting the projection angle of each projection device in the projection system by driving a motor corresponding to each projection device based on the adjustment angle, so that each projection device projects a projection pattern within the projection range at the projection angle.

[0018] Preferably, the first moving vehicle is located behind the vehicle, and the second moving vehicle is located in front of the vehicle. The step of calculating the braking distance based on the first vehicle speed, the second vehicle speed and the vehicle speed includes: calculating the first distance based on the first vehicle speed, the first instantaneous acceleration and the vehicle speed, wherein the first instantaneous acceleration is obtained by measuring the first moving vehicle through the first optical sensor; calculating the second distance based on the second vehicle speed, the vehicle speed and the vehicle instantaneous acceleration; and obtaining the braking distance based on the first distance and the second distance.

[0019] Preferably, the step of controlling the projection range of the projection system arranged in the vehicle based on the first vehicle speed, the second vehicle speed and the vehicle speed includes: calculating a braking distance based on the first vehicle speed, the second vehicle speed and the vehicle speed; adding the braking distance to at least one reserved distance to obtain a warning distance; calculating an adjustment angle based on the height of the projection system above the road surface and the warning distance; and adjusting the projection angle of each projection device in the projection system by driving a motor corresponding to each projection device in the projection system based on the adjustment angle, so that each projection device projects a projection pattern within the projection range at the projection angle, wherein the projection pattern includes a main area and at least one secondary area, the main area corresponds to the braking distance, the at least one secondary area corresponds to the at least one reserved distance, and the main area and the at least one secondary area have different visual presentations.

[0020] Preferably, the first moving vehicle is located behind the vehicle and the second moving vehicle is located in front of the vehicle, and the method further includes: calculating a relative acceleration based on a first instantaneous acceleration of the first moving vehicle and the instantaneous acceleration of the vehicle itself; calculating a reference speed based on the relative acceleration, a current distance between the vehicle and the first moving vehicle, and a speed of the vehicle itself; and presenting the reference speed on the rear windshield of the vehicle through display technology.

[0021] Preferably, the method further includes: calculating a warning time based on the current distance between the vehicle and the first moving vehicle and the first vehicle speed; and presenting the warning time on the rear windshield through the display technology.

[0022] Preferably, the display technology is a projection technology, and the step of presenting the reference speed on the rear windshield of the vehicle comprises: projecting the reference speed onto the rear windshield through an in-vehicle projection device.

[0023] Preferably, the display technology is to install a display on the rear windshield, and the step of presenting the reference speed on the rear windshield of the vehicle includes: outputting the reference speed to the display.

[0024] Preferably, it also includes: determining whether to perform the warning projection through the projection system based on whether the vehicle's own speed is greater than a preset value, wherein the warning projection is performed in response to the vehicle's own speed being greater than the preset value, and the warning projection is not performed in response to the vehicle's own speed being not greater than the preset value; or, determining whether to perform the warning projection through the projection system based on whether the distance between the vehicle and the first moving vehicle located behind the vehicle is greater than a safety distance, wherein the warning projection is performed in response to the distance being not greater than the safety distance, and the warning projection is not performed in response to the distance being greater than the safety distance.

[0025] Preferably, the projection system includes two projection devices, and the two projection devices are respectively arranged on two rear lights of the vehicle.

[0026] Compared with the prior art, the vehicle assistance device and vehicle assistance method provided by the embodiment of the present invention measure the speed of both the front vehicle and the rear vehicle through two optical sensors, and control the projection system to perform warning projection based on the speed of both the front vehicle and the rear vehicle and the speed of the vehicle itself, so as to provide the rear vehicle with instant and intuitive identification of the safe distance between it and the front vehicle, so as to respond to the braking action and maintain driving safety. In addition, the design can continuously detect, continuously feedback and operate in a cycle, and can change the safe distance of the warning area in time, and represent the danger level through the projection color. The warning color is intuitive, clear and easy to identify. The driver of the rear vehicle can also see the value of the recommended speed reduction of the vehicle itself, and can drive the vehicle in a safe environment. By calculating the safe distance between the vehicle itself and the front vehicle and the safe distance between the vehicle itself and the rear vehicle, and projecting to the rear to warn the rear vehicle, the effect of improving driving safety can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of a vehicle according to an embodiment of the present invention.

[0028] Figure 2 is a block diagram of a vehicle auxiliary device according to an embodiment of the present invention.

[0029] Figure 3 is a flow chart of a vehicle assistance method according to an embodiment of the present invention.

[0030] Figure 4 is a schematic diagram of a vehicle driving condition according to an embodiment of the present invention.

[0031] Figure 5 FIG. 4 is a schematic diagram of calculating the projection angle of a projection system according to an embodiment of the present invention.

[0032] Figure 6The diagram is a schematic diagram of viewing a vehicle in front from the perspective of a vehicle coming from behind according to an embodiment of the present invention.

[0033] Figure 7 is a schematic diagram of a warning distance according to an embodiment of the present invention.

[0034] Figure 8 is a schematic diagram of a projection pattern based on a warning distance according to an embodiment of the present invention.

[0035] Fig. 9 is a schematic diagram of a warning projection according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to provide a further understanding of the purpose, structure, features and functions of the present invention, the following detailed description is given in conjunction with the embodiments.

[0037] Figure 1 is a schematic diagram of a vehicle according to an embodiment of the present invention. Figure 2 is a block diagram of a vehicle auxiliary device according to an embodiment of the present invention. Figure 1 and Figure 2 The vehicle 100 is provided with a vehicle auxiliary device 100A. The vehicle auxiliary device 100A includes a processor 210, a projection system 220, a first optical sensor 230, and a second optical sensor 240. The processor 210 is coupled to the projection system 220, the first optical sensor 230, and the second optical sensor 240.

[0038] The processor 210 is, for example, a central processing unit (CPU), a physical processing unit (PPU), a programmable microprocessor, an embedded control chip, a digital signal processor (DSP), an application specific integrated circuit (ASIC), or other similar devices.

[0039] The projection system 220 includes at least one projection device. In the present embodiment, two projection devices 221 and 222 are shown, but this is not limiting, and the number of projection devices can be determined according to actual conditions. Each projection device 221 and 222 includes physical hardware components such as a control chip, an optical machine module, a light source module, and a projection lens. The control chip is coupled to the optical machine module and the light source module and drives and controls them. The optical machine module, for example, includes a digital micromirror device (DMD). DMD can accept digital images and project the images without reducing the image quality.

[0040] The first optical sensor 230 and the second optical sensor 240 are, for example, optical radar (Light Detection and Ranging, LiDAR), which is an optical remote sensing technology that can detect the distance between itself and the object by irradiating a beam of light to the target and measuring the time difference between the light reaching the object and reflecting back. In addition, the first optical sensor 230 and the second optical sensor 240 can also be infrared cameras, visible light cameras, or millimeter wave radars, but they are not restrictive.

[0041] In one embodiment, the vehicle assistance device 100A further includes a storage device. For example, the storage device can be implemented by any type of fixed or removable random access memory (RAM), read-only memory (ROM), flash memory, secure digital card, hard disk or other similar devices or a combination of these devices. The storage device stores at least one program code segment, and after the program code segment is installed, the processor 210 will execute the vehicle assistance method described below.

[0042] In one embodiment, the first optical sensor 230 is disposed on a first side in the moving direction of the vehicle 100. The second optical sensor 240 is disposed on a second side in the moving direction of the vehicle 100. For example, the first optical sensor 230 is disposed on the same side as the rear lights of the vehicle 100, and the second optical sensor 240 is disposed on the same side as the front lights of the vehicle 100. The projection system 220 is disposed on the same side as the rear lights of the vehicle 100 to project to the rear of the vehicle 100 to warn the rearward vehicle. The vehicle 100 may use an adaptive driving beam (ADB) headlamp.

[0043] In addition, Figure 2In the embodiment shown, a projection device 221 may be provided in the left rear lamp of the vehicle 100, and a projection device 222 may be provided in the right rear lamp of the vehicle 100. Accordingly, the vehicle auxiliary device 100A may be used in an existing vehicle structure without additionally designing a space for accommodating the projection system 220. If the projection system 220 includes only one projection device, a space for accommodating the projection system 220 may be provided, for example, between the left and right rear lamps.

[0044] In one embodiment, the vehicle auxiliary device 100A is, for example, a central control computer of the vehicle 100. The central control computer is, for example, an electronic control unit (ECU). The electronic control unit can be said to be an embedded computer used to control various systems in the vehicle 100. The components inside the electronic control unit include a microcontroller (MCU), an input / output (I / O) circuit, an analog-to-digital converter (ADC), a power supply element, an in-vehicle communication circuit, and various sensors. The sensors are, for example, optical radars, image sensors, millimeter-wave radars, acceleration sensors, angular velocity sensors, wheel speed sensors, tire pressure sensors, etc.

[0045] Figure 3 is a flow chart of a vehicle assistance method according to an embodiment of the present invention. Figure 4 1 is a schematic diagram of a vehicle driving condition according to an embodiment of the present invention. In this embodiment, a vehicle auxiliary device 100A is installed on a vehicle 100, and the vehicle 100 moves toward a direction 41. There is a first moving vehicle 400A behind the vehicle 100, and there is a second moving vehicle 400B in front of the vehicle 100.

[0046] Please refer to Figure 3 In step S305, the first vehicle speed of the first moving vehicle 400A other than the vehicle 100 is measured through the first optical sensor 230. Next, in step S310, the second vehicle speed of the second moving vehicle 400B other than the vehicle 100 is measured through the second optical sensor 240. Thereafter, in step S315, based on the first vehicle speed, the second vehicle speed and the vehicle speed of the vehicle 100, the projection system 220 disposed in the vehicle 100 is controlled to perform warning projection within the projection range.

[0047] For example, Figure 2 In the illustrated structure, the projection image 410 is projected to the rear of the vehicle 100 through the projection devices 221 and 222. Therefore, the projection image 410 can remind the first moving vehicle 400A to maintain a safe distance.

[0048] Specifically, the first optical sensor 230 measures the first vehicle speed and the first instantaneous acceleration of the first moving vehicle 400A. For example, the first optical sensor 230 detects the first vehicle speed of the first moving vehicle 400A as V1' at time t0 and detects the first vehicle speed as V1 at time t1, then the first instantaneous acceleration Acc1 between time t0 and time t1 = (V1-V1') / (t1-t0). Also, at time t1, the second vehicle speed V2 of the second moving vehicle 400B is measured by the second optical sensor 240. In addition, the processor 210 obtains the instantaneous acceleration Acc0 of the vehicle 100 from the central control computer 100B of the vehicle 100. For example, the vehicle speed V0' of the vehicle at time t0 and the vehicle speed V0 of the vehicle at time t1 are known from the central control computer 100B of the vehicle 100 to calculate the instantaneous acceleration Acc0 of the vehicle = (V0-V0') / (t1-t0).

[0049] The processor 210 calculates the first distance S1 based on the first vehicle speed V1, the first instantaneous acceleration Acc1 and the vehicle speed V0. For example, the first distance S1 is obtained by the following formula:

[0050]

[0051] Assuming the first speed V1 is 120 km / h, the vehicle speed is 100 km / h, and the first instantaneous acceleration Acc1 is 5 m / s, then

[0052]

[0053] Among them, 1 km / h = 1 / 3.6 m / s.

[0054] Furthermore, the processor 210 calculates the second distance S2 based on the second vehicle speed V2, the vehicle speed V0, and the vehicle instantaneous acceleration Acc0 of the vehicle 100. For example, the second distance S2 is obtained by the following formula:

[0055]

[0056] Afterwards, the processor 210 obtains the braking distance DA1 based on the first distance S1 and the second distance S2. The first distance S1 is the safe stopping distance of the first moving vehicle 400A behind the vehicle 100 relative to the vehicle 100, and the second distance S2 is the safe stopping distance of the vehicle 100 relative to the second moving vehicle 400B in front of it. For example, the braking distance DA1 is obtained by the following formula:

[0057] DA1=S1+Kfactor×S2;

[0058] The parameter Kfactor varies with different vehicles 100. For example, different car manufacturers and different models have different brake performances. For a car with better braking performance, the value of the parameter Kfactor is set to be larger, and for a car with average braking performance, the value of the parameter Kfactor is set to be smaller. This is because if the braking performance of the vehicle 100 is better, the required warning distance for the rear vehicle (i.e., the first moving vehicle 400A) will become larger.

[0059] In addition, the processor 210 may be configured to repeatedly execute steps S305 to S315 at intervals of a specified time to dynamically change the range of the projection pattern 410 .

[0060] Figure 5 2 is a schematic diagram of calculating the projection angle of a projection system according to an embodiment of the present invention. In this embodiment, the projection device 221 is taken as an example for description, and other projection devices 222 in the projection system 220 can also be deduced in the same way.

[0061] Please refer to Figure 5 , the height between the projection device 221 and the road surface is H (known before the vehicle 100 leaves the factory). The processor 210 calculates the adjustment angle θ based on the height H between the projection device 221 and the road surface and the braking distance DA1. For example, the processor 210 calculates the adjustment angle θ based on tanθ=H / DA1. Thereafter, the processor 210 drives the motors corresponding to the projection devices 221 and 222 in the projection system 220 based on the adjustment angle θ, thereby adjusting the projection angles of the projection devices 221 and 222. Accordingly, each projection device 221 and 222 projects the projection pattern 410 within the projection range at the projection angle.

[0062] Figure 6 FIG. 1 is a schematic diagram of viewing a vehicle in front from the perspective of a vehicle oncoming from behind according to an embodiment of the present invention. This embodiment is an example of viewing the vehicle 100 from the perspective of the first moving vehicle 400A. Figure 6 As shown, a projection pattern 410 is projected behind the vehicle 100 to warn the driver of the vehicle coming from behind, that is, the first moving vehicle 400A.

[0063] In addition, in another embodiment, the processor 210 may also add the braking distance DA1 to at least one reserved distance to obtain the warning distance. The reserved distance is to allow the driver of the rear vehicle to have a reaction time period. For example, one or two additional reserved distances may be added depending on the situation, and the braking distance DA1 and the reserved distance may be presented in different visuals in the corresponding areas of the projection pattern.

[0064] Figure 7 is a schematic diagram of a warning distance according to an embodiment of the present invention. Figure 8 is a schematic diagram of a projection pattern based on a warning distance according to an embodiment of the present invention. Figure 7 and Figure 8 In this embodiment, the processor 210 adds the braking distance DA1, the reserved distance DA2 and the reserved distance DA3 to obtain the warning distance DA. Figure 5 The embodiment shown is similar, and the processor 210 can calculate the adjustment angle θ based on tanθ=H / DA. The projection angles of the projection devices 221 and 222 are adjusted by driving the motors corresponding to the projection devices 221 and 222 in the projection system 220 based on the adjustment angle θ, so that the projection patterns 810 are projected within the projection range at the projection angles. In this embodiment, the projection pattern 810 includes a main area P1 and two secondary areas P2 and P3, the main area P1 corresponds to the braking distance DA1, and the two secondary areas P2 and P3 correspond to the reserved distances DA2 and DA3, respectively. The main area P1 and the secondary areas P2 and P3 have different visual presentations. For example, they are distinguished by different colors. In one embodiment, the main area P1 is presented in red, the secondary area P2 is presented in yellow, and the secondary area P3 is presented in green. In addition, the colors of the main area P1 and the secondary areas P2 and P3 can also be displayed in gradients. It is worth mentioning that the reserved distance DA2 and the reserved distance DA3 can be preset fixed distances and can be pre-stored in the vehicle auxiliary device 100A. That is, no matter how long the braking distance DA1 is, the reserved distance DA2 and the reserved distance DA3 remain unchanged, but this is not restrictive.

[0065] In addition, in another embodiment, the processor 210 calculates the relative acceleration Racc based on the first instantaneous acceleration Acc1 of the first moving vehicle 400A and the instantaneous acceleration Acc0 of the vehicle 100. For example, the relative acceleration Racc=Acc0-Acc1. The reference speed Va is calculated based on the relative acceleration Racc, the current distance Dis between the vehicle 100 and the first moving vehicle 400A, and the vehicle speed V0. For example, the reference speed Va is calculated based on the following formula:

[0066] Va=SQRT(V02,2×Racc×Dis),

[0067] Among them, SQRT is the root mean square function, that is,

[0068] The reference speed is a value of a recommended speed reduction of the first moving vehicle 400A behind the vehicle 100. After the reference speed is calculated, the reference speed is presented on the rear windshield of the vehicle 100 through display technology. For example, the vehicle auxiliary device 100A further includes an in-vehicle projection device. The in-vehicle projection device is coupled to the processor 210 and configured to project the reference speed onto the rear windshield. In another embodiment, a display may also be installed on the rear windshield. The display is coupled to the processor 210 and configured to output the reference speed to the display.

[0069] Fig. 9 is a schematic diagram of a warning projection according to an embodiment of the present invention. Fig. 9 , a reference speed is displayed in area 910 on the rear windshield 110 of the vehicle 100 through display technology for driving reference of the first moving vehicle 400A behind.

[0070] In addition, the processor 210 can also calculate the warning time Ta=Dis / V1 based on the current distance Dis between the vehicle 100 and the first moving vehicle 400A and the first vehicle speed V1, and display the warning time on the rear windshield 110 through display technology. For example, the warning time is displayed in the area 910. The area 910 can display only the reference speed or the warning time, or can display both the reference speed and the warning time.

[0071] In addition, the processor 210 determines whether to perform warning projection through the projection system 220 based on whether the vehicle speed of the vehicle 100 is greater than a preset value. In response to the vehicle speed of the vehicle 100 being greater than the preset value, the warning projection is performed. In response to the vehicle speed of the vehicle 100 not being greater than the preset value, the warning projection is not performed. In other words, when the moving speed of the vehicle 100 is slow, steps S305 to S315 are not performed.

[0072] Alternatively, the processor 210 determines whether to perform a warning projection through the projection system 220 based on whether the distance between the vehicle 100 and the first moving vehicle 400A located behind the vehicle 100 is greater than the safety distance. In response to the distance between the vehicle 100 and the first moving vehicle 400A being not greater than the safety distance, a warning projection is performed. In response to the distance between the vehicle 100 and the first moving vehicle 400A being greater than the safety distance, no warning projection is performed. In other words, when the distance between the vehicle 100 and the vehicle behind is very far, steps S305 to S315 will not be executed. For example, the first optical sensor 230 senses that the first moving vehicle 400A is a large vehicle or a small vehicle, and then the processor 210 adjusts the safety distance according to the first vehicle speed and the second vehicle speed. If the first moving vehicle 400A is a large vehicle, the safety distance is adjusted to increase, but this is non-restrictive.

[0073] The warning projection may be a 3D projection or a 2D projection. Alternatively, when the vehicle 100 is moving, the warning projection is in the form of a 3D projection, and when the vehicle 100 stops, the warning projection is in the form of a 2D projection.

[0074] In summary, the present invention provides a vehicle assistance device and a vehicle assistance method, wherein the vehicle assistance device comprises: a first optical sensor, a second optical sensor, a projection system and a processor, wherein the first optical sensor is disposed on a first side in the moving direction of the vehicle; the second optical sensor is disposed on a second side in the moving direction of the vehicle, and the second side is different from the first side; the processor is configured to measure a first vehicle speed of a first moving vehicle other than the vehicle through the first optical sensor; and to measure a second vehicle speed of a second moving vehicle other than the vehicle through the second optical sensor; and based on the first vehicle speed, the second vehicle speed and the vehicle's own vehicle speed, the projection system is controlled to perform a warning projection within the projection range. The present disclosure measures the vehicle speeds of both the front vehicle and the rear vehicle through two optical sensors, and controls the projection system to perform a warning projection based on the vehicle speeds of both the front vehicle and the rear vehicle and the own vehicle speed, thereby allowing the rear vehicle to instantly and intuitively identify the safe distance between the vehicle and the front vehicle, so as to respond to the braking action and maintain driving safety. In addition, the present disclosure can continuously detect, continuously feedback and operate in a loop, and can change the safe distance of the warning area in a timely manner, and represent the danger level through the projection color. The warning color is intuitive, clear and easy to identify. Drivers of the following vehicles can also see the recommended speed reduction value of their own vehicle, and can drive the vehicle in a safe environment.

[0075] Although the present invention is described in conjunction with the accompanying drawings, the embodiments disclosed in the drawings are intended to exemplify the preferred embodiments of the present invention and should not be construed as limiting the present invention. In order to clearly describe the required components, the proportions in the schematic drawings do not represent the proportional relationship of the actual components.

[0076] The present invention has been described by the above-mentioned relevant embodiments, however, the above-mentioned embodiments are only examples for implementing the present invention. It must be pointed out that the disclosed embodiments do not limit the scope of the present invention. On the contrary, changes and modifications made without departing from the spirit and scope of the present invention are all within the scope of patent protection of the present invention.

Claims

1. A vehicle auxiliary device, characterized in that: include: A first optical sensor is disposed on a first side in a moving direction of the vehicle; A second optical sensor is disposed on a second side of the vehicle in the moving direction, the second side being different from the first side; Projection system; as well as A processor coupled to the first optical sensor, the second optical sensor, and the projection system, wherein the processor is configured to: Measuring a first vehicle speed of a first moving vehicle other than the vehicle through the first optical sensor; measuring a second vehicle speed of a second moving vehicle other than the vehicle through a second optical sensor; Based on the first vehicle speed, the second vehicle speed and the vehicle speed of the vehicle, the projection system is controlled to perform warning projection within the projection range.

2. The vehicle auxiliary device according to claim 1, characterized in that: The processor is configured to: Calculating a braking distance based on the first vehicle speed, the second vehicle speed, and the own vehicle speed; Calculating an adjustment angle based on the height of the projection system and the road surface and the braking distance; as well as The projection angle of each projection device is adjusted by driving a motor corresponding to each projection device in the projection system based on the adjustment angle, so that each projection device projects a projection pattern within the projection range at the projection angle.

3. The vehicle auxiliary device according to claim 2, characterized in that: The first moving vehicle is located behind the vehicle, and the second moving vehicle is located in front of the vehicle; The processor is configured to: Calculating a first distance based on the first vehicle speed, the first instantaneous acceleration and the host vehicle speed, wherein the first instantaneous acceleration is obtained by measuring the first moving vehicle with the first optical sensor; Calculating a second distance based on the second vehicle speed, the own vehicle speed, and the own vehicle instantaneous acceleration of the vehicle; and The braking distance is obtained based on the first distance and the second distance.

4. The vehicle auxiliary device according to claim 1, characterized in that: The processor is configured to: Calculating a braking distance based on the first vehicle speed, the second vehicle speed, and the own vehicle speed; adding the braking distance to at least one reserve distance to obtain a warning distance; Calculating an adjustment angle based on the height of the projection system and the road surface and the warning distance; as well as The projection angle of each projection device is adjusted by driving a motor corresponding to each projection device in the projection system based on the adjustment angle, so that each projection device projects a projection pattern within the projection range at the projection angle, wherein the projection pattern includes a main area and at least one secondary area, the main area corresponds to the braking distance, the at least one secondary area corresponds to the at least one reserved distance, and the main area and the at least one secondary area have different visual presentations.

5. The vehicle auxiliary device according to claim 1, characterized in that: The first moving vehicle is located behind the vehicle, the second moving vehicle is located in front of the vehicle, and the processor is configured to: Calculating a relative acceleration based on the first instantaneous acceleration of the first moving vehicle and the host vehicle instantaneous acceleration of the vehicle; Calculating a reference speed based on the relative acceleration, a current distance between the vehicle and the first moving vehicle, and the own vehicle speed; as well as The reference speed is displayed on the rear windshield of the vehicle through display technology.

6. The vehicle auxiliary device according to claim 5, characterized in that: The processor is configured to: Calculating a warning time based on the current distance between the vehicle and the first moving vehicle and the first vehicle speed; and The warning time is presented on the rear windshield through the display technology.

7. The vehicle auxiliary device according to claim 5, characterized in that: Also includes: The in-vehicle projection device is coupled to the processor and is configured to project the reference speed onto the rear windshield.

8. The vehicle auxiliary device according to claim 5, characterized in that: The rear windshield is mounted with a display coupled to the processor; The processor is configured to output the reference speed to the display.

9. The vehicle auxiliary device according to claim 1, characterized in that: The processor is configured to: Determining whether to perform the warning projection through the projection system based on whether the vehicle speed is greater than a preset value, wherein in response to the vehicle speed being greater than the preset value, the warning projection is performed, and in response to the vehicle speed being not greater than the preset value, the warning projection is not performed; Alternatively, whether to perform the warning projection through the projection system is determined based on whether the distance between the vehicle and the first moving vehicle located behind the vehicle is greater than a safety distance, wherein the warning projection is performed in response to the distance being not greater than the safety distance, and the warning projection is not performed in response to the distance being greater than the safety distance.

10. The vehicle auxiliary device according to claim 1, characterized in that: The projection system comprises two projection devices which are respectively arranged on two rear lights of the vehicle.

11. A vehicle assistance method, which is executed by a processor disposed in a vehicle, characterized in that: The vehicle assistance method includes: Measuring a first vehicle speed of a first moving vehicle other than the vehicle through a first optical sensor, wherein the first optical sensor is disposed on a first side in a moving direction of the vehicle; Measuring a second vehicle speed of a second moving vehicle other than the vehicle through a second optical sensor, wherein the second optical sensor is disposed on a second side of the moving direction of the vehicle, the second side being different from the first side; and Based on the first vehicle speed, the second vehicle speed and the vehicle speed of the vehicle, a projection system disposed in the vehicle is controlled to perform warning projection within a projection range.

12. The vehicle assistance method according to claim 11, characterized in that: The step of controlling the projection range of the projection system provided in the vehicle based on the first vehicle speed, the second vehicle speed and the vehicle speed of the vehicle includes: Calculating a braking distance based on the first vehicle speed, the second vehicle speed, and the own vehicle speed; Calculating an adjustment angle based on the height of the projection system and the road surface and the braking distance; and The projection angle of each projection device is adjusted by driving a motor corresponding to each projection device in the projection system based on the adjustment angle, so that each projection device projects a projection pattern within the projection range at the projection angle.

13. The vehicle assistance method according to claim 12, characterized in that: The first moving vehicle is located behind the vehicle, and the second moving vehicle is located in front of the vehicle. The step of calculating the braking distance based on the first vehicle speed, the second vehicle speed and the vehicle speed includes: Calculating a first distance based on the first vehicle speed, the first instantaneous acceleration and the host vehicle speed, wherein the first instantaneous acceleration is obtained by measuring the first moving vehicle with the first optical sensor; Calculating a second distance based on the second vehicle speed, the own vehicle speed, and the own vehicle instantaneous acceleration of the vehicle; and The braking distance is obtained based on the first distance and the second distance.

14. The vehicle assistance method according to claim 11, characterized in that: The step of controlling the projection range of the projection system provided in the vehicle based on the first vehicle speed, the second vehicle speed and the vehicle speed of the vehicle includes: Calculating a braking distance based on the first vehicle speed, the second vehicle speed, and the own vehicle speed; adding the braking distance to at least one reserve distance to obtain a warning distance; Calculating an adjustment angle based on the height of the projection system and the road surface and the warning distance; and The projection angle of each projection device is adjusted by driving a motor corresponding to each projection device in the projection system based on the adjustment angle, so that each projection device projects a projection pattern within the projection range at the projection angle, wherein the projection pattern includes a main area and at least one secondary area, the main area corresponds to the braking distance, the at least one secondary area corresponds to the at least one reserved distance, and the main area and the at least one secondary area have different visual presentations.

15. The vehicle assistance method according to claim 11, characterized in that: The first moving vehicle is located behind the vehicle, and the second moving vehicle is located in front of the vehicle. The method further includes: Calculating a relative acceleration based on the first instantaneous acceleration of the first moving vehicle and the host vehicle instantaneous acceleration of the vehicle; calculating a reference speed based on the relative acceleration, the current distance between the vehicle and the first moving vehicle, and the host vehicle speed; and The reference speed is displayed on the rear windshield of the vehicle through display technology.

16. The vehicle assistance method according to claim 15, characterized in that: Also includes: Calculating a warning time based on the current distance between the vehicle and the first moving vehicle and the first vehicle speed; as well as The warning time is presented on the rear windshield through the display technology.

17. The vehicle assistance method according to claim 15, characterized in that: The display technology is a projection technology, and the step of presenting the reference speed on the rear windshield of the vehicle comprises: The reference speed is projected onto the rear windshield through an in-vehicle projection device.

18. The vehicle assistance method according to claim 15, characterized in that: The display technology is to install a display on the rear windshield to display the reference speed on the rear windshield of the vehicle, including: The reference speed is output to the display.

19. The vehicle assistance method according to claim 11, characterized in that: Also includes: Determining whether to perform the warning projection through the projection system based on whether the vehicle speed is greater than a preset value, wherein in response to the vehicle speed being greater than the preset value, the warning projection is performed, and in response to the vehicle speed being not greater than the preset value, the warning projection is not performed; Alternatively, whether to perform the warning projection through the projection system is determined based on whether the distance between the vehicle and the first moving vehicle located behind the vehicle is greater than a safety distance, wherein the warning projection is performed in response to the distance being not greater than the safety distance, and the warning projection is not performed in response to the distance being greater than the safety distance.

20. The vehicle assistance method according to claim 11, characterized in that: The projection system comprises two projection devices, which are respectively arranged on two rear lights of the vehicle.

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