本論文建構一個機車通用之安全輔助系統，功能包含盲點偵測與前方防碰撞偵測，且可以透過藍芽與手機APP結合顯示詳細資訊。系統以ESP32作為主控板，使用24GHz多普勒雷達感測周遭目標物，GPS記錄當前座標與車速，最後透過LED與蜂鳴器將警示訊號轉換為聲光效果，以此提醒騎士注意路況，騎士同時也可以透過APP查看目標物的相關資訊與接收警示訊息。
系統於車頭與車尾兩處各安裝一個雷達，前方負責防碰撞系統，檢測「2秒內即將與我方發生碰撞」的車輛，後方負責盲點偵測系統，檢測「位於警示範圍內」的車輛，同時警示範圍會依據後方來車的車速進行調控。手機APP可以使用藍芽與ESP32進行配對，連接後介面會顯示前後雷達的量測數據和前後方目標與我方車輛間的距離，且手機的揚聲器可以模擬蜂鳴器的叫聲，APP也可以透過背景顏色的切換模擬LED的亮滅。最後實際測試時將系統裝設於車輛上，行駛上路進行實機測試。

In this thesis, we propose a safety assistance system for motorcycle with function including blind spot detection and forward collision avoidance system. The system also can display detailed information through the phone app connected to Bluetooth. The system uses ESP32 as the master control board, 24GHz Doppler radar to sense the targets, GPS records the current coordinates and speed, and finally converts the warning signal into sound and light effects through LED and buzzer to remind the rider to pay attention to the road conditions. Rider can also view the information and receive warning signal through the phone app.
The motorcycle will be equipped with radar at the front and rear. The front one is responsible for the collision avoidance system to detect targets that are “about to collide with us within 2 seconds”, and the rear one is responsible for the blind spot detection system to detect “in the warning range”, and the warning range will be adjusted according to the speed of the target coming from behind. The phone app can be paired with the ESP32 using Bluetooth. After connection, the interface will display the information of two radars and distance between the front or rear target and us. The phone speaker can replace the buzzer, and the phone app can also simulate the LEDs by switching the background color.

摘要...i
Abstract...ii
誌謝...iii
目錄...iv
表目錄...vi
圖目錄...vii
第一章 緒論...1
1.1 研究背景與動機...1
1.2 研究方向...2
1.3 論文架構...2
第二章 相關技術與概念簡介...3
2.1 定義盲點...3
2.1.1 汽車盲點...3
2.1.2 摩托車盲點...4
2.2 多普勒(Doppler)效應...5
2.2.1 多普勒測速...5
2.2.2 多普勒頻移...5
2.2.3 多普勒測距...6
2.3 全球定位系統...6
2.3.1 定位原理...7
2.3.2 精準度...7
第三章 系統架構...8
3.1 硬體架構...8
3.2 系統功能架構...9
3.2.1 Core0功能架構...9
3.2.2 Core1功能架構...10
3.3 手機APP功能架構...10
第四章 系統設計與實現...11
4.1 硬體設備...11
4.1.1 ESP32...12
4.1.2 K-LD7...13
4.2 系統設計理念...13
4.2.1 環境資料獲取...13
4.2.2 BSD系統...13
4.2.3 CAS...13
4.3 ESP32-Core0系統設計...14
4.3.1 雷達的資料讀取與預處理...15
4.3.2 GPS的資料讀取與處理...19
4.4 ESP32-Core1系統設計...22
4.4.1 BSD和CAS雷達資料處理...23
4.4.2 平滑指數移動...23
4.4.3 BSD雷達資訊篩選、左右盲點分類與提前警示距離計算...24
4.4.4 BSD系統與盲點角度EMA重置...26
4.4.5 CAS雷達資料篩選...28
4.4.6 CAS系統...29
4.4.7 警示控制系統...30
4.4.9 藍芽系統...32
4.4.10 開機檢測系統...33
4.5 APP設計...34
第五章 實測流程與結果...38
5.1 系統整體外觀...38
5.2 靜態系統測試...40
5.2.1 速度測試...41
5.2.2 範圍測試...45
5.3 動態系統測試...48
第六章 結論與未來展望...53
6.1 結論...53
6.2 未來展望...54
6.2.1 改良...54
6.2.2 擴充...54
參考文獻...55
Extended Abstract...57

[1].交通部. (2022, Jun 22). 機動車輛數簡易資料查詢網頁. [Online]. Available: https://stat.motc.gov.tw/mocdb/stmain.jsp?sys=100&funid=a3301
[2].行政院主計總處. (2022, Jun 22). 人口數(期底)(人). [Online]. Available: https://www1.stat.gov.tw/mp.asp?mp=3
[3].交通部交通安全督導委員會. (2022 Jun 22). 主題分析-道安資訊查詢網. [Online]. Available: https://roadsafety.tw/AccOrder?Order=Age&type=%E6%A9%9F%E8%BB%8A
[4].蘇銘翰. (2022, Jun 22). 汽車主動安全名稱混亂! 6項最重要配備將統一名稱. [Online]. Available: https://auto.ltn.com.tw/news/11379/3
[5].Junpei Kuwana and M. Itoh, "Dynamic angling side-view mirror for supporting recognition of a vehicle in the blind spot," 2008 International Conference on Control, Automation and Systems, 2008, pp. 2913-2918, doi: 10.1109/ICCAS.2008.4694254.
[6].林泰丞, “通用型機車盲點偵測輔助系統,” M.S. thesis, Dept. 電資工程, 國立中正大學, 嘉義, 臺灣, 2018.
[7].M. R. W. Pratama, M. Abdurohman and A. G. Putrada, "Vehicle Blind Spot Area Detection Using Bluetooth Low Energy and Multilateration," 2021 9th International Conference on Information and Communication Technology (ICoICT), 2021, pp. 165-169, doi: 10.1109/ICoICT52021.2021.9527516.
[8].G. Liu, L. Wang and S. Zou, "A radar-based blind spot detection and warning system for driver assistance," 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference (IAEAC), 2017, pp. 2204-2208, doi: 10.1109/IAEAC.2017.8054409.
[9].C. T. Chen and Y. S. Chen, "Real-time approaching vehicle detection in blind-spot area," 2009 12th International IEEE Conference on Intelligent Transportation Systems, 2009, pp. 1-6, doi: 10.1109/ITSC.2009.5309876.
[10].Y. He, Y. Kim, D. Y. Lee and S. -H. Kim, "Defensive Ecological Adaptive Cruise Control Considering Neighboring Vehicles’ Blind-Spot Zones," in IEEE Access, vol. 9, pp. 152275-152287, 2021, doi: 10.1109/ACCESS.2021.3127171.
[11].Trucking Watchdog. (2022, Jun 22). Why these 4 blind spots in trucks are still a huge safety problem. [Online]. Available: https://www.truckingwatchdog.com/2017/01/25/why-these-4-blind-spots-in-trucks-are-still-a-huge-safety-problem
[12].MOTO7. (2022, Jun 22). 使自己更顯眼:讓其他駕駛注意你. [Online]. Available: https://www.moto7.net/2014/08/blog-post_13-5.html/2
[13].維基百科. (2022, Jun 23). 克里斯蒂安˙都卜勒. [Online]. Available: https://zh.wikipedia.org/zh-tw/
%E5%85%8B%E9%87%8C%E6%96%AF%E8%92%82%E5%AE%89%C2%B7%E5%A4%9A%E6%99%AE%E5%8B%92
[14].維基百科. (2022, Jun 23). 都卜勒測量. [Online]. Available: https://zh.wikipedia.org/zh-tw/%E5%A4%9A%E6%99%AE%E5%8B%92%E6%B5%8B%E9%87%8F
[15].Seeber Günter, Satellite Geodesy: Foundations, Methods, and Applications, De gruyter, 2008.
[16].李徵航,魏二虎,王正濤, 空間大地測量學, 武漢大學出版社, 2010.
[17].維基百科. (2022, Jun 23). 全球定位系統. [Online]. Available: https://zh.wikipedia.org/zh-tw/%E5%85%A8%E7%90%83%E5%AE%9A%E4%BD%8D%E7%B3%BB%E7%BB%9F
[18].曾清涼. (2011). GPS衛星的導航. 科學發展,467期, 58-66.
[19].Last Minute Engineers. (2022. Jun 24). ESP32 Pinout Reference. [Online]. Available: https://lastminuteengineers.com/esp32-pinout-reference/
[20].維基百科. (2022, Jun 24). ESP32. [Online]. Available: https://zh.m.wikipedia.org/zh-tw/ESP32
[21].交通部. (2022, Jun 24). 第一篇 安全駕駛. [Online]. Available: https://www.freeway.gov.tw/Upload/Html/2017824171/inf/motorcycle%20safety_05.pdf
[22].雲林縣政府新聞處公共關係科. (2022, Jun 24). 不可不知的煞車反應時間與距離. [Online]. Available: https://www.yunlin.gov.tw/News_Content.aspx?n=1244&s=216549
[23].艾鍗學院. (2022, Jun 24). GPS封裝格式與$GPRMC解析. [Online]. Available: http://blog.ittraining.com.tw/2016/02/gpsgprmc.html