CN105857315B - Active blind area monitoring system and method - Google Patents
Active blind area monitoring system and method Download PDFInfo
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- CN105857315B CN105857315B CN201610280432.1A CN201610280432A CN105857315B CN 105857315 B CN105857315 B CN 105857315B CN 201610280432 A CN201610280432 A CN 201610280432A CN 105857315 B CN105857315 B CN 105857315B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
Abstract
The invention discloses a kind of active blind area monitoring system and method, including car body controller, left radar controller assembly, right radar controller assembly, left alarm lamp and right alarm lamp, left alarm lamp is connected with left radar controller assembly, and right alarm lamp is connected with right radar controller assembly；The car body controller is connected with left radar controller assembly, right radar controller assembly respectively；Also include camera controller assembly and electric power steering；The left radar controller assembly is connected with car body controller, camera controller assembly, electric power steering respectively；The right radar controller assembly is connected with car body controller, camera controller assembly, electric power steering respectively；The camera controller assembly is connected with car body controller, electric power steering respectively.The present invention effectively improves lane-change collision warning function by the way of light display alarm, direction correcting, steering wheel vibration alarm are combined.
Description
Technical field
The invention belongs to vehicle blind zone monitoring technology, and in particular to a kind of active blind area monitoring system and method.
Background technology
When driving, driver is mainly by backsight sem observation front vehicle, due to the limitation of body structure, rear
Field of view it is limited, in lane change in the presence of the danger of collision.In order to reduce danger, currently used method is to pass through thunder
Vehicle up in vision dead zone is detected and identified, when occurring hazardous vehicles in blind area, using light warning, to remind
Driver pays attention to.But this mode leaves problems with：
（1）Under sunlight, light is not easy to identify, potential safety hazard be present；
（2）User experience is not strong.
Therefore, it is necessary to develop a kind of new active blind area monitoring system and method.
The content of the invention
It is an object of the invention to provide a kind of active blind area monitoring system and method, using light display alarm, direction
The mode that correction, steering wheel vibration alarm are combined, it can effectively lift lane-change collision warning function.
Active blind area monitoring system of the present invention, including car body controller, left radar controller assembly, right radar
Control assembly, left alarm lamp and right alarm lamp, left alarm lamp are connected with left radar controller assembly, right report
Alert indicator lamp is connected with right radar controller assembly；Left radar controller assembly is used to detect left side adjacent lane front vehicle,
And left alarm lamp is driven to alarm；Right radar controller assembly is used to detect right side adjacent lane front vehicle, and drives the right side
Alarm lamp is alarmed；The car body controller is used to export left steering lamp open signal, right turn lamp open signal, steering indicating light
Non- open signal, the car body controller are connected with left radar controller assembly, right radar controller assembly respectively；Also include shooting
Head controller assembly and electric power steering；The left radar controller assembly respectively with car body controller, camera controller
Assembly, electric power steering connection；The right radar controller assembly respectively with car body controller, camera controller assembly,
Electric power steering connects；The camera controller assembly is connected with car body controller, electric power steering respectively；
The left radar controller assembly is additionally operable to outbound course disc vibration alarm signal and left blind zone alert signal；
The right radar controller assembly is additionally operable to outbound course disc vibration alarm signal and right blind zone alert signal；
The camera controller assembly is used for real-time detection and both sides lane line in front of identification traveling lane, when vehicle is inclined
During from traveling lane, outbound course deviation correcting signal and steering wheel vibration alarm signal；
The electric power steering is used to receive the left radar controller assembly, right radar controller assembly and camera
The direction correcting signal and steering wheel vibration alarm signal that control assembly is sent, and produced based on the direction correcting signal
Direction correcting torque, and alarmed based on steering wheel vibration alarm signal travel direction disc vibration.
The camera controller assembly is used to identify traveling lane both sides lane line, and according to whether recognizes lane line
Lane detection status signal or the unidentified status signal of lane line are sent, when recognizing lane line, whether calculates vehicle
Deviate traveling lane；
When the left radar controller assembly receives left steering lamp open signal and Lane detection status signal, and spy
Measure when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp flicker alarm, while export left blind area
Alarm signal；When the camera controller assembly receives the left blind zone alert signal, and detect vehicle to the left will be inclined
From traveling lane, the camera controller assembly sends direction deviation correcting signal, and electric power steering is based on direction correction letter
Number produce opposing torque, travel direction correction；When camera controller assembly monitors that vehicle continues to be deviated to the left traveling to a left side
When on the lane line of side, camera controller assembly sends steering wheel vibration alarm signal, and electric power steering is based on direction disk
Vibration alarming signal travel direction disc vibration is alarmed；
When the left radar controller assembly receives right turn lamp open signal/non-open signal of steering indicating light and lane line
Identification state signal, and detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp to light report
It is alert；Left blind zone alert signal is exported simultaneously, after camera controller assembly receives the left blind zone alert signal, and detects car
Traveling lane is will deviate to the left, the camera controller assembly sends direction deviation correcting signal, and electric power steering is based on
Direction deviation correcting signal produces opposing torque, travel direction correction；Left radar controller assembly receives direction deviation correcting signal
Afterwards, left alarm lamp is driven to be changed into flicker alarm from lighting alarm；When camera controller assembly monitor vehicle continue to
Left avertence from traveling on left-hand lane line when, camera controller assembly sends steering wheel vibration alarm signal, electric boosted turn
Alarmed to based on direction disc vibration alarm signal travel direction disc vibration；
When the left radar controller assembly receives left steering lamp open signal and the unidentified status signal of lane line, and
Detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp flicker alarm, while left radar control
Device assembly processed sends steering wheel vibration alarm signal, and electric power steering is based on direction disc vibration alarm signal travel direction disk
Vibration alarming；
When the left radar controller assembly receives right turn lamp open signal/non-open signal of steering indicating light and lane line
Unidentified status signal, and detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp to light
Alarm；
When the right radar controller assembly receives left steering lamp open signal/non-open signal of steering indicating light and lane line
Identification state signal, and detect when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp to light report
It is alert；Right blind zone alert signal is exported simultaneously, after camera controller assembly receives the right blind zone alert signal, and detects car
Traveling lane is will deviate to the right, the camera controller assembly sends direction deviation correcting signal, and electric power steering is based on
Direction deviation correcting signal produces opposing torque, travel direction correction；Right radar controller assembly receives direction deviation correcting signal
Afterwards, right alarm lamp is driven to be changed into flicker alarm from lighting alarm；When camera controller assembly monitor vehicle continue to
Right avertence from traveling on right-hand lane line when, camera controller assembly sends steering wheel vibration alarm signal, electric boosted turn
Alarmed to based on direction disc vibration alarm signal travel direction disc vibration；
When the right radar controller assembly receives right turn lamp open signal and Lane detection status signal, and spy
Measure when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp flicker alarm, while export right blind area
Alarm signal；When the camera controller assembly receives the right blind zone alert signal, and detect vehicle to the right will be inclined
From traveling lane, the camera controller assembly sends direction deviation correcting signal, and electric power steering is based on direction correction letter
Number produce opposing torque, travel direction correction；When camera controller assembly monitors that vehicle continues to be deviated to the right traveling to the right side
When on the lane line of side, camera controller assembly sends steering wheel vibration alarm signal, and electric power steering is based on direction disk
Vibration alarming signal travel direction disc vibration is alarmed；
When the right radar controller assembly receives right turn lamp open signal and the unidentified status signal of lane line, and
Detect when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp flicker alarm, while right radar control
Device assembly processed sends steering wheel vibration alarm signal, and electric power steering is based on direction disc vibration alarm signal travel direction disk
Vibration alarming；
When the right radar controller assembly receives left steering lamp open signal/non-open signal of steering indicating light and lane line
Unidentified status signal, and detect when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp to light
Alarm.
Also include man-machine interaction mechanism, open and close setting for providing active blind area monitoring system, and pass through CAN
Line send open and close signal give left radar controller assembly and right radar controller assembly, the branch of man-machine interaction mechanism and
Left radar controller assembly connects with right radar controller assembly.
The left radar controller assembly is arranged on the left of vehicle tail；The right radar controller assembly is arranged on vehicle
On the right side of afterbody.
The left radar controller assembly, the detecting band frequency of right radar controller assembly are 24GHz-27GHz, or are
76GHz-77GHz。
Active blind area monitoring method of the present invention, using active blind area monitoring system of the present invention, bag
Include following steps：
The car body controller exports left steering lamp open signal, or right turn lamp open signal, or steering indicating light is not opened
Signal；
The left radar controller assembly real-time detection vehicle left side adjacent lane front vehicle, and export left blind zone alert
Signal and/or steering wheel vibration alarm signal, and the left alarm lamp alarm of driving；
The right radar controller assembly real-time detection vehicle right side adjacent lane front vehicle, and export right blind zone alert
Signal and/or steering wheel vibration alarm signal, and the right alarm lamp alarm of driving；
The camera controller assembly real-time detection and both sides lane line in front of identification traveling lane, go when vehicle deviates
When sailing track, outbound course deviation correcting signal and/or steering wheel vibration alarm signal；
The electric power steering receives the left radar controller assembly, right radar controller assembly and camera control
The direction correcting signal and/or steering wheel vibration alarm signal that device assembly is sent, and produced based on the direction correcting signal
Direction correcting torque, and/or alarmed based on steering wheel vibration alarm signal travel direction disc vibration.
A, when opening left steering lamp, the car body controller exports left steering lamp open signal, when unlatching right turn lamp
When, the car body controller exports right turn lamp open signal, when not opening left steering lamp and right turn lamp, car body controller
Send the non-open signal of steering indicating light；
B, when the camera controller assembly receives left steering lamp open signal or right turn the lamp open signal
Afterwards, the camera controller assembly real-time detection and identification traveling lane both sides lane line, when camera controller assembly is known
When being clipped to lane line, then Lane detection status signal is sent, when camera controller assembly is unidentified arrives lane line, then sent out
Go out the unidentified status signal of lane line；
C, when the left radar controller assembly receives left steering lamp open signal and Lane detection status signal, and
Detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp flicker alarm, while export left blind
Area's alarm signal；When the camera controller assembly receives the left blind zone alert signal, and detect vehicle and to the left will
Deviate traveling lane, the camera controller assembly sends direction deviation correcting signal, and electric power steering is rectified a deviation based on the direction
Signal produces opposing torque, travel direction correction；When camera controller assembly monitors that vehicle continues to be deviated to the left traveling extremely
When on left-hand lane line, camera controller assembly sends steering wheel vibration alarm signal, and electric power steering is based on the direction
Disc vibration alarm signal travel direction disc vibration is alarmed；
When the left radar controller assembly receives right turn lamp open signal/non-open signal of steering indicating light and lane line
Identification state signal, and detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp to light report
It is alert；Left blind zone alert signal is exported simultaneously, after camera controller assembly receives the left blind zone alert signal, and detects car
Traveling lane is will deviate to the left, the camera controller assembly sends direction deviation correcting signal, and electric power steering is based on
Direction deviation correcting signal produces opposing torque, travel direction correction；Left radar controller assembly receives direction deviation correcting signal
Afterwards, left alarm lamp is driven to be changed into flicker alarm from lighting alarm；When camera controller assembly monitor vehicle continue to
Left avertence from traveling on left-hand lane line when, camera controller assembly sends steering wheel vibration alarm signal, electric boosted turn
Alarmed to based on direction disc vibration alarm signal travel direction disc vibration；
When the left radar controller assembly receives left steering lamp open signal and the unidentified status signal of lane line, and
Detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp flicker alarm, while left radar control
Device assembly processed sends steering wheel vibration alarm signal, and electric power steering is based on direction disc vibration alarm signal travel direction disk
Vibration alarming；
When the left radar controller assembly receives right turn lamp open signal/non-open signal of steering indicating light and lane line
Unidentified status signal, and detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp to light
Alarm；
When the right radar controller assembly receives left steering lamp open signal/non-open signal of steering indicating light and lane line
Identification state signal, and detect when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp to light report
It is alert；Right blind zone alert signal is exported simultaneously, after camera controller assembly receives the right blind zone alert signal, and detects car
Traveling lane is will deviate to the right, the camera controller assembly sends direction deviation correcting signal, and electric power steering is based on
Direction deviation correcting signal produces opposing torque, travel direction correction；Right radar controller assembly receives direction deviation correcting signal
Afterwards, right alarm lamp is driven to be changed into flicker alarm from lighting alarm；When camera controller assembly monitor vehicle continue to
Right avertence from traveling on right-hand lane line when, camera controller assembly sends steering wheel vibration alarm signal, electric boosted turn
Alarmed to based on direction disc vibration alarm signal travel direction disc vibration；
When the right radar controller assembly receives right turn lamp open signal and Lane detection status signal, and spy
Measure when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp flicker alarm, while export right blind area
Alarm signal；When the camera controller assembly receives the right blind zone alert signal, and detect vehicle to the right will be inclined
From traveling lane, the camera controller assembly sends direction deviation correcting signal, and electric power steering is based on direction correction letter
Number produce opposing torque, travel direction correction；When camera controller assembly monitors that vehicle continues to be deviated to the right traveling to the right side
When on the lane line of side, camera controller assembly sends steering wheel vibration alarm signal, and electric power steering is based on direction disk
Vibration alarming signal travel direction disc vibration is alarmed；
When the right radar controller assembly receives right turn lamp open signal and the unidentified status signal of lane line, and
Detect when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp flicker alarm, while right radar control
Device assembly processed sends steering wheel vibration alarm signal, and electric power steering is based on direction disc vibration alarm signal travel direction disk
Vibration alarming；
When the right radar controller assembly receives left steering lamp open signal/non-open signal of steering indicating light and lane line
Unidentified status signal, and detect when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp to light
Alarm.
In the step c：
Traveling lane, and vehicle and left-hand lane are will deviate to the left when the camera controller assembly detects vehicle
When the distance of line is less than D rice, the camera controller assembly sends direction deviation correcting signal；
Traveling lane, and vehicle and right-hand lane are will deviate to the right when the camera controller assembly detects vehicle
When the distance of line is less than D rice, the camera controller assembly sends direction deviation correcting signal.
The D is 0m~0.5m.
Beneficial effects of the present invention：After the present invention is by left radar controller assembly real-time detection vehicle left side adjacent lane
Square vehicle, the vehicle in automatic identification blind area, by CAN outbound course disc vibration alarm signals and left blind zone alert signal, and
Left alarm lamp is driven to light or flash.Pass through right radar controller assembly real-time detection vehicle right side adjacent lane rear car
, the vehicle in automatic identification blind area, by CAN outbound course disc vibration alarm signals and right blind zone alert signal, and drive
Right alarm lamp is lighted or flashed.Pass through the real-time detection of camera controller assembly and both sides track in front of identification traveling lane
Line, when vehicle deviates traveling lane, pass through CAN outbound courses deviation correcting signal and steering wheel vibration alarm signal.It is electric boosted
Turn to the direction transmitted by the left radar controller assembly of (EPS) reception, right radar controller assembly and camera controller assembly
After deviation correcting signal and steering wheel vibration alarm signal, direction correcting torque and steering wheel vibration are produced.I.e. using light display report
The mode that police, direction correcting, steering wheel vibration alarm are combined, lane-change collision warning function is effectively improved, reduces lane-change
Risk of collision, realize safe driving.
Brief description of the drawings
Fig. 1 active blind area Fundamentals of Supervisory Systems block diagrams of the present invention；
Fig. 2 is that system is opened and vehicle is in the case where running over journey and opening left steering lamp operating mode, the control logic figure of system；
Fig. 3 is that system is opened and vehicle is in the case where running over journey and opening right turn lamp operating mode, the control logic figure of system；
Fig. 4 is that system is opened and vehicle is in the case where running over journey and being not switched on steering indicating light operating mode, the control logic figure of system；
Wherein, 1, left radar controller assembly, 2, right radar controller assembly, 3, left alarm lamp, 4, right alarm refers to
Show lamp, 5, man-machine interaction mechanism, 6, electric power steering, 7, camera controller assembly, 8, car body controller.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Active blind area monitoring system as shown in Figure 1, including car body controller 8, left radar controller assembly 1, right thunder
Up to control assembly 2, left alarm lamp 3, right alarm lamp 4, camera controller assembly 7 and electric power steering 6.
Left alarm lamp 3 is connected with left radar controller assembly 1, and right alarm lamp 4 is connected with right radar controller assembly 2；Should
Car body controller 8 is connected with left radar controller assembly 1, right radar controller assembly 2 respectively；Left radar controller assembly 1 divides
It is not connected with car body controller 8, camera controller assembly 7, electric power steering 6；Right radar controller assembly 2 respectively with car
Body controller 8, camera controller assembly 7, electric power steering 6 connect；Camera controller assembly 7 respectively with Body Control
Device 8, electric power steering 6 connect.
Left radar controller assembly 1 is arranged on the left of vehicle tail；For detecting left side adjacent lane front vehicle, and lead to
Cross CAN and send outbound course disc vibration alarm signal and left blind zone alert signal, light or dodge by outputs level signals driving
Left alarm lamp 3 is sparkled, realizes light display alarm.The detecting band frequency of left radar controller assembly 1 is 24GHz-
27GHz, or be 76GHz-77GHz.
Right radar controller assembly 2 is arranged on the right side of vehicle tail；For detecting right side adjacent lane front vehicle, and lead to
Cross CAN and send outbound course disc vibration alarm signal and right blind zone alert signal, and lighted by outputs level signals driving
Or the right alarm lamp 4 of flicker, realize light display alarm.The detecting band frequency of right radar controller assembly 2 is 24GHz-
27GHz, or be 76GHz-77GHz.
Car body controller 8 does not open letter for exporting left steering lamp open signal, right turn lamp open signal, steering indicating light
Number.
Camera controller assembly 7 is used for real-time detection and both sides lane line in front of identification traveling lane, and calculates car
Relative to both sides lane line distance, when vehicle deviates traveling lane, by CAN send Lane detection status signal,
The unidentified status signal of lane line, direction correcting signal and steering wheel vibration alarm signal.
Electric power steering 6（EPS) it is used to receive left radar controller assembly 1, right radar controller assembly 2 and camera
The direction correcting signal and steering wheel vibration alarm signal that control assembly 7 is sent, and it is based on direction correcting signal generation side
Alarmed to correction torque, and based on steering wheel vibration alarm signal travel direction disc vibration.
The operation principle of active blind area monitoring system of the present invention：Visited in real time by left radar controller assembly 1
Measuring car left side adjacent lane front vehicle, the vehicle in automatic identification blind area, passes through CAN outbound course disc vibration alarm signals
With left blind zone alert signal, and left alarm lamp 3 is driven to light or flash.Pass through the right real-time detection of radar controller assembly 2
Vehicle right side adjacent lane front vehicle, the vehicle in automatic identification blind area, by CAN outbound course disc vibration alarm signals and
Right blind zone alert signal, and drive right alarm lamp 4 to light or flash.By the real-time detection of camera controller assembly 7 with
Both sides lane line in front of traveling lane is identified, when vehicle deviates traveling lane, passes through CAN outbound courses deviation correcting signal and direction
Disc vibration alarm signal.Electric power steering 6 (EPS) receives left radar controller assembly 1, right radar controller assembly 2 and taken the photograph
After direction correcting signal and steering wheel vibration alarm signal as transmitted by head controller assembly 7, produce direction correcting torque and
Steering wheel vibration.To reduce lane-change risk of collision, safe driving is realized.
As shown in Figures 2 to 4, the specific workflow of active blind area monitoring system of the present invention is as follows, shooting
Head controller assembly 7 is used to identify traveling lane both sides lane line, and according to whether recognizing lane line sends Lane detection
Status signal or the unidentified status signal of lane line, when recognizing lane line, calculate whether vehicle deviates traveling lane.
When the left radar controller assembly 1 receives left steering lamp open signal and Lane detection status signal, and
Detect when vehicle be present in the blind area of left side adjacent lane rear, drive the left flicker of alarm lamp 3 alarm, while export left blind
Area's alarm signal；When the camera controller assembly 7 receives the left blind zone alert signal, and detect vehicle and to the left will
Deviate traveling lane, the camera controller assembly 7 sends direction deviation correcting signal, and electric power steering 6 is entangled based on the direction
The number of believing one side only produces opposing torque, travel direction correction；When camera controller assembly 7 monitors that vehicle continues to be deviated to the left traveling
When on to left-hand lane line, camera controller assembly 7 sends steering wheel vibration alarm signal, and electric power steering 6 is based on should
Steering wheel vibration alarm signal travel direction disc vibration is alarmed；
When the left radar controller assembly 1 receives right turn lamp open signal/non-open signal of steering indicating light and track
Line identification state signal, and detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp 3 to light
Alarm；Left blind zone alert signal is exported simultaneously, after camera controller assembly 7 receives the left blind zone alert signal, and is detected
Traveling lane is will deviate to the left to vehicle, the camera controller assembly 7 sends direction deviation correcting signal, electric power steering
6 produce opposing torque, travel direction correction based on direction deviation correcting signal；Left radar controller assembly 1 receives the direction and entangled
After the number of believing one side only, left alarm lamp 3 is driven to be changed into flicker alarm from lighting alarm；When camera controller assembly 7 monitors car
When continuing to be deviated to the left traveling to left-hand lane line, camera controller assembly 7 sends steering wheel vibration alarm signal, electricity
Dynamic power-assisted steering 6 is alarmed based on direction disc vibration alarm signal travel direction disc vibration；
When the left radar controller assembly 1 receives left steering lamp open signal and the unidentified status signal of lane line,
And detect when vehicle be present in the blind area of left side adjacent lane rear, drive the left flicker of alarm lamp 3 alarm, while left radar
Control assembly 1 sends steering wheel vibration alarm signal, and electric power steering 6 is based on direction disc vibration alarm signal progress side
Alarmed to disc vibration；
When the left radar controller assembly 1 receives right turn lamp open signal/non-open signal of steering indicating light and track
The unidentified status signal of line, and detect when vehicle be present in the blind area of left side adjacent lane rear, drive left 3 points of alarm lamp
Bright alarm；
When the right radar controller assembly 2 receives left steering lamp open signal/non-open signal of steering indicating light and track
Line identification state signal, and detect when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp 4 to light
Alarm；Right blind zone alert signal is exported simultaneously, after camera controller assembly 7 receives the right blind zone alert signal, and is detected
Traveling lane is will deviate to the right to vehicle, the camera controller assembly 7 sends direction deviation correcting signal, electric power steering
6 produce opposing torque, travel direction correction based on direction deviation correcting signal；Right radar controller assembly 2 receives the direction and entangled
After the number of believing one side only, right alarm lamp 4 is driven to be changed into flicker alarm from lighting alarm；When camera controller assembly 7 monitors car
When continuing to be deviated to the right traveling to right-hand lane line, camera controller assembly 7 sends steering wheel vibration alarm signal, electricity
Dynamic power-assisted steering 6 is alarmed based on direction disc vibration alarm signal travel direction disc vibration；
When the right radar controller assembly 2 receives right turn lamp open signal and Lane detection status signal, and
Detect when vehicle be present in the blind area of right side adjacent lane rear, drive the right flicker of alarm lamp 4 alarm, while export right blind
Area's alarm signal；When the camera controller assembly 7 receives the right blind zone alert signal, and detect vehicle and to the right will
Deviate traveling lane, the camera controller assembly 7 sends direction deviation correcting signal, and electric power steering 6 is entangled based on the direction
The number of believing one side only produces opposing torque, travel direction correction；When camera controller assembly 7 monitors that vehicle continues to be deviated to the right traveling
When on to right-hand lane line, camera controller assembly 7 sends steering wheel vibration alarm signal, and electric power steering 6 is based on should
Steering wheel vibration alarm signal travel direction disc vibration is alarmed；
When the right radar controller assembly 2 receives right turn lamp open signal and the unidentified status signal of lane line,
And detect when vehicle be present in the blind area of right side adjacent lane rear, drive the right flicker of alarm lamp 4 alarm, while right radar
Control assembly 2 sends steering wheel vibration alarm signal, and electric power steering 6 is based on direction disc vibration alarm signal progress side
Alarmed to disc vibration；
When the right radar controller assembly 2 receives left steering lamp open signal/non-open signal of steering indicating light and track
The unidentified status signal of line, and detect when vehicle be present in the blind area of right side adjacent lane rear, drive right 4 points of alarm lamp
Bright alarm.
As shown in figure 1, the active blind area monitoring system of the present invention, in addition to man-machine interaction mechanism 5, for providing master
Dynamic formula blind area monitoring system, which opens and closes, to be set, and sends by CAN lines that to open and close signal total to left radar controller
Into 1 and right radar controller assembly 2, the branch of man-machine interaction mechanism 5 and left radar controller assembly 1 and right radar controller are total
Into 2 connections.
The active blind area monitoring method of the present invention, using the active blind area monitoring system of the present invention, including following step
Suddenly：
Car body controller 8 exports left steering lamp open signal, or right turn lamp open signal, or steering indicating light by CAN lines
Non- open signal.
The left real-time detection vehicle left side adjacent lane front vehicle of radar controller assembly 1, and it is left blind by the output of CAN lines
Area's alarm signal and/or steering wheel vibration alarm signal, and the left alarm lamp 3 of driving are alarmed.
The right real-time detection vehicle right side adjacent lane front vehicle of radar controller assembly 2, and it is right blind by the output of CAN lines
Area's alarm signal and/or steering wheel vibration alarm signal, and the right alarm lamp 4 of driving are alarmed.
The real-time detection of camera controller assembly 7 and both sides lane line in front of identification traveling lane, are travelled when vehicle deviates
During track, pass through CAN line outbound course deviation correcting signals and/or steering wheel vibration alarm signal.
It is total that electric power steering 6 receives left radar controller assembly 1, right radar controller assembly 2 and camera controller
Direction correcting is produced into the 7 direction correcting signals sent and/or steering wheel vibration alarm signal, and based on direction correcting signal
Torque, and/or alarmed based on steering wheel vibration alarm signal travel direction disc vibration.
As shown in Figures 2 to 4, the specific control flow of active blind area monitoring method of the present invention is as follows：
A, when opening left steering lamp, car body controller 8 exports left steering lamp open signal by CAN lines, right when opening
During steering indicating light, car body controller 8 exports right turn lamp open signal by CAN lines, when not opening left steering lamp and right turn lamp
When, car body controller 8 sends the non-open signal of steering indicating light by CAN lines.
B, after camera controller assembly 7 receives left steering lamp open signal or right turn lamp open signal, shooting
The real-time detection of head controller assembly 7 and identification traveling lane both sides lane line, when camera controller assembly 7 recognizes lane line
When, then Lane detection status signal is sent by CAN lines, when camera controller assembly 7 is unidentified arrives lane line, then led to
Cross CAN lines and send the unidentified status signal of lane line.
As shown in Fig. 2 system is opened and vehicle is in the case where running over journey and opening left steering lamp operating mode, the control logic of this method
It is as follows；
C, when left radar controller assembly 1 receives left steering lamp open signal and Lane detection status signal, and spy
Measure when vehicle be present in the blind area of left side adjacent lane rear, the left outputs level signals of radar controller assembly 1, drive left alarm
The flicker alarm of indicator lamp 3, while left blind zone alert signal is exported by CAN lines；When camera controller assembly 7 receives the left side
Blind zone alert signal, and detect vehicle and will deviate from traveling lane to the left, camera controller assembly 7 is sent by CAN lines
Direction correcting signal, electric power steering 6 are based on direction deviation correcting signal and produce opposing torque, travel direction correction；Work as shooting
When head controller assembly 7 monitors that vehicle continues to be deviated to the left traveling to left-hand lane line, camera controller assembly 7 passes through
CAN lines send steering wheel vibration alarm signal, and electric power steering 6 is shaken based on direction disc vibration alarm signal travel direction disk
Dynamic alarm.
Right radar controller assembly 2 receives left steering lamp open signal and Lane detection status signal, and detects
When vehicle be present in the blind area of right side adjacent lane rear, the right outputs level signals of radar controller assembly 2, right police instruction is driven
Lamp 4 lights alarm；Right blind zone alert signal is exported by CAN lines simultaneously, camera controller assembly 7 receives the right blind area report
After alert signal, and detect vehicle and will deviate from traveling lane to the right, camera controller assembly 7 sends direction by CAN lines
Deviation correcting signal, electric power steering 6 are based on direction deviation correcting signal and produce opposing torque, travel direction correction；Right radar control
After device assembly 2 receives direction deviation correcting signal, right alarm lamp 4 is driven to be changed into flicker alarm from lighting alarm；Work as shooting
When head controller assembly 7 monitors that vehicle continues to be deviated to the right traveling to right-hand lane line, camera controller assembly 7 passes through
CAN lines send steering wheel vibration alarm signal, and electric power steering 6 is shaken based on direction disc vibration alarm signal travel direction disk
Dynamic alarm.
When left radar controller assembly 1 receives left steering lamp open signal and the unidentified status signal of lane line, and spy
Measure when vehicle be present in the blind area of left side adjacent lane rear, the left outputs level signals of radar controller assembly 1, drive left alarm
The flicker alarm of indicator lamp 3, while left radar controller assembly 1 sends steering wheel vibration alarm signal by CAN lines, it is electronic to help
Power is turned to 6 and alarmed based on direction disc vibration alarm signal travel direction disc vibration.
When right radar controller assembly 2 receives left steering lamp open signal and the unidentified status signal of lane line, and spy
Measure when vehicle be present in the blind area of right side adjacent lane rear, the right outputs level signals of radar controller assembly 2, drive right alarm
Indicator lamp 4 lights alarm.
As shown in figure 3, system is opened and vehicle is in the case where running over journey and opening right turn lamp operating mode, the control logic of this method
It is as follows：
When left radar controller assembly 1 receives right turn lamp open signal and Lane detection status signal, and detection
When vehicle be present in left side adjacent lane rear blind area, the left outputs level signals of radar controller assembly 1, left alarm is driven to refer to
Show that lamp 3 lights alarm；Left blind zone alert signal is exported simultaneously, camera controller assembly 7 receives the left blind zone alert signal
Afterwards, and detect vehicle and will deviate from traveling lane to the left, camera controller assembly 7 sends direction deviation correcting signal, electronic to help
Power turns to 6 and produces opposing torque, travel direction correction based on direction deviation correcting signal；Left radar controller assembly 1 receives this
After direction correcting signal, left alarm lamp 3 is driven to be changed into flicker alarm from lighting alarm；When camera controller assembly 7 is supervised
When measuring vehicle and continuing to be deviated to the left traveling to left-hand lane line, camera controller assembly 7 sends steering wheel vibration alarm
Signal, electric power steering 6 are alarmed based on direction disc vibration alarm signal travel direction disc vibration.
When right radar controller assembly 2 receives right turn lamp open signal and Lane detection status signal, and detection
When vehicle be present in right side adjacent lane rear blind area, the right outputs level signals of radar controller assembly 2, right alarm is driven to refer to
Show the flicker alarm of lamp 4, while right blind zone alert signal is exported by CAN lines；When camera controller assembly 7, to receive the right side blind
Area's alarm signal, and detect vehicle and will deviate from traveling lane to the right, camera controller assembly 7 passes through CAN line senders
To deviation correcting signal, electric power steering 6 is based on direction deviation correcting signal and produces opposing torque, travel direction correction；Work as camera
When control assembly 7 monitors that vehicle continues to be deviated to the right traveling to right-hand lane line, camera controller assembly 7 passes through
CAN lines send steering wheel vibration alarm signal, and electric power steering 6 is shaken based on direction disc vibration alarm signal travel direction disk
Dynamic alarm.
When left radar controller assembly 1 receives right turn lamp open signal and the unidentified status signal of lane line, and spy
Measure when vehicle be present in the blind area of left side adjacent lane rear, the left outputs level signals of radar controller assembly 1, drive left alarm
Indicator lamp 3 lights alarm.
When right radar controller assembly 2 receives right turn lamp open signal and the unidentified status signal of lane line, and spy
Measure when vehicle be present in the blind area of right side adjacent lane rear, the right outputs level signals of radar controller assembly 2, drive right alarm
The flicker alarm of indicator lamp 4, while right radar controller assembly 2 sends steering wheel vibration alarm signal by CAN lines, it is electronic to help
Power is turned to 6 and alarmed based on direction disc vibration alarm signal travel direction disc vibration.
As shown in figure 4, system is opened and vehicle is in the case where running over journey and being not switched on steering indicating light operating mode, the control logic of this method
It is as follows：
When left radar controller assembly 1 receives the non-open signal of steering indicating light and Lane detection status signal, and detection
When vehicle be present in left side adjacent lane rear blind area, the left outputs level signals of radar controller assembly 1, left alarm is driven to refer to
Show that lamp 3 lights alarm；And left blind zone alert signal is exported by CAN lines, camera controller assembly 7 receives the left blind area report
After alert signal, and when detecting vehicle and will deviate from traveling lane to the left, camera controller assembly 7, which sends direction correcting, to be believed
Number, electric power steering 6 is based on direction deviation correcting signal and produces opposing torque, travel direction correction；Left radar controller assembly 1
After receiving direction deviation correcting signal, left alarm lamp 3 is driven to be changed into flicker alarm from lighting alarm；When vehicle continues to the left
When deviateing traveling to left-hand lane line, the outbound course disc vibration alarm signal of camera controller assembly 7, electric power steering
6 are alarmed based on direction disc vibration alarm signal travel direction disc vibration.
Right radar controller assembly 2 receives the non-open signal of steering indicating light and Lane detection status signal, and detects
When vehicle be present in the blind area of right side adjacent lane rear, the right outputs level signals of radar controller assembly 2, right police instruction is driven
Lamp 4 lights alarm；And right blind zone alert signal is exported by CAN lines, camera controller assembly 7 receives the right blind zone alert
After signal, and when detecting vehicle and will deviate from traveling lane to the right, camera controller assembly 7 sends direction by CAN lines
Deviation correcting signal, electric power steering 6 are based on direction deviation correcting signal and produce opposing torque, travel direction correction；Right radar control
After device assembly 2 receives direction deviation correcting signal, right alarm lamp 4 is driven to be changed into flicker alarm from lighting alarm；Work as vehicle
When continuing to be deviated to the right traveling to right-hand lane line, camera controller assembly 7 is alarmed by CAN line outbound courses disc vibration
Signal, electric power steering 6 are alarmed based on direction disc vibration alarm signal travel direction disc vibration.
Left radar controller assembly 1 receives the non-open signal of steering indicating light and the unidentified status signal of lane line, and detects
When vehicle be present in left side adjacent lane rear blind area, the left outputs level signals of radar controller assembly 1, left alarm is driven to refer to
Show that lamp 3 lights alarm.
Right radar controller assembly 2 receives the non-open signal of steering indicating light and the unidentified status signal of lane line, and detects
When vehicle be present in right side adjacent lane rear blind area, the right outputs level signals of radar controller assembly 2, right alarm is driven to refer to
Show that lamp 4 lights alarm.
Further, in step c：
Traveling lane, and vehicle and left-hand lane line are will deviate to the left when camera controller assembly 7 detects vehicle
Distance when being less than D rice, camera controller assembly 7 sends direction deviation correcting signal by CAN lines.When camera controller assembly
7, which detect vehicle, will deviate to the right traveling lane, and when the distance of vehicle and right-hand lane line is less than D rice, camera controls
Device assembly 7 sends direction deviation correcting signal by CAN lines.D is 0m~0.5m, i.e. D may be set to any value in 0-0.5 regions.
Claims (9)
1. a kind of active blind area monitoring system, including car body controller（8）, left radar controller assembly（1）, right radar control
Device assembly（2）, left alarm lamp（3）With right alarm lamp（4）, left alarm lamp（3）With left radar controller assembly
（1）Connection, right alarm lamp（4）With right radar controller assembly（2）Connection；Left radar controller assembly（1）For detecting
Left side adjacent lane front vehicle, and drive left alarm lamp（3）Alarm；Right radar controller assembly（2）For detecting the right side
Side adjacent lane front vehicle, and drive right alarm lamp（4）Alarm；The car body controller（8）For exporting left steering
Lamp open signal, right turn lamp open signal, the non-open signal of steering indicating light, the car body controller（8）Respectively with left radar control
Device assembly（1）, right radar controller assembly（2）Connection；It is characterized in that：Also include camera controller assembly（7）With it is electronic
Power-assisted steering（6）；The left radar controller assembly（1）Respectively with car body controller（8）, camera controller assembly（7）, electricity
Dynamic power-assisted steering（6）Connection；The right radar controller assembly（2）Respectively with car body controller（8）, camera controller assembly
（7）, electric power steering（6）Connection；The camera controller assembly（7）Respectively with car body controller（8）, electric boosted turn
To（6）Connection；
The left radar controller assembly（1）It is additionally operable to outbound course disc vibration alarm signal and left blind zone alert signal；
The right radar controller assembly（2）It is additionally operable to outbound course disc vibration alarm signal and right blind zone alert signal；
The camera controller assembly（7）For real-time detection and both sides lane line in front of identification traveling lane, when vehicle is inclined
During from traveling lane, outbound course deviation correcting signal and steering wheel vibration alarm signal；
The electric power steering（6）For receiving the left radar controller assembly（1）, right radar controller assembly（2）With
Camera controller assembly（7）The direction correcting signal and steering wheel vibration alarm signal sent, and entangled based on the direction
The number of believing one side only produces direction correcting torque, and is alarmed based on steering wheel vibration alarm signal travel direction disc vibration.
2. active blind area monitoring system according to claim 1, it is characterised in that：The camera controller assembly
（7）For identifying traveling lane both sides lane line, and according to whether recognize lane line send Lane detection status signal or
The unidentified status signal of lane line, when recognizing lane line, calculate whether vehicle deviates traveling lane；
When the left radar controller assembly（1）Left steering lamp open signal and Lane detection status signal are received, and is visited
Measure when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp（3）Flicker alarm, while export left blind
Area's alarm signal；When the camera controller assembly（7）The left blind zone alert signal is received, and detects vehicle to the left i.e.
It will deviate from traveling lane, the camera controller assembly（7）Send direction deviation correcting signal, electric power steering（6）Based on this
Direction correcting signal produces opposing torque, travel direction correction；When camera controller assembly（7）Monitor that vehicle continues to the left
When deviateing traveling to left-hand lane line, camera controller assembly（7）Send steering wheel vibration alarm signal, electric boosted turn
To（6）Alarmed based on direction disc vibration alarm signal travel direction disc vibration；
When the left radar controller assembly（1）Receive right turn lamp open signal/non-open signal of steering indicating light and lane line
Identification state signal, and detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp（3）Light
Alarm；Export left blind zone alert signal, camera controller assembly simultaneously（7）After receiving the left blind zone alert signal, and visit
Measure vehicle and will deviate from traveling lane, the camera controller assembly to the left（7）Direction deviation correcting signal is sent, it is electric boosted
Turn to（6）Opposing torque, travel direction correction are produced based on direction deviation correcting signal；Left radar controller assembly（1）Receive
After direction deviation correcting signal, left alarm lamp is driven（3）It is changed into flicker alarm from lighting alarm；When camera controller assembly
（7）When monitoring that vehicle continues to be deviated to the left traveling to left-hand lane line, camera controller assembly（7）Steering wheel is sent to shake
Dynamic alarm signal, electric power steering（6）Alarmed based on direction disc vibration alarm signal travel direction disc vibration；
When the left radar controller assembly（1）Left steering lamp open signal and the unidentified status signal of lane line are received, and
Detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp（3）Flicker alarm, while left radar
Control assembly（1）Send steering wheel vibration alarm signal, electric power steering（6）Entered based on direction disc vibration alarm signal
Line direction disc vibration is alarmed；
When the left radar controller assembly（1）Receive right turn lamp open signal/non-open signal of steering indicating light and lane line
Unidentified status signal, and detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp（3）Point
Bright alarm；
When the right radar controller assembly（2）Receive left steering lamp open signal/non-open signal of steering indicating light and lane line
Identification state signal, and detect when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp（4）Light
Alarm；Export right blind zone alert signal, camera controller assembly simultaneously（7）After receiving the right blind zone alert signal, and visit
Measure vehicle and will deviate from traveling lane, the camera controller assembly to the right（7）Direction deviation correcting signal is sent, it is electric boosted
Turn to（6）Opposing torque, travel direction correction are produced based on direction deviation correcting signal；Right radar controller assembly（2）Receive
After direction deviation correcting signal, right alarm lamp is driven（4）It is changed into flicker alarm from lighting alarm；When camera controller assembly
（7）When monitoring that vehicle continues to be deviated to the right traveling to right-hand lane line, camera controller assembly（7）Steering wheel is sent to shake
Dynamic alarm signal, electric power steering（6）Alarmed based on direction disc vibration alarm signal travel direction disc vibration；
When the right radar controller assembly（2）Right turn lamp open signal and Lane detection status signal are received, and is visited
Measure when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp（4）Flicker alarm, while export right blind
Area's alarm signal；When the camera controller assembly（7）The right blind zone alert signal is received, and detects vehicle to the right i.e.
It will deviate from traveling lane, the camera controller assembly（7）Send direction deviation correcting signal, electric power steering（6）Based on this
Direction correcting signal produces opposing torque, travel direction correction；When camera controller assembly（7）Monitor that vehicle continues to the right
When deviateing traveling to right-hand lane line, camera controller assembly（7）Send steering wheel vibration alarm signal, electric boosted turn
To（6）Alarmed based on direction disc vibration alarm signal travel direction disc vibration；
When the right radar controller assembly（2）Right turn lamp open signal and the unidentified status signal of lane line are received, and
Detect when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp（4）Flicker alarm, while right radar
Control assembly（2）Send steering wheel vibration alarm signal, electric power steering（6）Entered based on direction disc vibration alarm signal
Line direction disc vibration is alarmed；
When the right radar controller assembly（2）Receive left steering lamp open signal/non-open signal of steering indicating light and lane line
Unidentified status signal, and detect when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp（4）Point
Bright alarm.
3. active blind area monitoring system according to claim 1 or 2, it is characterised in that：Also include man-machine interaction mechanism
（5）, open and close for providing active blind area monitoring system and set, and sent by CAN lines open and close signal to
Left radar controller assembly（1）With right radar controller assembly（2）, the man-machine interaction mechanism（5）Branch and left radar controller
Assembly（1）With right radar controller assembly（2）Connection.
4. active blind area monitoring system according to claim 1 or 2, it is characterised in that：The left radar controller is total
Into（1）On the left of vehicle tail；The right radar controller assembly（2）On the right side of vehicle tail.
5. active blind area monitoring system according to claim 1 or 2, it is characterised in that：The left radar controller is total
Into（1）, right radar controller assembly（2）Detecting band frequency be 24GHz-27GHz, or be 76GHz-77GHz.
A kind of 6. active blind area monitoring method, it is characterised in that：Using active blind as described in claim 1 to 5 is any
Area's monitoring system, comprises the following steps：
The car body controller（8）Left steering lamp open signal, or right turn lamp open signal are exported, or steering indicating light does not open letter
Number；
The left radar controller assembly（1）Real-time detection vehicle left side adjacent lane front vehicle, and export left blind zone alert
Signal and/or steering wheel vibration alarm signal, and the left alarm lamp of driving（3）Alarm；
The right radar controller assembly（2）Real-time detection vehicle right side adjacent lane front vehicle, and export right blind zone alert
Signal and/or steering wheel vibration alarm signal, and the right alarm lamp of driving（4）Alarm；
The camera controller assembly（7）Real-time detection and both sides lane line in front of identification traveling lane, go when vehicle deviates
When sailing track, outbound course deviation correcting signal and/or steering wheel vibration alarm signal；
The electric power steering（6）Receive the left radar controller assembly（1）, right radar controller assembly（2）And shooting
Head controller assembly（7）The direction correcting signal and/or steering wheel vibration alarm signal sent, and it is based on the direction correcting
Signal produces direction correcting torque, and/or is alarmed based on steering wheel vibration alarm signal travel direction disc vibration.
7. active blind area monitoring method according to claim 6, it is characterised in that：
A, when opening left steering lamp, the car body controller（8）Left steering lamp open signal is exported, when unlatching right turn lamp
When, the car body controller（8）Export right turn lamp open signal, when not opening left steering lamp and right turn lamp, vehicle body control
Device processed（8）Send the non-open signal of steering indicating light；
B, when the camera controller assembly（7）Receive left steering lamp open signal or right turn the lamp open signal
Afterwards, the camera controller assembly（7）Real-time detection and identification traveling lane both sides lane line, when camera controller assembly
（7）When recognizing lane line, then Lane detection status signal is sent, when camera controller assembly（7）It is unidentified to arrive track
During line, then the unidentified status signal of lane line is sent；
C, when the left radar controller assembly（1）Left steering lamp open signal and Lane detection status signal are received, and
Detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp（3）Flicker alarm, while export a left side
Blind zone alert signal；When the camera controller assembly（7）The left blind zone alert signal is received, and detects vehicle to the left
It will deviate from traveling lane, the camera controller assembly（7）Send direction deviation correcting signal, electric power steering（6）It is based on
Direction deviation correcting signal produces opposing torque, travel direction correction；When camera controller assembly（7）Monitor vehicle continue to
When left avertence is from traveling to left-hand lane line, camera controller assembly（7）Steering wheel vibration alarm signal is sent, it is electric boosted
Turn to（6）Alarmed based on direction disc vibration alarm signal travel direction disc vibration；
When the left radar controller assembly（1）Receive right turn lamp open signal/non-open signal of steering indicating light and lane line
Identification state signal, and detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp（3）Light
Alarm；Export left blind zone alert signal, camera controller assembly simultaneously（7）After receiving the left blind zone alert signal, and visit
Measure vehicle and will deviate from traveling lane, the camera controller assembly to the left（7）Direction deviation correcting signal is sent, it is electric boosted
Turn to（6）Opposing torque, travel direction correction are produced based on direction deviation correcting signal；Left radar controller assembly（1）Receive
After direction deviation correcting signal, left alarm lamp is driven（3）It is changed into flicker alarm from lighting alarm；When camera controller assembly
（7）When monitoring that vehicle continues to be deviated to the left traveling to left-hand lane line, camera controller assembly（7）Steering wheel is sent to shake
Dynamic alarm signal, electric power steering（6）Alarmed based on direction disc vibration alarm signal travel direction disc vibration；
When the left radar controller assembly（1）Left steering lamp open signal and the unidentified status signal of lane line are received, and
Detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp（3）Flicker alarm, while left radar
Control assembly（1）Send steering wheel vibration alarm signal, electric power steering（6）Entered based on direction disc vibration alarm signal
Line direction disc vibration is alarmed；
When the left radar controller assembly（1）Receive right turn lamp open signal/non-open signal of steering indicating light and lane line
Unidentified status signal, and detect when vehicle be present in the blind area of left side adjacent lane rear, drive left alarm lamp（3）Point
Bright alarm；
When the right radar controller assembly（2）Receive left steering lamp open signal/non-open signal of steering indicating light and lane line
Identification state signal, and detect when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp（4）Light
Alarm；Export right blind zone alert signal, camera controller assembly simultaneously（7）After receiving the right blind zone alert signal, and visit
Measure vehicle and will deviate from traveling lane, the camera controller assembly to the right（7）Direction deviation correcting signal is sent, it is electric boosted
Turn to（6）Opposing torque, travel direction correction are produced based on direction deviation correcting signal；Right radar controller assembly（2）Receive
After direction deviation correcting signal, right alarm lamp is driven（4）It is changed into flicker alarm from lighting alarm；When camera controller assembly
（7）When monitoring that vehicle continues to be deviated to the right traveling to right-hand lane line, camera controller assembly（7）Steering wheel is sent to shake
Dynamic alarm signal, electric power steering（6）Alarmed based on direction disc vibration alarm signal travel direction disc vibration；
When the right radar controller assembly（2）Right turn lamp open signal and Lane detection status signal are received, and is visited
Measure when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp（4）Flicker alarm, while export right blind
Area's alarm signal；When the camera controller assembly（7）The right blind zone alert signal is received, and detects vehicle to the right i.e.
It will deviate from traveling lane, the camera controller assembly（7）Send direction deviation correcting signal, electric power steering（6）Based on this
Direction correcting signal produces opposing torque, travel direction correction；When camera controller assembly（7）Monitor that vehicle continues to the right
When deviateing traveling to right-hand lane line, camera controller assembly（7）Send steering wheel vibration alarm signal, electric boosted turn
To（6）Alarmed based on direction disc vibration alarm signal travel direction disc vibration；
When the right radar controller assembly（2）Right turn lamp open signal and the unidentified status signal of lane line are received, and
Detect when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp（4）Flicker alarm, while right radar
Control assembly（2）Send steering wheel vibration alarm signal, electric power steering（6）Entered based on direction disc vibration alarm signal
Line direction disc vibration is alarmed；
When the right radar controller assembly（2）Receive left steering lamp open signal/non-open signal of steering indicating light and lane line
Unidentified status signal, and detect when vehicle be present in the blind area of right side adjacent lane rear, drive right alarm lamp（4）Point
Bright alarm.
8. active blind area monitoring method according to claim 7, it is characterised in that：In the step c：
When the camera controller assembly（7）Detect vehicle and will deviate from traveling lane, and vehicle and left-hand lane to the left
When the distance of line is less than D rice, the camera controller assembly（7）Send direction deviation correcting signal；
When the camera controller assembly（7）Detect vehicle and will deviate from traveling lane, and vehicle and right-hand lane to the right
When the distance of line is less than D rice, the camera controller assembly（7）Send direction deviation correcting signal.
9. active blind area monitoring method according to claim 8, it is characterised in that：The D is 0m~0.5m.
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| CN105480229B (en) * | 2015-11-24 | 2018-01-16 | 大连楼兰科技股份有限公司 | A kind of intelligent lane change householder method based on information fusion |
| CN105438183B (en) * | 2015-12-21 | 2018-01-16 | 江苏大学 | A kind of recognition methods of the radical driving condition of driver |
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2016
- 2016-04-28 CN CN201610280432.1A patent/CN105857315B/en active Active
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