CN110654309A - Vehicle side obstacle detection and warning method and vehicle side obstacle detection and warning system - Google Patents
Vehicle side obstacle detection and warning method and vehicle side obstacle detection and warning system Download PDFInfo
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- CN110654309A CN110654309A CN201810694732.3A CN201810694732A CN110654309A CN 110654309 A CN110654309 A CN 110654309A CN 201810694732 A CN201810694732 A CN 201810694732A CN 110654309 A CN110654309 A CN 110654309A
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Abstract
The invention provides a vehicle side obstacle detection and warning method and a vehicle side obstacle detection and warning system. The method for detecting and warning the obstacle on the side of the vehicle comprises a measuring step, a sensor mounting step, a sensing area adjusting step and a sensing and warning step. In the measuring step, measuring data of the mobile carrier, and obtaining a maximum inner wheel difference area between a front wheel and a rear wheel of the mobile carrier according to the data, wherein the maximum inner wheel difference area has an outer boundary; in the sensor installation step, a plurality of sensors are installed according to the maximum inner wheel difference area; in the step of adjusting the sensing area, the sensing distance or the installation angle of the sensor is adjusted to form the sensing area, the sensing area is provided with a sensing boundary, and the sensing boundary covers the outer boundary; in the sensing and warning step, when the obstacle in the sensing area is detected by the sensor, the warning module sends warning information. Thereby effectively sensing the vehicle-side obstacle.
Description
Technical Field
The present invention relates to a detection and warning method and a detection and warning system, and more particularly, to a detection and warning method and a detection and warning system for a vehicle-side obstacle.
Background
The vehicle has front wheels and rear wheels, and when the vehicle turns, an inner wheel difference is generated due to the difference of the radiuses of the front wheels and the rear wheels. The larger the vehicle and the longer the wheel base between the front and rear wheels, the larger the range of the inner wheel difference.
In recent years, many accidents have been caused by misjudging the distance of the difference between the inner wheels by pedestrians, bicycles, motorcycles, or the like, and the dead angle of the line of sight of the difference between the inner wheels during driving. In order to reduce traffic accidents and improve driving safety, manufacturers have developed an inner wheel difference warning method, which is characterized in that a lighting unit is arranged on a vehicle, and an inner wheel difference area is projected on a road surface through the lighting unit to warn pedestrians.
In view of this, how to effectively develop a vehicle-side obstacle detection and warning method capable of effectively reminding a driver of driving is an object of efforts of related manufacturers.
Disclosure of Invention
The invention provides a vehicle side obstacle detection and warning method and a vehicle side obstacle detection and warning system, which can detect obstacles in a sensing area through the installation and adjustment of a sensor, and can warn driving so as to effectively remind driving.
According to an aspect of the present invention, a method for detecting and warning a vehicle-side obstacle is provided, which is applied to a mobile vehicle and includes a measuring step, a sensor mounting step, a sensing area adjusting step, and a sensing and warning step. Measuring data of the mobile carrier in the measuring step, and obtaining a maximum inner wheel difference area between a front wheel and a rear wheel of the mobile carrier according to the data, wherein the maximum inner wheel difference area is provided with an outer boundary; in the sensor mounting step, a plurality of sensors are mounted between the front wheel and the rear wheel according to the maximum inner wheel difference area; in the sensing area adjusting step, adjusting a sensing distance or a mounting angle of at least one sensor to form a sensing area, wherein the sensing area is provided with a sensing boundary which is far away from the mobile carrier than the outer boundary; in the step of sensing and warning, when an obstacle in the sensing area is detected by any sensor, a warning module arranged on the mobile carrier sends out warning information.
Therefore, the data of the moving carrier can be obtained through the measuring step to obtain the maximum inner wheel difference area, the sensor is adjusted in the sensing area adjusting step to form a sensing area capable of detecting the outer boundary of the maximum inner wheel difference area, and warning information is sent out to warn driving when an obstacle is detected in the sensing area, so that the brake can be driven or corresponding measures can be taken to avoid danger.
According to the embodiments of the method for detecting and warning the obstacle on the vehicle side, in the step of adjusting the sensing area, the installation angle of at least one sensor can be adjusted according to a dead zone of a door distance of the mobile carrier. Or in the sensing and warning step, the sensing area can be divided into a first section and a second section, and the warning information of the obstacle in the first section is different from the warning information of the obstacle in the second section.
According to the embodiments of the method for detecting and warning the obstacle on the vehicle side, in the step of detecting and warning, when a direction light of the mobile vehicle is operated, a processing module installed on the mobile vehicle can receive a signal sent by the sensor, so as to selectively enable the warning module to send warning information. Or a minimum sensing distance b is arranged between the sensing boundary and the mobile carrier, a maximum sensing distance Y is arranged between the sensing boundary and the sensor closest to the front wheel, an installation distance e is arranged between the sensor closest to the front wheel and the front wheel, an axle distance X is arranged between the rear wheel and the front wheel, the sensing boundary is in a straight line and has a slope a which accords with a relation of (Y-b)/(X-e), and a farthest point of the outer boundary is positioned on the sensing boundary or positioned in the sensing boundary.
Another embodiment according to an aspect of the present invention provides a vehicle-side obstacle detection and warning method for a mobile vehicle, including a measuring step, a sensor mounting step, a sensing area adjusting step, and a sensing and warning step. Measuring data of the mobile carrier in the measuring step, and obtaining a maximum inner wheel difference area between a front wheel and a rear wheel of the mobile carrier according to the data, wherein the maximum inner wheel difference area is provided with an outer boundary; in the sensor mounting step, a plurality of sensors are mounted between the front wheel and the rear wheel according to the maximum inner wheel difference area; in the sensing area adjusting step, adjusting a sensing distance or a mounting angle of at least one sensor to form a sensing area, wherein the sensing area is provided with a sensing boundary which is far away from the mobile carrier than the outer boundary; in the sensing and warning step, the sensing area is divided to form a warning area, the warning area is provided with a warning boundary, the warning boundary is close to the outer boundary, and when an obstacle in the warning area is detected by any one of the sensors, a warning module arranged on the mobile carrier sends out warning information.
According to the embodiments of the method for detecting and warning an obstacle on a vehicle side, a minimum sensing distance b is provided between the warning boundary and the mobile carrier, a maximum sensing distance Y is provided between the warning boundary and the sensor closest to the front wheel, an installation distance e is provided between the sensor closest to the front wheel and the front wheel, an axle distance X is provided between the rear wheel and the front wheel, the warning boundary is linear and has a slope a according to a relation of (Y-b)/(X-e), and a farthest point of the outer boundary is located on the warning boundary or within the warning boundary.
According to the embodiments of the method for detecting and warning the obstacle on the vehicle side, a minimum sensing distance b is provided between the warning boundary and the mobile vehicle, a maximum inner wheel difference distance M is provided between a farthest point of the outer boundary and the mobile vehicle, a vertical distance p is provided between the farthest point and a wheel axle line of the rear wheel, and the warning boundary is a straight line and has a slope a which meets a-M-b)/(p) relation.
According to another aspect of the present invention, a vehicle-side obstacle detecting and warning system for a mobile vehicle is provided, wherein a maximum inner wheel differential area is formed between a front wheel and a rear wheel of the mobile vehicle, the vehicle-side obstacle detecting and warning system comprises a plurality of sensors, a processing module and a warning module, the sensors are disposed between the front wheel and the rear wheel of the mobile vehicle, a sensing distance or a mounting angle of at least one sensor is different from sensing distances or mounting angles of other sensors, the sensors form a sensing area, and the sensing area has a sensing boundary, and the sensing boundary is farther away from the mobile vehicle than an outer boundary of the maximum inner wheel differential area; the processing module is connected with the sensor through signals to receive signals of the sensor; the warning module is electrically connected to the processing module; when an obstacle in the sensing area is detected by any one of the sensors, the processing module enables the warning module to send out warning information.
According to the embodiments of the vehicle-side obstacle detection warning system, the sensing area may include a warning area having a warning boundary, the warning boundary is close to the outer boundary, and when an obstacle in the warning area is detected by any one of the sensors, the processing module enables the warning module to send out warning information. Or in two sensors at two sides of a door closest to the moving vehicle, the installation angle of at least one sensor can be different from the installation angles of other sensors.
According to the embodiments of the vehicle-side obstacle detection warning system, when the directional light of the mobile carrier is turned on, the processing module may receive the signal sent by the sensor, so as to selectively enable the warning module to send warning information. Or a minimum sensing distance b is arranged between the sensing boundary and the mobile carrier, a maximum sensing distance Y is arranged between the sensing boundary and the sensor closest to the front wheel, an installation distance e is arranged between the sensor closest to the front wheel and the front wheel, an axle distance X is arranged between the rear wheel and the front wheel, the sensing boundary is in a straight line and has a slope a which accords with a relation of (Y-b)/(X-e), and a farthest point of the outer boundary is positioned on the sensing boundary or positioned in the sensing boundary.
Drawings
FIG. 1 is a flowchart illustrating steps of a method for detecting and warning a vehicle-side obstacle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a measurement procedure of the vehicle side obstacle detection and warning method of FIG. 1;
FIG. 3 is a schematic diagram illustrating a sensor mounting step of the method for detecting and warning an obstacle on a vehicle side of FIG. 1;
FIG. 4 is a schematic diagram illustrating a sensing area adjustment step of the method for detecting and warning an obstacle on a vehicle side shown in FIG. 1;
FIG. 5 is a schematic view of a sensing area of the method for detecting and warning an obstacle on a vehicle side shown in FIG. 1;
FIG. 6 is a schematic view of a sensing area of a method for detecting and warning an obstacle on a vehicle according to another embodiment of the invention; and
fig. 7 is a schematic diagram illustrating a vehicle-side obstacle detection and warning system according to another embodiment of the invention.
Detailed Description
Embodiments of the present invention will be described below with reference to the accompanying drawings. For the purpose of clarity, numerous implementation details are set forth in the following description. However, the reader should understand that these implementation details should not be used to limit the invention. That is, in some embodiments of the invention, these implementation details are not necessary. In addition, for the sake of simplicity, some conventional structures and elements are shown in the drawings in a simple schematic manner; and repeated elements will likely be referred to using the same reference number or similar reference numbers.
In addition, when an element (or a mechanism or a module, etc.) is "connected," "disposed" or "coupled" to another element, it can be directly connected, disposed or coupled to the other element, or it can be indirectly connected, disposed or coupled to the other element, that is, there are other elements between the element and the other element. When an element is explicitly connected, directly disposed, or directly coupled to another element, it is intended that no other element is interposed between the element and the other element. The terms first, second, third, etc. are used merely to describe various elements or components, but the elements/components themselves are not limited, so that the first element/component can be also referred to as the second element/component. And the combination of elements/components/mechanisms/modules herein is not a commonly known, conventional or known combination in the art, and cannot be readily determined by one of ordinary skill in the art based on whether the elements/components/mechanisms/modules are known per se.
Referring to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, wherein fig. 1 is a flowchart illustrating a step of a method 100 for detecting and warning a vehicle-side obstacle according to an embodiment of the present invention, fig. 2 is a schematic diagram illustrating a measuring step 110 of the method 100 for detecting and warning a vehicle-side obstacle of fig. 1, fig. 3 is a schematic diagram illustrating a sensor installing step 120 of the method 100 for detecting and warning a vehicle-side obstacle of fig. 1, fig. 4 is a schematic diagram illustrating a step 130 of adjusting a sensing area of the method 100 for detecting and warning a vehicle-side obstacle of fig. 1, and fig. 5 is a schematic diagram illustrating a sensing area S1 of the method 100 for detecting and warning a vehicle-side obstacle of fig. 1. The vehicle-side obstacle detection warning method 100 is applied to a mobile vehicle V1 and includes a measuring step 110, a sensor mounting step 120, a sensing area adjusting step 130, and a sensing warning step 140.
In the measurement step 110, a data of the mobile vehicle V1 is measured, and a maximum inner wheel difference region Z1 between a front wheel WH1 and a rear wheel WH2 of the mobile vehicle V1 is obtained according to the data, wherein the maximum inner wheel difference region Z1 has an outer boundary (i.e. an arc between the wheel center k and the farthest point c of the rear wheel WH2 in fig. 2).
In the sensor mounting step 120, a plurality of sensors U1, U2, U3, U4, U5 are mounted between the front wheel WH1 and the rear wheel WH2 according to the maximum inner wheel differential area Z1.
In the sensing region adjusting step 130, a sensing distance or a mounting angle of at least one sensor U1-U5 is adjusted to form a sensing region S1, the sensing region S1 has a sensing boundary L1, and the sensing boundary L1 is farther from the mobile carrier V1 than the outer boundary.
In the sensing alarm step 140, when an obstacle C1 in the sensing area S1 is detected by any one of the sensors U1 to U5, an alarm module installed on the mobile vehicle V1 sends out an alarm message.
Therefore, the invention can install the sensors U1-U5 according to the data of each mobile vehicle V1, form a proper sensing area S1, and confirm whether an obstacle C1 exists in the sensing area S1 through the sensors U1-U5 so as to carry out active warning and effectively improve the driving safety. The details of the vehicle-side obstacle detection warning method 100 will be described in more detail later.
In the measuring step 110, an axial distance X between the front wheel WH1 and the rear wheel WH2 of the mobile carrier V1 is measured, as shown in fig. 2, where the axial distance X is a distance between the center s of the front wheel WH1 and the center k of the rear wheel WH2, a maximum rotation angle θ of the mobile carrier V1 at the front wheel WH1 is measured, a radius R1 of a circle R1 of the front wheel WH1 (i.e., a distance between the center s and the center o) is calculated according to the formula (1), a radius R2 of a circle R2 of the rear wheel WH2 (i.e., a distance between the farthest point c and the center o) is calculated according to the formula (2), and finally, a difference between the farthest point c and the virtual point c 'of the triangle formed by the center s, the center k and the center o (i.e., a distance between the farthest point c and the virtual point k' of the inner wheel k of the mobile carrier V685) and a maximum distance between the center M685 k of the outer boundary V2 is calculated according to the formula (3), wherein the maximum rotation angle theta is between about 40 degrees and 45 degrees. In the embodiment of fig. 2, the wheelbase X may be 5.85 meters and the maximum rotational angle θ may be 43 degrees.
r1＝X/sinθ (1)。
r2＝X/tanθ (2)。
X＝r2(r1-r2)/r1＝(r1-r2)(r2/r1) (3)。
As shown in FIG. 3, in the sensor mounting step 120, a plurality of sensors U1-U5 can be mounted. For example, sensor U1 is 0.9 meters away from the center s of front wheel WH1, sensor U2 is 1 meter away from sensor U1, sensor U3 is 1 meter away from sensor U2, sensor U5 is 0.9 meters away from the center k of rear wheel WH2, and sensor U4 is 1 meter away from sensor U5. In other embodiments, the number and position of the sensors can be adjusted based on the wheel base, and the sensors can be ultrasonic sensors or millimeter-wave radar.
As shown in fig. 4, in the sensing region adjusting step 130, the installation angle of at least one of the sensors U1 to U5 may be adjusted according to a dead zone D1 of the mobile vehicle V1. That is, in the two sensors U3 and U4 closest to both sides of a door (not labeled) of the mobile vehicle V1, the installation angle of at least one sensor U3 and U4 may be different from the installation angles of the other sensors U1, U2 and U5.
Therefore, in fig. 4, the field coverage range emitted by the sensors U3 and U4 can be inclined toward the door, so that the problem that the sensor cannot be installed in the door distance blind area D1 can be solved.
In addition, since the maximum inner wheel difference zone Z1 is approximately triangular, in order to more accurately reflect whether an obstacle C1 appears in the maximum inner wheel difference zone Z1, the sensing distance of at least one sensor U1-U5 can be adjusted, as shown in fig. 4, the sensing distance of the sensor U5 is adjusted to 1.5 meters, the sensor distance of the sensor U4 is adjusted to 1.7 meters, and the sensor distances of the sensors U1, U2 and U3 are adjusted to 2 meters, so as to change the sensing range of the sensing zone S1.
Preferably, the sensing distance or the mounting angle of at least one sensor U1-U5 can be adjusted to match the shape of the maximum inner wheel difference zone Z1, such that a minimum sensing distance b exists between the sensing boundary L1 and the moving vehicle V1, a maximum sensing distance Y exists between the sensing boundary L1 and the sensor U1 closest to the front wheel WH1, a mounting distance e exists between the sensor U1 closest to the front wheel WH1 and the front wheel WH1, an axle distance X exists between the rear wheel WH2 and the front wheel WH1, the sensing boundary L1 is linear and has a slope a according to a relation of (Y-b)/(X-e), and a farthest point c of the outer boundary is located on the sensing boundary L1 or within the sensing boundary L1.
In other words, the sensing boundary L1 can be made to conform to a linear equation where y is the width-direction distance of a vehicle body of the mobile vehicle V1, x is the length-direction distance of the vehicle body, and the wheel center k of the rear wheel WH2 is the origin, and when the maximum inner wheel difference distance M is substituted into y, the linear equation can be preferably conformed. As shown in fig. 5, the required sensing distance of each of the sensors U1 to U5 can be obtained by substituting a linear equation into the distance between the sensors U1 to U5 and the wheel center k, i.e., the sensors U1 to U5 can be adjusted to make the sensing boundary L1 an oblique line, so that the sensing region S1 becomes a triangular region covering the maximum inner wheel difference region Z1, and the farthest point c is located on the sensing boundary L1. The area covered by the vehicle body extending outwards to the minimum sensing distance b is a sensing blind area.
For example, the minimum sensing distance b between the sensing boundary L1 and the vehicle body may be 0.2M, the maximum sensing distance Y between the sensing boundary L1 and the sensor U1 closest to the front wheel WH1 may be 2M, the mounting distance e between the sensor U1 closest to the front wheel WH1 and the wheel center s of the front wheel WH1 is 0.9M, the axle base X is 5.85M, and thus the slope a is 0.364, so the sensing boundary L1 conforms to a linear equation of Y equal to 0.364X +0.2, since the maximum inner wheel difference distance M is 1.7M, and a perpendicular distance p (i.e., the distance between the farthest point c and the virtual point c' in fig. 2) between the axes of the wheel centers k of the rear wheels WH2 is 4.28M (equal to the product of θ and r 2), the Y obtained after substituting 4.28 into X is 1.76, which is greater than 1.7, and thus the farthest point L c may be located in the sensing boundary 1. In this case, since the range of the sensing region S1 is reduced, the sensing and warning operation speed can be increased.
In addition, the warning module may be set to issue a warning only when the vehicle speed of the mobile vehicle V1 is less than 20 km per hour, but not limited thereto. In other embodiments, the sensing boundary may be a parabola or other curve to better conform to the shape of the maximum inner wheel difference region.
In another embodiment, the sensing boundary may also be calculated by the maximum inner wheel difference distance M. In detail, the sensing boundary has a minimum sensing distance b with the mobile carrier, a maximum inner wheel difference distance M between a farthest point c of the outer boundary and the mobile carrier, a vertical distance p between the farthest point c and an axis of a wheel center of the rear wheel, and the sensing boundary is a straight line and has a slope a which is in accordance with a relation of (M-b)/p. By substituting the above values, a is 0.35, and the sensing boundary is matched with a linear equation of y being 0.35x +0.2, so that the maximum sensing distance of the sensor U1 is 1.93 meters.
In addition, in the sensing and warning step 140, the sensing area S1 is divided into a first section S11 and a second section S12, the warning information of the obstacle C1 in the first section S11 is different from the warning information of the obstacle C1 in the second section S12, for example, when the obstacle C1 is in the first section S11, a continuous and rapid whistle warning driving can be issued, and when the obstacle C1 is in the second section S12, a single whistle warning driving can be issued. In the embodiment of fig. 5, the first section S11 may be within 50 cm of the body closest to the mobile vehicle V1, but in other embodiments, the disclosure is not limited thereto.
In the step 140 of sensing the warning, when a turn signal (not shown) of the mobile vehicle V1 is operated, the processing module mounted on the mobile vehicle V1 receives signals from the sensors U1-U5, so as to selectively enable the warning module to send out warning information. In other words, when the turn signal is operated, it represents that the mobile vehicle V1 is about to turn, so the processing module can send a trigger signal to start the detection by the sensors U1-U5, and the processing module receives the signals sent by the sensors U1-U5 to determine whether there is an obstacle C1 in the sensing area S1, and then determine whether to notify the warning module to warn.
In addition, a sensor U6 may be installed between the front wheels WH1 of the mobile vehicle V1 and the head of the mobile vehicle V1 to form a second sensing area S2, which can determine whether the obstacle C1 is located in the second sensing area S2 when the mobile vehicle V1 turns. It should be noted that the shape of the second sensing region S2 in the drawings is only an example, and the shape is actually sensor-dependent. It should be noted that in other embodiments, the mobile vehicle V1 may be equipped with a sensor, such as: the mobile carrier V1 is equipped with only one sensor U6 and no sensors U1 to U5, which can also realize the detection and alarm of the obstacle C1.
Referring to fig. 6, fig. 6 is a schematic view illustrating a sensing area S1 of a method for detecting and warning a vehicle-side obstacle according to another embodiment of the invention. As shown in fig. 6, the sensing area S1 can be divided into a warning area W1, and when an obstacle C1 in the warning area W1 is detected by any of the sensors, the warning module will send out warning information. In this case, only the installation angle of at least one sensor may be adjusted without adjusting the sensing distance of the sensor, so that the range of the sensing region S1 is larger. When the warning area W1 is divided, the warning area W1 may have a warning boundary L2, a minimum sensing distance b is provided between the warning boundary L2 and the vehicle body, a maximum sensing distance Y is provided between the warning boundary L2 and the sensor closest to the front wheel, the sensor closest to the front wheel has a mounting distance e from the front wheel, an axle distance X (shown in fig. 2) is provided between the rear wheel and the front wheel, and the warning boundary L2 is a straight line and has a slope a according to a relation of (Y-b)/(X-e).
Therefore, when the obstacle C1 or the obstacle C2 is detected, the processing module installed on the mobile vehicle V1 and in signal connection with the warning module and the sensor makes a determination. For example, when the obstacle C1 is detected, since the obstacle C1 is located in the warning area W1, the processing module will notify the warning module to send warning information for warning; on the contrary, when the obstacle C2 is detected, the processing module does not notify the warning module to send out the warning information because the obstacle C2 is not in the warning area W1 although it is in the sensing area S1.
In other embodiments, the maximum inner wheel difference distance M may be used to calculate the warning boundary. In detail, the warning boundary has a minimum sensing distance b with the mobile vehicle, a maximum inner wheel difference distance M between a farthest point c of the outer boundary and the mobile vehicle, a vertical distance p between the farthest point c and an axis of a wheel center of the rear wheel, and the warning boundary is a straight line and has a slope a which is in accordance with a relation of (M-b)/p.
That is, the sensing distance of the sensor can be adjusted when the sensing area is formed to form a sensing range better conforming to the maximum inner wheel difference area, or the sensing area can be subdivided into warning areas better conforming to the maximum inner wheel difference area by a rear-end processing method.
Referring to fig. 7 and fig. 2 to 6, fig. 7 is a schematic diagram illustrating an architecture of a vehicle-side obstacle detecting and warning system 200 according to another embodiment of the present invention, in which the vehicle-side obstacle detecting and warning system 200 includes a plurality of sensors U1-U5, a processing module 210 and a warning module 220, the sensors U1-U5 are disposed between a front wheel WH1 and a rear wheel WH2 of a mobile vehicle V1, a sensing distance or a mounting angle of at least one of the sensors U1-U5 is different from those of the other sensors U1-U5, the sensors U1-U5 form a sensing area S1, and the sensing area S1 has a sensing boundary L1, and the sensing boundary L1 is farther from a vehicle body of the mobile vehicle V1 than an outer boundary of a maximum inner wheel difference area Z1; the processing module 210 is in signal connection with the sensors U1-U5 to receive signals of the sensors U1-U5; the alarm module 220 is electrically connected to the processing module 210; when an obstacle C1 in the sensing area S1 is detected by any one of the sensors U1 to U5, the processing module 210 causes the warning module 220 to send a warning message.
Among the two sensors U3, U4 on both sides of a door closest to the mobile vehicle V1, the mounting angle of at least one sensor U3, U4 may be different from the mounting angles of the other sensors U1, U2, U5. The sensing region S1 can be obtained by adjusting the sensing distance of at least one sensor U1-U5 such that the sensing boundary L1 is a straight line and has a slope a corresponding to the relationship of a-Y-b/X.
Alternatively, the sensing area S1 may include a warning area W1, the warning area W1 has a warning boundary L2, the warning boundary L2 is close to the outer boundary, and when the obstacle C1 in the warning area W1 is detected by any of the sensors U1 to U5, the processing module 210 causes the warning module 220 to send warning information.
In addition, when the turn signal of the mobile vehicle V1 is turned on, the processing module 210 can receive signals from the sensors U1-U5. When the processing module 210 determines that the obstacle C1 is located in the sensing area S1, the warning module 220 is forced to send warning information; on the contrary, when the processing module 210 determines that no obstacle C1 is located in the sensing region S1, the warning module 220 does not operate. In other words, the processing module 210 can selectively enable the warning module 220 to send warning information according to the signals sent by the sensors U1-U5.
In addition, a sensor U6 is also mounted between the front wheels WH1 of the mobile vehicle V1 and the head of the mobile vehicle V1, so that a second sensing area S2 can be formed, which can confirm whether the obstacle C1 is located in the second sensing area S2 when the mobile vehicle V1 turns. It should be noted that in other embodiments, a sensor may be separately mounted on the mobile vehicle V1, for example: the mobile carrier V1 is equipped with only one sensor U6 and no sensors U1 to U5, which can also realize the detection and alarm of the obstacle C1.
Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention.
Claims (13)
1. A vehicle-side obstacle detection and warning method is used for a mobile carrier, and is characterized by comprising the following steps:
a measuring step, measuring data of the mobile carrier, and obtaining a maximum inner wheel difference area between a front wheel and a rear wheel of the mobile carrier according to the data, wherein the maximum inner wheel difference area has an outer boundary;
a sensor mounting step, mounting a plurality of sensors between the front wheel and the rear wheel according to the maximum inner wheel differential area;
a sensing area adjusting step, adjusting a sensing distance or an installation angle of at least one sensor to form a sensing area, wherein the sensing area is provided with a sensing boundary, and the sensing boundary is far away from the mobile carrier compared with the outer boundary; and
and a sensing and warning step, wherein when an obstacle in the sensing area is detected by any one of the sensors, a warning module arranged on the mobile carrier sends out warning information.
2. The method as claimed in claim 1, wherein in the step of adjusting the sensing area, the installation angle of at least one sensor is adjusted according to a dead zone of a door distance of the mobile vehicle.
3. The method as claimed in claim 1, wherein in the step of sensing and warning, the sensing area is divided into a first section and a second section, and the warning information of the obstacle in the first section is different from the warning information of the obstacle in the second section.
4. The method as claimed in claim 1, wherein in the step of detecting and warning, when a directional light of the mobile vehicle is operated, a processing module installed on the mobile vehicle receives signals from the sensors, so as to selectively enable the warning module to send the warning message.
5. The method as claimed in claim 1, wherein a minimum sensing distance b is provided between the sensing boundary and the mobile carrier, a maximum sensing distance Y is provided between the sensing boundary and the sensor closest to the front wheel, a mounting distance e is provided between the sensor closest to the front wheel and the front wheel, an axle distance X is provided between the rear wheel and the front wheel, the sensing boundary is a straight line and has a slope a that satisfies a relation of (Y-b)/(X-e), and a farthest point of the outer boundary is located on the sensing boundary or within the sensing boundary.
6. A vehicle-side obstacle detection and warning method is used for a mobile carrier, and is characterized by comprising the following steps:
a measuring step, measuring data of the mobile carrier, and obtaining a maximum inner wheel difference area between a front wheel and a rear wheel of the mobile carrier according to the data, wherein the maximum inner wheel difference area has an outer boundary;
a sensor mounting step, mounting a plurality of sensors between the front wheel and the rear wheel according to the maximum inner wheel differential area;
a sensing area adjusting step, adjusting a sensing distance or an installation angle of at least one sensor to form a sensing area, wherein the sensing area is provided with a sensing boundary, and the sensing boundary is far away from the mobile carrier compared with the outer boundary; and
and a sensing and warning step, wherein the sensing area is divided to form a warning area, the warning area is provided with a warning boundary, the warning boundary is close to the outer boundary, and when an obstacle in the warning area is detected by any one of the sensors, a warning module arranged on the mobile carrier sends out warning information.
7. The method as claimed in claim 6, wherein a minimum sensing distance b is provided between the warning boundary and the mobile carrier, a maximum sensing distance Y is provided between the warning boundary and the sensor closest to the front wheel, a mounting distance e is provided between the sensor closest to the front wheel and the front wheel, an axle distance X is provided between the rear wheel and the front wheel, the warning boundary is a straight line and has a slope a that satisfies a relation of (Y-b)/(X-e), and a farthest point of the outer boundary is located on the warning boundary or within the warning boundary.
8. The method as claimed in claim 6, wherein a minimum sensing distance b is provided between the warning boundary and the mobile vehicle, a maximum inner wheel difference distance M is provided between a farthest point of the outer boundary and the mobile vehicle, a vertical distance p is provided between the farthest point and the wheel axle of the rear wheel, and the warning boundary is a straight line and has a slope a that meets a (M-b)/(p) relationship.
9. A vehicle side obstacle detecting and warning system for a mobile vehicle having a maximum inner wheel difference area between a front wheel and a rear wheel, the vehicle side obstacle detecting and warning system comprising:
a plurality of sensors disposed between the front wheel and the rear wheel of the mobile carrier, wherein a sensing distance or a mounting angle of at least one sensor is different from the sensing distance or the mounting angle of other sensors, the plurality of sensors form a sensing area, and the sensing area has a sensing boundary which is farther away from the mobile carrier than an outer boundary of the maximum inner wheel difference area;
the processing module is in signal connection with the sensors and is used for receiving signals of the sensors; and
the warning module is electrically connected to the processing module;
when an obstacle in the sensing area is detected by any one of the sensors, the processing module enables the warning module to send out warning information.
10. The system of claim 9, wherein the sensing area comprises a warning area having a warning boundary proximate to the outer boundary, and the processing module enables the warning module to send the warning message when the obstacle in the warning area is detected by any of the sensors.
11. The system of claim 9, wherein the sensing boundary has a minimum sensing distance b with the mobile carrier, the sensing boundary has a maximum sensing distance Y with the sensor closest to the front wheel, the sensor closest to the front wheel has a mounting distance e with the front wheel, the rear wheel has an axial distance X with the front wheel, the sensing boundary is a straight line and has a slope a that satisfies a-Y-b)/(X-e), and a farthest point of the outer boundary is located on or within the sensing boundary.
12. The system of claim 9, wherein when a directional light of the mobile vehicle is activated, the processing module receives signals from the sensors to selectively enable the warning module to send the warning message.
13. The system of claim 9, wherein the mounting angle of at least one of the sensors is different from the mounting angles of the other sensors among the two sensors closest to the two sides of a door of the mobile vehicle.
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| CN201810694732.3A CN110654309A (en) | 2018-06-29 | 2018-06-29 | Vehicle side obstacle detection and warning method and vehicle side obstacle detection and warning system |
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