CN111562586A - Automobile blind area detection method based on vehicle blind area detection system - Google Patents
Automobile blind area detection method based on vehicle blind area detection system Download PDFInfo
- Publication number
- CN111562586A CN111562586A CN202010351912.9A CN202010351912A CN111562586A CN 111562586 A CN111562586 A CN 111562586A CN 202010351912 A CN202010351912 A CN 202010351912A CN 111562586 A CN111562586 A CN 111562586A
- Authority
- CN
- China
- Prior art keywords
- target object
- ultrasonic radar
- blind area
- vehicle
- detected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses an automobile blind area detection method based on a vehicle blind area detection system. The vehicle blind area detection system comprises a controller and a plurality of ultrasonic radars on the outer side surface of the vehicle; the automobile blind area detection method comprises the following steps: the controller controls the plurality of ultrasonic radars to send data, and after receiving the fed-back data, the controller calculates to obtain the distance measured by each ultrasonic radar; detecting a movable target object by setting the difference value of the relative positions according to the relative position difference value of the target object detected by the plurality of ultrasonic radars and the time when the relative position exists; if a movable target object is detected in the blind area, the controller sends alarm information to prompt a driver to drive cautiously. The invention can effectively detect whether a moving target object exists in the blind area when the vehicle runs, and can detect small target objects such as small cars, bicycles, even moving pedestrians and other interfering objects. The blind area detection range is large, the precision is high, and the false alarm rate is low.
Description
Technical Field
The invention belongs to the technical field of automobile detection systems, and particularly relates to an automobile blind area detection method based on a vehicle blind area detection system.
Background
When the automobile normally runs, blind areas can appear in the areas on the two sides of the automobile due to the limitation of the observation range of the rearview mirror. Under the condition of the prior art, when a detected target object is small, the size of the detected target object is similar to that of objects such as street lamps and trees, false alarm is generated for reducing the detection of the street lamps, the trees and the like, and the small target object is not detected.
Disclosure of Invention
The invention aims to solve the defects of the background technology and provides an automobile blind area detection method based on a vehicle blind area detection system.
The technical scheme adopted by the invention is as follows: a vehicle blind area detection method based on a vehicle blind area detection system comprises a controller and a plurality of ultrasonic radars on the outer side surface of a vehicle;
the automobile blind area detection method comprises the following steps: the controller controls the plurality of ultrasonic radars to send data, and after receiving the fed-back data, the controller calculates to obtain the distance measured by each ultrasonic radar; detecting movable target objects (small target objects such as automobiles, even bicycles, moving pedestrians and the like) by setting relative position difference values according to the relative position difference values and the relative position existing time of the target objects detected by a plurality of ultrasonic radars; if a movable target object is detected in the blind area, the controller sends alarm information to prompt a driver to drive cautiously.
Further preferred structure, vehicle blind area detecting system includes the left first ultrasonic radar of vehicle, second ultrasonic radar, third ultrasonic radar, the fourth ultrasonic radar, fifth ultrasonic radar, the sixth ultrasonic radar on vehicle right side.
In a further preferred configuration, the first and fourth ultrasonic radar sections are mounted on a front protection side surface, and the third and sixth ultrasonic radar sections are mounted on a rear protection side surface; the first ultrasonic radar, the second ultrasonic radar, the fourth ultrasonic radar and the fifth ultrasonic radar are vertically arranged at 90 degrees with the side surface of the vehicle; the third ultrasonic radar and the sixth ultrasonic radar are arranged at an angle of 135 degrees with the side surface of the vehicle.
In the above steps, when the second ultrasonic radar, the third ultrasonic radar, the fifth ultrasonic radar or the sixth ultrasonic radar detects that a target object moves in the blind area, and the first ultrasonic radar and the fourth ultrasonic radar do not detect that an object exists in the blind area, the object is determined to enter the blind area according to a position difference value of the target object detected by the radar, and the movable target object can be detected by setting a threshold value of the position difference value; and when the position difference calculated by the controller exists for a certain time, the target object is considered to be a movable target object, the immobile object is removed, and the controller sends blind area alarm information.
The method specifically comprises the following steps:
step 1: according to the blind area detection range diagram, the farthest distance of the target object in the blind area detected by the second ultrasonic radar is Lrad2(ii) a The farthest distance of the third ultrasonic radar for detecting the target object in the blind area is Lrad3And L israd3>Lrad 2; therefore, when the distance detected by the second ultrasonic radar is less than Lrad2Or the distance detected by the third ultrasonic radar is less than Lrad3When the target object exists, the target object is considered to exist in the blind area;
step 2: under the condition that the step 1 is met, the distance when the second ultrasonic radar or the third ultrasonic radar detects that the target object enters the blind area is L1; after a certain time T1 is delayed, the distance from the second ultrasonic radar or the third ultrasonic radar to the target object is L2;
and step 3: if A is equal to L1-L2, when the difference value of A is larger than a set threshold value LthrIf the target object distance detected by the radar is decreasing within the time period T1 of the delay, it is considered that the target object is approaching the own vehicle, and the relative speed of the target object is greater than or equal to the own vehicle; at the moment, the target object in the blind area is judged to move;
and 4, step 4: due to the requirement of relative speed at VrelDetecting the target object within the range, wherein A is less than a set threshold value LrelIf so, the overtaking speed of the target object is considered to be within the set threshold range in the time T1; at the moment, the target object in the blind area is considered to be detected; namely Lthr<A<LrelThen, the target object in the blind area is considered to be detected;
and 5: step 4, when the distance detected by the first ultrasonic radar is greater than L under the condition that the step is satisfiedrad2If the target object is detected by the second ultrasonic radar and the third ultrasonic radar, and the target object is not detected by the first ultrasonic radar, the target object is considered to be in the blind area range, and the target object may be an immobile object such as a road edge and the like;
step 6: step 4, under the condition of meeting the requirement, subtracting the distance measured by the second ultrasonic radar or the third ultrasonic radar from the distance measured by the first ultrasonic radar, wherein the distance difference is greater than the set threshold value LdiffWhen the distance of the target object measured by the first ultrasonic radar is larger than that measured by the second ultrasonic radar or the third ultrasonic radar by LdiffIf the target object is detected in the blind area, the target object may be an immobile object such as a fence, a tree, a street lamp and the like;
and 7: because the length of the blind area detection range is LscopThe maximum relative speed of the vehicle detected in the blind zone is Vrel(ii) a According to the maximum relative speed VrelThrough L of the target objectscopThe required time is Ttotal seconds;
and 8: namely, in Ttotal seconds, a target object enters the range of the blind area, but the first ultrasonic radar does not detect the target object, and the target object is considered to be always in the range of the blind area; delaying for T1 seconds in the step 2, and calculating to obtain that the delay time in the step 4 is T2-Ttotal-T1;
and step 9: after the delay time is T2 seconds, judging whether the steps 1-7 are still met;
step 10: if step 9 is satisfied, it is determined that in step 5, within the time period of T2 seconds, the first ultrasonic radar has not detected the object, and the second ultrasonic radar or the third ultrasonic radar has detected the target objectIf the object is a blind area, the movable target object is considered to be detected in the blind area; at the moment, the controller sends a blind area alarm signal; when the vehicle is moving forward during time T2 while the target object is not moving, the first ultrasonic radar installed in front of the vehicle detects that the distance of the target object A is greater than Lrad2After a period of time, when the second ultrasonic radar or the third ultrasonic radar installed behind the vehicle passes through the target object A, if the target object is in the blind area, the detected distance is less than Lrad2If no target object exists in the blind area, the detected distance is greater than Lrad2；
Step 11: if the step 9 is met, in the step 6, in the T2 second time, the distance difference value measured by the first ultrasonic radar and the second ultrasonic radar or the third ultrasonic radar exists all the time, and the movable target object is detected in the blind area; at this time, the controller sends a blind zone warning signal similar to that described in step 10, and if the target object does not move, the distance difference between the target object and the radar detected changes after the delay time of T2.
The invention can effectively detect whether moving target objects exist in the blind area when the vehicle runs, can detect small target objects such as minicars, bicycles, even moving pedestrians and the like, and eliminates interference objects such as fences, street lamps and the like. The blind area detection range is large, the precision is high, and the false alarm rate is low.
Drawings
FIG. 1 is a schematic view of an ultrasonic radar installation site of the present invention;
FIG. 2 is a schematic diagram of the blind zone detection range of the present invention;
FIG. 3 is a flow chart of blind spot detection according to the present invention.
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
As shown in fig. 1-3, the vehicle blind spot detection system of the present invention includes a plurality of ultrasonic radars on the outer side of the vehicle, a controller; the automobile blind area detection method comprises the following steps: the controller controls the plurality of ultrasonic radars to send data, and after receiving the fed-back data, the controller calculates to obtain the distance measured by each ultrasonic radar; detecting a movable target object by setting the difference value of the relative positions according to the relative position difference value of the target object detected by the plurality of ultrasonic radars and the time when the relative position exists; if a movable target object is detected in the blind area, the controller sends alarm information to prompt a driver to drive cautiously.
The vehicle blind area detection system comprises a first ultrasonic radar 1, a second ultrasonic radar 2 and a third ultrasonic radar 3 on the left side of the vehicle, and a fourth ultrasonic radar 4, a fifth ultrasonic radar 5 and a sixth ultrasonic radar 6 on the right side of the vehicle.
The first ultrasonic radar 1 and the fourth ultrasonic radar 4 are respectively arranged on the front protection side surface, and the third ultrasonic radar 3 and the sixth ultrasonic radar 6 are respectively arranged on the rear protection side surface; the first ultrasonic radar 1, the second ultrasonic radar 2, the fourth ultrasonic radar 4 and the fifth ultrasonic radar 5 are vertically arranged at 90 degrees with the side surface of the vehicle; the third ultrasonic radar 3 and the sixth ultrasonic radar 6 are installed at an angle of 135 degrees with the side of the vehicle.
Firstly, blind area detection starting conditions:
1. when the vehicle speed is higher than the set vehicle speed VspdWhen the gear is in the D gear, the vehicle blind area detection function is automatically started, otherwise, the vehicle blind area detection function is closed;
2. after the blind zone detection function is started, the vehicle which can pass through quickly is not required to be detected. The detected relative moving speed of the target object and the vehicle is set at a set speed VrelDetecting when the relative speed is VrelIn the above time, the vehicle is considered as a vehicle for quick overtaking, and detection is not needed;
secondly, a blind area detection control strategy:
because the detection principle of the vehicle left side blind area detection system (the first ultrasonic radar, the second ultrasonic radar and the third ultrasonic radar on the left side of the vehicle) is the same as that of the right side blind area detection system (the fourth ultrasonic radar, the fifth ultrasonic radar and the sixth ultrasonic radar on the right side of the vehicle), the left side blind area detection system and the right side blind area detection system are operated independently and do not interfere with each other, the following description is given by taking the vehicle left side blind area detection system as an example, and the control strategy comprises the following steps:
step 1: according to the blind area detection range diagram, the second ultrasonic radar is vertically installed, and the farthest distance for detecting the target object in the blind area is Lrad2(in this example, Lrad2Taking 300 cm); the third ultrasonic radar is installed at an oblique angle, and the farthest distance for detecting the target object in the blind area is Lrad3(in this example, Lrad3Take 490cm), and Lrad3>Lrad2. Therefore, when the distance detected by the second ultrasonic radar is less than Lrad2Or the distance detected by the third ultrasonic radar is less than Lrad3And when the target object exists in the blind area, the target object is considered to exist in the blind area.
Step 2: under the condition that the step 1 is met, the distance when the second ultrasonic radar or the third ultrasonic radar detects that the target object enters the blind area is L1; after a certain time delay T1, the distance at which the target object is detected by the second ultrasonic radar or the third ultrasonic radar is L2.
And step 3: if A is equal to L1-L2, when the difference value of A is larger than a set threshold value LthrThen, in the time period T1 of the delay, the target object distance detected by the radar is decreasing, and it is considered that the target object is approaching the own vehicle, and the relative speed of the target object is greater than or equal to the own vehicle. At this time, the target object in the blind area is judged to move.
And 4, step 4: due to the requirement of relative speed at VrelDetecting the target object within the range, wherein A is less than a set threshold value LrelAnd if so, the overtaking speed of the target object is considered to be within the set threshold range in the delayed T1 period. The target object in the blind zone is considered to be detected at this time. Namely Lthr<A<LrelThen the target object in the blind area is considered to be detected.
And 5: step 4, when the distance detected by the first ultrasonic radar is greater than L under the condition that the step is satisfiedrad2The second ultrasonic radar and the third ultrasonic radar are considered to detect the target object, the first ultrasonic radar does not detect the target object, the object is considered to be in the range of the blind area,the target object may be an immovable object such as a road edge.
Step 6: step 4, under the condition of meeting the requirement, subtracting the distance measured by the second ultrasonic radar or the third ultrasonic radar from the distance measured by the first ultrasonic radar, wherein the distance difference is greater than the set threshold value LdiffWhen the distance of the target object measured by the first ultrasonic radar is larger than that measured by the second ultrasonic radar or the third ultrasonic radar by LdiffAnd determining that the target object is detected in the blind area, wherein the target object may be an immobile object such as a fence, a tree, a street lamp and the like.
And 7: because the length of the blind area detection range is Lscop(in this example, Lscop6.5m) is taken, and the maximum relative speed of the vehicle detected in the blind area is Vrel. According to the maximum relative speed VrelThrough L of the target objectscopThe required time is Ttotal seconds.
And 8: that is, within Ttotal seconds, a target object enters the blind area range, but the first ultrasonic radar does not detect the target object, and the target object is considered to be always within the blind area range. After delaying for T1 seconds in step 2, the delay time in step 4 is calculated to be T2-Ttotal-T1.
And step 9: and (4) after the delay time is T2 seconds, judging whether the steps 1-7 are still met.
Step 10: if step 9 is satisfied, it is determined that in step 5, within the time period of T2 seconds, the first ultrasonic radar has not detected the object, and the second ultrasonic radar or the third ultrasonic radar has detected the target object, it is determined that the movable target object is detected in the blind area. At this time, the controller sends a blind zone alarm signal. When the vehicle is moving forward during time T2 while the target object is not moving, the first ultrasonic radar installed in front of the vehicle detects that the distance of the target object A is greater than Lrad2After a period of time, when the second ultrasonic radar or the third ultrasonic radar installed behind the vehicle passes through the target object A, if the target object is in the blind area, the detected distance is less than Lrad2If no target object exists in the blind area, the detected distance is greater than Lrad2。
Step 11: and if the step 9 is met, in the step 6, the distance difference value measured by the first ultrasonic radar and the second ultrasonic radar or the third ultrasonic radar exists within the time of T2 seconds, and the movable target object is detected in the blind area. At this time, the controller sends a blind zone warning signal similar to that described in step 10, and if the target object does not move, the distance difference between the target object and the radar detected changes after the delay time of T2.
Through the steps, whether the objects in the blind area are the target objects which are easy to misreport such as fences and street lamps can be detected through the distance difference value measured by the first ultrasonic radar and the second ultrasonic radar or the third ultrasonic radar and the time delay processing, and the false alarm rate can be effectively reduced.
Simultaneously adjusting the distance difference threshold value L of the first ultrasonic radar and the second ultrasonic radar or the third ultrasonic radardiffWhen L is presentdiffWhen the value is equal to the pedestrian width, a small target object such as a moving pedestrian can be detected.
Those not described in detail in this specification are within the skill of the art.
Claims (5)
1. A vehicle blind area detection method based on a vehicle blind area detection system is characterized in that: the vehicle blind area detection system comprises a controller and a plurality of ultrasonic radars on the outer side surface of the vehicle;
the automobile blind area detection method comprises the following steps: the controller controls the plurality of ultrasonic radars to send data, and after receiving the fed-back data, the controller calculates to obtain the distance measured by each ultrasonic radar; detecting a movable target object by setting the difference value of the relative positions according to the relative position difference value of the target object detected by the plurality of ultrasonic radars and the time when the relative position exists; if a movable target object is detected in the blind area, the controller sends alarm information to prompt a driver to drive cautiously.
2. The vehicle blind area detection method based on the vehicle blind area detection system according to claim 1, characterized in that: the vehicle blind area detection system comprises a first ultrasonic radar, a second ultrasonic radar and a third ultrasonic radar on the left side of the vehicle, and a fourth ultrasonic radar, a fifth ultrasonic radar and a sixth ultrasonic radar on the right side of the vehicle.
3. The vehicle blind area detection method based on the vehicle blind area detection system according to claim 2, characterized in that: the first ultrasonic radar and the fourth ultrasonic radar are respectively arranged on the front protection side surface, and the third ultrasonic radar and the sixth ultrasonic radar are respectively arranged on the rear protection side surface; the first ultrasonic radar, the second ultrasonic radar, the fourth ultrasonic radar and the fifth ultrasonic radar are vertically arranged at 90 degrees with the side surface of the vehicle; the third ultrasonic radar and the sixth ultrasonic radar are arranged at an angle of 135 degrees with the side surface of the vehicle.
4. The vehicle blind area detection method based on the vehicle blind area detection system according to claim 3, characterized in that: in the above steps, when the second ultrasonic radar, the third ultrasonic radar, the fifth ultrasonic radar or the sixth ultrasonic radar detects that a target object moves in the blind area, and the first ultrasonic radar and the fourth ultrasonic radar do not detect that an object exists in the blind area, the object is determined to enter the blind area according to a position difference value of the target object detected by the radar, and the movable target object can be detected by setting a threshold value of the position difference value; and when the position difference calculated by the controller exists for a certain time, the target object is considered to be a movable target object, the immobile object is removed, and the controller sends blind area alarm information.
5. The vehicle blind area detection method based on the vehicle blind area detection system according to claim 2, 3 or 4, characterized in that: the method specifically comprises the following steps:
step 1: according to the blind area detection range diagram, the farthest distance of the target object in the blind area detected by the second ultrasonic radar is Lrad2(ii) a Third ultrasonic radar detectsThe farthest distance of the target object in the blind zone is Lrad3And L israd3>Lrad2(ii) a Therefore, when the distance detected by the second ultrasonic radar is less than Lrad2Or the distance detected by the third ultrasonic radar is less than Lrad3When the target object exists, the target object is considered to exist in the blind area;
step 2: under the condition that the step 1 is met, the distance when the second ultrasonic radar or the third ultrasonic radar detects that the target object enters the blind area is L1; after a certain time T1 is delayed, the distance from the second ultrasonic radar or the third ultrasonic radar to the target object is L2;
and step 3: if A is equal to L1-L2, when the difference value of A is larger than a set threshold value LthrIf the target object distance detected by the radar is decreasing within the time period T1 of the delay, it is considered that the target object is approaching the own vehicle, and the relative speed of the target object is greater than or equal to the own vehicle; at the moment, the target object in the blind area is judged to move;
and 4, step 4: due to the requirement of relative speed at VrelDetecting the target object within the range, wherein A is less than a set threshold value LrelIf so, the overtaking speed of the target object is considered to be within the set threshold range in the time T1; at the moment, the target object in the blind area is considered to be detected; namely Lthr<A<LrelThen, the target object in the blind area is considered to be detected;
and 5: step 4, when the distance detected by the first ultrasonic radar is greater than L under the condition that the step is satisfiedrad2If the target object is detected by the second ultrasonic radar and the third ultrasonic radar, and the target object is not detected by the first ultrasonic radar, the target object is considered to be in the blind area range, and the target object may be an immobile object such as a road edge and the like;
step 6: step 4, under the condition of meeting the requirement, subtracting the distance measured by the second ultrasonic radar or the third ultrasonic radar from the distance measured by the first ultrasonic radar, wherein the distance difference is greater than the set threshold value LdiffWhen the distance of the target object measured by the first ultrasonic radar is smaller than the distance of the target object measured by the second ultrasonic radar or the third ultrasonic radarDistance LdiffIf the target object is detected in the blind area, the target object may be an immobile object such as a fence, a tree, a street lamp and the like;
and 7: because the length of the blind area detection range is LscopThe maximum relative speed of the vehicle detected in the blind zone is Vrel(ii) a According to the maximum relative speed VrelThrough L of the target objectscopThe required time is Ttotal seconds;
and 8: namely, in Ttotal seconds, a target object enters the range of the blind area, but the first ultrasonic radar does not detect the target object, and the target object is considered to be always in the range of the blind area; delaying for T1 seconds in the step 2, and calculating to obtain that the delay time in the step 4 is T2-Ttotal-T1;
and step 9: after the delay time is T2 seconds, judging whether the steps 1-7 are still met;
step 10: if the step 9 is met, in the step 5, in the T2 second time, the first ultrasonic radar does not detect the object, and the second ultrasonic radar or the third ultrasonic radar detects the target object, the movable target object is detected in the blind area; at the moment, the controller sends a blind area alarm signal; when the vehicle is moving forward during time T2 while the target object is not moving, the first ultrasonic radar installed in front of the vehicle detects that the distance of the target object A is greater than Lrad2After a period of time, when the second ultrasonic radar or the third ultrasonic radar installed behind the vehicle passes through the target object A, if the target object is in the blind area, the detected distance is less than Lrad2If no target object exists in the blind area, the detected distance is greater than Lrad2；
Step 11: if the step 9 is met, in the step 6, in the T2 second time, the distance difference value measured by the first ultrasonic radar and the second ultrasonic radar or the third ultrasonic radar exists all the time, and the movable target object is detected in the blind area; at the moment, the controller sends a blind area alarm signal in the same step 10, and if the target object does not move, after the time delay of T2, the distance difference of the target object detected by the radar changes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010351912.9A CN111562586B (en) | 2020-04-28 | 2020-04-28 | Automobile blind area detection method based on vehicle blind area detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010351912.9A CN111562586B (en) | 2020-04-28 | 2020-04-28 | Automobile blind area detection method based on vehicle blind area detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111562586A true CN111562586A (en) | 2020-08-21 |
| CN111562586B CN111562586B (en) | 2022-09-23 |
Family
ID=72068003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010351912.9A Active CN111562586B (en) | 2020-04-28 | 2020-04-28 | Automobile blind area detection method based on vehicle blind area detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111562586B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103018743A (en) * | 2012-12-06 | 2013-04-03 | 同致电子科技（厦门）有限公司 | Static barrier judgment method for ultrasonic blind zone detection |
| CN206038903U (en) * | 2016-08-30 | 2017-03-22 | 陈武强 | Set up microwave radar sensor and ultrasonic sensor's car blind area detection system |
| CN106646491A (en) * | 2015-10-30 | 2017-05-10 | 长城汽车股份有限公司 | Ultrasonic crash-proof radar system and barrier positioning method thereof |
| EP3260884A1 (en) * | 2016-06-20 | 2017-12-27 | Delphi Technologies, Inc. | Trailer estimation and blind spot information system |
| CN107985191A (en) * | 2017-11-27 | 2018-05-04 | 东风汽车有限公司 | Automobile blind spot detection method and automobile electronic equipment |
| CN110293906A (en) * | 2019-05-14 | 2019-10-01 | 一汽轿车股份有限公司 | Slide alarm method in a kind of blind area monitoring function alarm boundary |
-
2020
- 2020-04-28 CN CN202010351912.9A patent/CN111562586B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103018743A (en) * | 2012-12-06 | 2013-04-03 | 同致电子科技（厦门）有限公司 | Static barrier judgment method for ultrasonic blind zone detection |
| CN106646491A (en) * | 2015-10-30 | 2017-05-10 | 长城汽车股份有限公司 | Ultrasonic crash-proof radar system and barrier positioning method thereof |
| EP3260884A1 (en) * | 2016-06-20 | 2017-12-27 | Delphi Technologies, Inc. | Trailer estimation and blind spot information system |
| CN206038903U (en) * | 2016-08-30 | 2017-03-22 | 陈武强 | Set up microwave radar sensor and ultrasonic sensor's car blind area detection system |
| CN107985191A (en) * | 2017-11-27 | 2018-05-04 | 东风汽车有限公司 | Automobile blind spot detection method and automobile electronic equipment |
| CN110293906A (en) * | 2019-05-14 | 2019-10-01 | 一汽轿车股份有限公司 | Slide alarm method in a kind of blind area monitoring function alarm boundary |
Non-Patent Citations (1)
| Title |
|---|
| 商俊国: "倒车雷达智能预警系统的研究", 《中国优秀博硕士学位论文全文数据库(硕士)信息科技辑》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111562586B (en) | 2022-09-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105121246B (en) | Method and apparatus for auxiliary of overtaking other vehicles | |
| US11731614B2 (en) | Apparatus and method for controlling vehicle to avoid or mitigate collision | |
| EP2724177B1 (en) | Improved driver assistance systems using radar and video | |
| US9753130B2 (en) | Target detection apparatus | |
| US11410556B2 (en) | Vehicle front blind spot detection and warning system | |
| US8199046B2 (en) | Radar system to determine whether an object is subject of detection based on intensity of a radio wave emission of the object | |
| JP6381592B2 (en) | Method and control unit for monitoring traffic | |
| JP6332384B2 (en) | Vehicle target detection system | |
| CN109733392B (en) | Obstacle avoidance method and device | |
| CN108162958B (en) | A kind of automobile active anti-collision control system | |
| US10031223B2 (en) | Vehicle control apparatus and vehicle | |
| JP6384534B2 (en) | Vehicle target detection system | |
| JP6332383B2 (en) | Vehicle target detection system | |
| JP4387304B2 (en) | Automotive sensor arrangement and spacing control method | |
| CN108032809B (en) | Reverse side auxiliary system and data fusion and control method thereof | |
| CN114394095A (en) | ACC control method and device based on lane changing intention recognition of side front vehicle | |
| US7493218B2 (en) | Vehicular control object determination system | |
| CN111562586B (en) | Automobile blind area detection method based on vehicle blind area detection system | |
| CN111722230A (en) | Full-speed domain blind area monitoring method and system | |
| CN111231954B (en) | Control method for automatic driving | |
| CN109991976B (en) | Method for avoiding dynamic vehicle by unmanned vehicle based on standard particle swarm optimization | |
| CN114261331B (en) | Safety early warning method and system for detecting front vehicle door opening | |
| JPH1186186A (en) | Method and device for detecting traveling state of vehicle having prime mover | |
| CN113655486B (en) | Automatic parking method based on single rearview camera and multiple radars | |
| CN113002536A (en) | Blind area active collision avoidance method for vehicle-mounted sensor of intelligent automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |