CN111439198B - Turning early warning method and system for large vehicle - Google Patents
Turning early warning method and system for large vehicle Download PDFInfo
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- CN111439198B CN111439198B CN202010218569.0A CN202010218569A CN111439198B CN 111439198 B CN111439198 B CN 111439198B CN 202010218569 A CN202010218569 A CN 202010218569A CN 111439198 B CN111439198 B CN 111439198B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
Abstract
The invention relates to a turning early warning method and a turning early warning system for a large vehicle. After obtaining this range, body control module BCM uses the indicator light strip to identify the road width range that will occupy on the ground. And starting the radar combined module to detect the obstacle on the inner side of the steering and determine the position, and if the obstacle exists in the road width range to be occupied, the BCM sends a prompt tone to remind a driver of paying attention to avoidance. The invention can clearly mark the road surface which the large vehicle is going to pass through, and effectively remind surrounding vehicles and pedestrians to avoid.
Description
Technical Field
The invention belongs to the field of large vehicle turning early warning systems, and particularly relates to a large vehicle turning early warning method and system.
Background
When a large vehicle turns, the tracks of the front and rear wheels are different, and the rear wheel does not run along the track of the front wheel, so that deviation is generated, and the deviation is called inner wheel difference. The greater the length of the vehicle, the greater the resulting inside wheel differential. In the case of a truck accident, the accident caused by the difference between the inner wheels accounts for a large proportion. When a truck turns, if a pedestrian or a vehicle on the turned side is close in distance, the accident that the front part of the truck body is not collided and the rear part of the truck body is collided easily occurs, and the middle rear part of the truck body is positioned in a vision blind area of a driver, so that the driver cannot timely deal with the emergency, and the serious traffic accident is caused.
With the continuous development of sensors and single chip microcomputer control technologies, non-contact detection technologies have been widely applied to a plurality of fields. The radar ranging has the advantages of all-weather work, short-distance and high-precision ranging in severe environments, and is easily interfered by electromagnetic waves. The laser ranging has the advantages of high directivity, high monochromaticity, high brightness, high measuring speed and the like, particularly has certain penetration capacity to rain fog, and strong anti-interference capability, but has high cost and complex data processing. The ultrasonic ranging can directly measure a short-distance target, has high longitudinal resolution, wide application range and strong directivity, is not influenced by factors such as light, smoke, electromagnetic interference and the like, and has the advantages of large coverage and the like.
In China, no early warning system aiming at the characteristic of the difference of the inner wheels during steering exists, and no system for prompting and early warning surrounding vehicles and pedestrians actively exists.
Disclosure of Invention
Aiming at the existing problems, the invention provides a large-scale vehicle turning early warning method and a large-scale vehicle turning early warning system, which are used for realizing road width light identification occupation when a large-scale vehicle turns and sound warning for a large-scale vehicle driver when an obstacle exists on a turning road width of the large-scale vehicle.
In order to realize the purpose, the specific technical scheme of the invention is as follows: a turning early warning method for a large vehicle comprises the following steps:
1) The driver turns on the steering lamp, and the electronic control unit ECU turns on the large vehicle turning early warning system;
2) Determining a driver driving intention and an indication lamp belt opening mode, namely acquiring a steering angle of a steering wheel and GPS positioning information by an Electronic Control Unit (ECU) through a Controller Area Network (CAN) bus, judging the driver driving intention, and determining the indication lamp belt opening mode; wherein the driver driving intention comprises two types of lane changing and turning; the indicating lamp belt opening mode comprises a left opening mode and a right opening mode;
3) Constructing a road width range calculation model based on linear two-degree-of-freedom; the road width range calculation model based on the linear two-degree-of-freedom comprises the following steps: centroid slip angle beta, included angle epsilon between front wheel speed direction and longitudinal direction, and rear wheel slip angle alpha 2 And a turning inside rear wheel turning radius R;
4) Determining the road width range to be occupied by the vehicle, namely determining a curve triangular area formed by an arc taking R as a radius and taking a steering center O as a circle center and an extension line of an inner vehicle body and a front axial inner side as the road width range to be occupied by the vehicle;
5) The method comprises the following steps that a light module is utilized to illuminate a road width range to be occupied by a vehicle, namely an electronic control module (ECU) calculates the angle of a first row of indicator lamps used for tracing the boundary of the road width range and sends angle data to a vehicle Body Control Module (BCM), the vehicle Body Control Module (BCM) controls a lamp belt to trace the boundary of the road width range, and the rest indicator lamps fill the remaining road width occupied area;
6) Judging whether an obstacle exists on the turning inner side of the vehicle, if so, turning to the step 7), otherwise, turning to the step 8), wherein the method for judging whether the obstacle exists on the turning inner side of the vehicle comprises the following steps: detecting an obstacle on the inner side of the steering by using a radar combined module, and if an ultrasonic sensor receives an echo, indicating that the obstacle exists on the inner side of the steering;
7) Judging whether the obstacle is in a road width range to be occupied by the vehicle, if so, sending an instruction to a body control module BCM by an electronic control unit ECU (electronic control Unit), controlling an audio generator to send a prompt tone, warning a driver to avoid, and turning to the step 2), otherwise, turning to the step 8);
8) Detecting whether the steering lamp is turned off, if not, turning to the step 2), otherwise, turning to the step 9);
9) And closing the turn early warning system of the large vehicle.
Further, in step 1), the turn warning system for large vehicles includes: the system comprises a GPS positioning module, a radar combined module, a six-axis sensor, a steering wheel corner sensor, an Electronic Control Unit (ECU), a vehicle Body Control Module (BCM), a light module, an audio generator, a CAN bus and a vehicle speed sensor; the electronic control unit ECU is used for acquiring signals of the GPS positioning module, the six-axis sensor and the steering wheel corner sensor through the CAN bus, determining the driving intention of a driver, calculating the road width range occupied by the vehicle to finish the current action, reading the information of the radar combined module from the CAN bus, and judging whether an obstacle exists in the occupied road width range; the body control module BCM is used for reading the on-off state of a turn signal control system from a light module, communicating with an electronic control unit ECU through a CAN bus, acquiring an occupied road width range, controlling the light module to mark a range on a road surface by using a side indicating lamp belt, acquiring a judgment result of whether an obstacle exists in the occupied range, and determining whether to control an audio generator to remind a driver; the radar combined module consists of an ultrasonic sensor and is used for acquiring data, judging whether an obstacle is detected or not and calculating the coordinate of the obstacle relative to the large-sized vehicle.
Further, in the step 2), the method for determining the intention of the driver may include: when the vehicle is in a straight lane and the steering wheel has a small turning angle, judging that the driver intends to change lanes, otherwise, judging that the driver intends to turn; the method for determining the starting mode of the indicator light band comprises the following steps: when the intention of a driver is steering, determining an indicator light band starting mode according to the starting direction of a steering lamp, wherein the indicator light band starting mode is a left-side starting mode when the driver turns left, and the indicator light band starting mode is a right-side starting mode when the driver turns right; when the intention of a driver is lane changing, the starting mode of the indicator light band is determined through the positive and negative of the steering wheel corner angle, when the steering wheel corner angle is positive, the starting mode of the indicator light band is a left side starting mode, and otherwise, the starting mode is a right side starting mode.
Further, in the step 3), the centroid slip angle β parameter calculation formula is as follows:
wherein u is a longitudinal speed component of the automobile, v is a transverse speed component of the automobile, and the u is obtained through a speed sensor and a six-axis sensor; the calculation formula of the parameter of the included angle epsilon between the speed direction of the front wheel and the longitudinal direction is as follows:
wherein w r The yaw angular velocity of the automobile is obtained through a six-axis sensor, and a is the longitudinal distance from a front axis to the mass center of the automobile; the rear wheel side slip angle alpha 2 The parameter calculation formula is as follows:
wherein b is the longitudinal distance from the rear axle to the center of mass of the automobile; the calculation formula of the turning radius R of the rear wheel at the inner side of the steering wheel is as follows:
wherein L is the vehicle wheel base.
Further, in step 5), the calculation formula of the first row of indicator light angles is as follows:
wherein, theta n The angle of the first row of indicating lamps, N is the serial number of the first row of indicating lamps, N is the total number of the first row of indicating lamps on one side minus one, and I n For the distance from the road width range to the vehicle, h light To indicate the height of the light above the ground.
Compared with the prior art, the method can warn surrounding pedestrians and vehicles to pay attention to the turning of the large-scale vehicle, and solves the problem that nearby pedestrians and vehicles cannot avoid due to misjudgment of the turning coverage range of the large-scale truck; the driver can be reminded when an obstacle appears in the blind area on the inner side of the turning, and accidents caused by the fact that the information of the blind area of the turning field of the large-sized vehicle is lost are reduced.
Drawings
FIG. 1 is a logic diagram of a turn warning system for a large vehicle according to the present invention.
FIG. 2 is a flow chart of a large vehicle early warning method according to the present invention.
Fig. 3 is a calculation model of occupied road width range.
Fig. 4 is a schematic diagram of occupied road width.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments, it should be noted that the technical solutions and design principles of the present invention are described in detail below only with one optimized technical solution, but the scope of the present invention is not limited thereto.
The large vehicle turning early warning system shown in fig. 1 includes a GPS positioning Module, a radar combination Module, a six-axis sensor, a steering wheel angle sensor, an Electronic Control Unit ECU (Electronic Control Unit), a Body Control Module BCM (Body Control Module), a light Module, an audio generator, a CAN bus, and a vehicle speed sensor; the electronic control unit ECU is used for acquiring signals of the GPS positioning module, the six-axis sensor and the steering wheel corner sensor through the CAN bus, determining a system working mode (turning or lane changing) and calculating a road width range occupied by the vehicle to finish the current action, and is also used for reading information of the radar combined module from the CAN bus and judging whether obstacles (pedestrians and vehicles) exist in the occupied road width range; the vehicle body control module BCM is used for reading the on-off state of a turn signal control system from a light module, communicating with an electronic control unit ECU through a CAN bus, acquiring an occupied road width range, controlling the light module to use a side indicating lamp to mark a range on a road surface, acquiring a judgment result of whether an obstacle exists in the occupied range, and determining whether to control an audio generator to remind a driver; the radar combined module comprises a plurality of ultrasonic sensors (3-5 on one side, determined according to the length of the vehicle body) on two sides of the vehicle body, the ultrasonic sensors are the same in ground clearance, the distribution distance of each side is equal, the radar combined module is controlled by a time-sharing multiplexing method, namely, one ultrasonic sensor runs the other ultrasonic sensor after running, mutual interference is avoided, the farthest measuring range of the ultrasonic sensors is set to be about three meters and distributed in a conical manner, and most range of the vehicle side can be simultaneously covered by the detection ranges of the two ultrasonic sensors. The radar combination module is used for controlling the ultrasonic sensors to work in sequence, integrating data collected by the ultrasonic sensors, determining whether the obstacles are detected or not, and calculating coordinates of the obstacles relative to the large-sized vehicle.
As shown in fig. 2, the control method of the large vehicle turning early warning system includes:
1) When a driver turns on a steering lamp, an Electronic Control Unit (ECU) starts a large-scale vehicle turning early warning system;
2) Determining a driver driving intention and an indication lamp belt opening mode, namely acquiring a steering angle of a steering wheel and GPS positioning information by an Electronic Control Unit (ECU) through a Controller Area Network (CAN) bus, judging the driver driving intention, and determining the indication lamp belt opening mode; the driving intention of the driver comprises lane changing and turning; the indicating lamp belt opening mode comprises a left opening mode and a right opening mode; the method for judging the intention of the driver comprises the following steps: when the vehicle is in a straight lane and the steering wheel has a small rotation angle, judging that the intention of the driver is lane change, otherwise, judging that the intention of the driver is steering; the method for determining the starting mode of the indicator light band comprises the following steps: when the intention of a driver is steering, determining the starting mode of the indicator light band according to the starting direction of the steering lamp, wherein the starting mode is a left-side starting mode when the driver turns left, and the starting mode is a right-side starting mode when the driver turns right; when the driver intends to change lanes, determining the starting mode of the indicator light band according to the positive and negative of the steering wheel corner angle, when the steering wheel corner angle is positive, the starting mode of the indicator light band is a left-side starting mode, otherwise, the starting mode is a right-side starting mode;
3) Constructing a road width range calculation model based on linear two-degree-of-freedom; as shown in fig. 3, the road width range calculation model based on linear two degrees of freedom includes: centroid slip angle beta, included angle e between front wheel speed direction and longitudinal direction, and rear wheel slip angle alpha 2 And turning radius R parameter of the rear wheel at the inner side of the steering wheel; the calculation method of each parameter is as follows:
the centroid slip angle beta parameter calculation formula is as follows:
wherein u is a longitudinal speed component of the automobile, v is a transverse speed component of the automobile, and the u is obtained through a speed sensor and a six-axis sensor;
the parameter calculation formula of the included angle epsilon between the speed direction of the front wheel and the longitudinal direction is as follows:
wherein w r The yaw angular velocity of the automobile is obtained through a six-axis sensor, and a is the longitudinal distance from a front axis to the mass center of the automobile;
side slip angle alpha of rear wheel 2 The parameter calculation formula is as follows:
wherein b is the longitudinal distance from the rear axle to the center of mass of the automobile;
the parameter calculation formula of the turning radius R of the rear wheel at the inner side of the steering wheel is as follows:
wherein L is the wheelbase of the automobile, and x is the longitudinal distance from the steering center to the rear axle of the automobile;
4) Determining the road width range to be occupied by the vehicle, namely determining a curve triangular area formed by an arc taking R as a radius and taking a steering center O as a circle center and an extension line of an inner vehicle body and a front axial inner side as the road width range to be occupied by the vehicle; as shown in fig. 3, the triangular curve PQM region is the road width range to be occupied by the vehicle.
5) The method comprises the steps that a light module is utilized to illuminate a road width range to be occupied by a vehicle, namely an electronic control module (ECU) calculates the angle of a first row of indicator lamps used for tracing the boundary of the road width range, angle data of the indicator lamps are sent to a vehicle Body Control Module (BCM), the vehicle Body Control Module (BCM) controls lamp belts to trace the boundary of the road width range, and the remaining road width area occupied by the indicator lamps is filled. The calculation formula of the angle of the first row of indicator lamps is as follows:
wherein, theta n The angle of the first row of indicating lamps, N is the serial number of the first row of indicating lamps, N is the total number of the first row of indicating lamps on one side minus one, and l n For the distance from the road width range to the vehicle, h light The height of the light above the ground is indicated.
6) Judging whether the turning inner side of the vehicle has an obstacle, if so, turning to the step 7), otherwise, turning to the step 8), wherein the method for judging whether the obstacle exists comprises the following steps: the radar combination module is used for detecting the obstacle on the inner turning side, and if the ultrasonic sensor receives the echo, the obstacle is shown on the inner turning side.
7) Judging whether the barrier is in a road width range to be occupied by the vehicle, if so, sending an instruction to a vehicle body control module BCM by an electronic control unit ECU (electronic control Unit), controlling an audio generator to send a prompt tone, warning a driver to avoid, turning to the step 2), and otherwise, turning to the step 8), wherein the judging method comprises the following steps: every ultrasonic sensor who gathers the echo in the radar composite module all records detection time, calculates the distance with the barrier separately, and the radar composite module combines the instantaneous position coordinate of the distance calculation barrier relative to oversize vehicle that a plurality of ultrasonic sensor obtained to upload to the CAN bus. And the electronic control unit ECU acquires the coordinates of the obstacles through the CAN bus, compares the coordinates with the road width range to be occupied by the vehicle, and judges whether the detected obstacles are in the road width occupied range. And establishing a coordinate axis, taking the rear wheel on the inner side of the steering wheel as an origin, taking the longitudinal direction of the automobile as an x axis, pointing to the advancing direction, and pointing to the inner side of the steering wheel by taking a y axis vertical to the automobile body. The calculation formula of the vertical coordinate Y of the obstacle is as follows:
wherein D is k The distance measured by the ultrasonic sensor is k, the serial number of the sensor is K, B is the interval between two continuous sensors, and M is the sum of the ultrasonic sensors on one side minus one; the abscissa X is calculated as:
8) Detecting whether the steering lamp is turned off, if not, turning to the step 2), otherwise, turning to the step 9);
9) And closing the turn early warning system of the large vehicle.
As shown in fig. 4, the left drawing is the road width occupied during turning, and as the steering angle increases, remains unchanged, and decreases, the road width occupied area per cycle also increases, remains unchanged, and decreases, and finally a shadow portion in the left drawing, that is, an area swept by the indicator light strip, will be formed; the right part occupies road width when changing lanes, the lane changing process can be divided into three parts of turning, straight going and reverse turning, the turning angle can be increased from 0 and then reduced to 0, and then the turning angle is increased reversely and then reduced to 0, so that a shaded part in a right image is formed.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the design concept of the present invention shall fall within the protection scope of the present invention.
Claims (5)
1. A turning early warning method for a large vehicle is characterized by comprising the following steps:
1) The driver turns on the steering lamp, and the electronic control unit ECU turns on the large vehicle turning early warning system;
2) Determining a driver driving intention and an indication lamp belt opening mode, namely acquiring a steering angle of a steering wheel and GPS positioning information by an Electronic Control Unit (ECU) through a Controller Area Network (CAN) bus, judging the driver driving intention, and determining the indication lamp belt opening mode; wherein the driver driving intention comprises two types of lane changing and turning; the indicating lamp belt opening mode comprises a left opening mode and a right opening mode;
3) Constructing a road width range calculation model based on linear two-degree-of-freedom; the road width range calculation model based on the linear two-degree-of-freedom comprises the following steps: centroid slip angle beta, included angle epsilon between front wheel speed direction and longitudinal direction, and rear wheel slip angle alpha 2 And a turning inside rear wheel turning radius R;
4) Determining the road width range to be occupied by the vehicle, namely determining a curve triangular area formed by an arc taking R as the radius and taking a steering center O as the circle center and extension lines of the inner vehicle body and the front axial inner side as the road width range to be occupied by the vehicle;
5) Illuminating a road width range to be occupied by a vehicle by using a light module, namely calculating the angle of a first row of indicator lamps for tracing the boundary of the road width range by using an electronic control module (ECU), sending angle data to a Body Control Module (BCM), controlling the lamp to trace the boundary of the road width range by the Body Control Module (BCM), and filling the remaining road width occupied area by using the rest indicator lamps;
6) Judging whether an obstacle exists on the turning inner side of the vehicle, if so, turning to the step 7), otherwise, turning to the step 8), wherein the method for judging whether the obstacle exists on the turning inner side of the vehicle comprises the following steps: detecting an obstacle on the inner side of the steering by using a radar combined module, and if an ultrasonic sensor receives an echo, indicating that the obstacle exists on the inner side of the steering;
7) Judging whether the obstacle is in a road width range to be occupied by the vehicle, if so, sending an instruction to a vehicle body control module BCM by an electronic control unit ECU (electronic control Unit), controlling an audio generator to send a prompt tone, warning a driver to avoid, and turning to the step 2), otherwise, turning to the step 8);
8) Detecting whether the steering lamp is turned off, if not, turning to the step 2), otherwise, turning to the step 9);
9) Closing the turn early warning system of the large vehicle;
in the step 7), the method for judging whether the obstacle is in the road width range to be occupied by the vehicle comprises the following steps: each ultrasonic sensor which acquires echoes in the radar combination module records detection time, calculates the distance between each ultrasonic sensor and a barrier, calculates the instantaneous position coordinate of the barrier relative to a large vehicle by combining the distances obtained by the plurality of ultrasonic sensors in the radar combination module, and uploads the instantaneous position coordinate to a CAN bus; the electronic control unit ECU acquires coordinates of the obstacles through the CAN bus, compares the coordinates with a road width range to be occupied by the vehicle, and judges whether the detected obstacles are in the road width range to be occupied or not;
the obstacle ordinate Y is calculated as follows:
wherein D is k Is the distance measured by the ultrasonic sensor, k is the serial number of the sensor, B is the connectionThe interval between two sensors is continued, M is the total number of the ultrasonic sensors on one side minus one;
the calculation formula of the horizontal coordinate X of the obstacle is as follows:
2. the large vehicle turning warning method according to claim 1, wherein in the step 2), the method of determining the driver's intention is: when the vehicle is in a straight lane and the steering wheel has a small rotation angle, judging that the intention of the driver is lane change, otherwise, judging that the intention of the driver is steering; the method for determining the starting mode of the indicator light band comprises the following steps: when the intention of a driver is steering, determining an indicator light band starting mode according to the starting direction of a steering lamp, wherein the indicator light band starting mode is a left-side starting mode when the driver turns left, and the indicator light band starting mode is a right-side starting mode when the driver turns right; when the intention of a driver is lane changing, the starting mode of the indicator light band is determined through the positive and negative of the steering wheel corner angle, when the steering wheel corner angle is positive, the starting mode of the indicator light band is a left side starting mode, and otherwise, the starting mode is a right side starting mode.
3. The large vehicle turning warning method according to claim 1, wherein in the step 3), the centroid slip angle β parameter is calculated as follows:
wherein u is the longitudinal speed component of the automobile, v is the transverse speed component of the automobile, and the transverse speed component is obtained by a speed sensor and a six-axis sensor; the calculation formula of the parameter of the included angle epsilon between the speed direction of the front wheel and the longitudinal direction is as follows:
wherein w r The yaw angular velocity of the automobile is obtained through a six-axis sensor, and a is the longitudinal distance from a front shaft to the mass center of the automobile; side slip angle alpha of the rear wheel 2 The parameter calculation formula is as follows:
wherein b is the longitudinal distance from the rear axle to the center of mass of the automobile; the calculation formula of the turning radius R parameter of the rear wheel at the inner side of the steering wheel is as follows:
wherein L is the wheelbase of the automobile.
4. The large vehicle turning warning method according to claim 1, wherein in the step 5), the angle calculation formula of the first row of indicator lamps which delineate the boundary of the road width range is as follows:
wherein, theta n For the angle of the first row of indicating lamps, N is the serial number of the first row of indicating lamps, N is the total number of the first row of indicating lamps on one side minus one, and l n For the distance from the road width range to the vehicle, h light The height of the light above the ground is indicated.
5. The large-scale vehicle turning early warning method according to claim 1, wherein the method is implemented based on a vehicle turning early warning system comprising: the system comprises a GPS positioning module, a radar combined module, a six-axis sensor, a steering wheel corner sensor, an Electronic Control Unit (ECU), a vehicle Body Control Module (BCM), a light module, an audio generator, a CAN bus and a vehicle speed sensor; the electronic control unit ECU is used for acquiring signals of the GPS positioning module, the six-axis sensor and the steering wheel corner sensor through the CAN bus, determining the driving intention of a driver, calculating the road width range occupied by the vehicle to finish the current action, reading the information of the radar combined module from the CAN bus, and judging whether an obstacle exists in the occupied road width range; the body control module BCM is used for reading the on-off state of a turn signal control system from a light module, communicating with an electronic control unit ECU through a CAN bus, acquiring an occupied road width range, controlling the light module to mark a range on a road surface by using a side indicating lamp belt, acquiring a judgment result of whether an obstacle exists in the occupied range, and determining whether to control an audio generator to remind a driver; the radar combined module consists of an ultrasonic sensor and is used for acquiring data, judging whether an obstacle is detected or not and calculating the coordinate of the obstacle relative to the large-sized vehicle.
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| CN112092728A (en) * | 2020-09-10 | 2020-12-18 | 重庆长安汽车股份有限公司 | Reversing prompting system and method |
| CN113401051A (en) * | 2021-06-15 | 2021-09-17 | 东风柳州汽车有限公司 | Vehicle turning alarm method, device and system |
| TWI797997B (en) * | 2022-02-21 | 2023-04-01 | 輝創電子股份有限公司 | Warning method and system for vehicle turning |
| CN114426061B (en) * | 2022-02-23 | 2023-05-02 | 中国第一汽车股份有限公司 | Vehicle, rear wheel steering control method and device thereof, and computer readable storage medium |
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| JP3608432B2 (en) * | 1999-05-26 | 2005-01-12 | 松下電工株式会社 | Obstacle monitoring device for vehicles |
| CN103144572B (en) * | 2013-02-25 | 2015-08-19 | 胡佳玮 | A kind of caution system of turn inside diameter blind area |
| CN205523922U (en) * | 2016-01-29 | 2016-08-31 | 大连楼兰科技股份有限公司 | Intelligence turns to intention system of warning |
| CN107054206A (en) * | 2016-12-31 | 2017-08-18 | 肇庆高新区黑阳科技有限公司 | A kind of turning blind area alarming device based on angle of turn detection module |
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| CN207773004U (en) * | 2018-01-31 | 2018-08-28 | 长城汽车股份有限公司 | Turn to early warning system and vehicle |
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