CN112092818A - Road curvature radius calculation method and device of blind area monitoring system and vehicle - Google Patents

Road curvature radius calculation method and device of blind area monitoring system and vehicle Download PDF

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Publication number
CN112092818A
CN112092818A CN202010859889.4A CN202010859889A CN112092818A CN 112092818 A CN112092818 A CN 112092818A CN 202010859889 A CN202010859889 A CN 202010859889A CN 112092818 A CN112092818 A CN 112092818A
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vehicle
steering wheel
radius
monitoring system
wheel angle
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Chinese (zh)
Inventor
陆盼
刘琳
张绍山
黄浦
郭盼盼
程豪
师海平
杨康
李杨
董菁菁
谭宇恒
范道祥
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Chery New Energy Automobile Co Ltd
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Chery New Energy Automobile Co Ltd
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Priority to CN202010859889.4A priority Critical patent/CN112092818A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/072—Curvature of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius

Abstract

The invention discloses a road curvature radius calculation method and device of a blind area monitoring system and a vehicle. The road curvature radius calculation method comprises the following steps: acquiring a current steering wheel angle of a vehicle; calculating the current turning radius of the vehicle based on a relationship between a steering wheel angle and a vehicle turning radius, which is stored in advance, according to the current steering wheel angle of the vehicle; and acquiring the curvature radius of the road according to the current turning radius of the vehicle. The road curvature radius calculation method can enable medium and low-grade vehicles without ESPs to calculate the road curvature radius.

Description

Road curvature radius calculation method and device of blind area monitoring system and vehicle
Technical Field
The invention relates to the technical field of automobiles, in particular to a road curvature radius calculation method and device of a blind area monitoring system and a vehicle.
Background
With the continuous development of active safety technology, the application of the blind area monitoring system in vehicles is more and more extensive, and the curvature radius of a road is an indispensable judgment parameter when the blind area monitoring system works. Currently, in the related art, the road curvature radius is mainly determined by an ESP (Electronic Stability Program), however, some low and medium vehicle models are not equipped with an ESP, so that these vehicle models cannot obtain the road curvature radius.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the first purpose of the invention is to provide a road curvature radius calculation method of a blind area monitoring system, so that a medium and low-grade vehicle without an ESP can calculate the road curvature radius.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the invention is to propose a vehicle.
The fourth purpose of the invention is to provide a road curvature radius calculation device of the blind area monitoring system.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for calculating a curvature radius of a road of a blind area monitoring system, where the method includes the following steps: acquiring a current steering wheel angle of a vehicle; calculating the current turning radius of the vehicle based on a relationship between a steering wheel angle and a vehicle turning radius, which is stored in advance, according to the current steering wheel angle of the vehicle; and acquiring the curvature radius of the road according to the current turning radius of the vehicle.
According to the road curvature radius calculation method of the blind area monitoring system, the current turning radius of the vehicle is obtained through the current steering wheel corner through the relationship between the steering wheel corner and the vehicle turning radius which is stored in advance, and then the road curvature radius is obtained. Therefore, the curvature radius of the road can be calculated by the medium and low-grade vehicle without the ESP.
In addition, the road curvature radius calculation method of the blind area monitoring system of the invention can also have the following additional technical characteristics:
according to one embodiment of the present invention, the relationship between the steering wheel angle and the vehicle turning radius stored in advance is established according to the steps of: passing the test vehicle through a lime pit to mark the tire; in the running process of the test vehicle, the steering wheel is dead to the left or right, and the minimum turning radius R is measured according to the running track of the test vehicle0And obtaining a steering wheel angle alpha of the test vehiclen(ii) a Striking the steering wheel of the test vehicle to alphan-1＝αnBeta and measuring its turning radius R according to the running track of the test vehicle1By analogy, the maximum steering wheel angle alpha is usednAs a base number, beta as a gradient, and sequentially measuring the steering wheel angle as alphan-2、αn-3、αn-4、…、α0Radius of turning R of vehicle corresponding to time2、R3、R4、…、Rn(ii) a R measured with MATLAB pairs0、R1、R2、…、RnInterpolation is performed to establish a relationship between the steering wheel angle and the vehicle turning radius.
According to one embodiment of the invention, the blind area monitoring system road curvature radius calculation methodThe method also comprises the following steps: at measuring steering wheel angle alphan-1、αn-2、αn-3、αn-4、…、α0Radius of turning R of vehicle corresponding to time1、R2、R3、R4、…、RnAnd when the error between each vehicle turning radius in the plurality of vehicle turning radii and the average vehicle turning radius is smaller than the preset value, the average vehicle turning radius is used as the vehicle turning radius corresponding to the current steering wheel corner.
According to an embodiment of the present invention, the method for calculating the road curvature radius of the blind area monitoring system further includes: β is 10 °.
In order to achieve the above object, a second aspect of the present invention provides a computer-readable storage medium having a road curvature radius calculation program of a blind area monitoring system stored thereon, which when executed by a processor implements the road curvature radius calculation method of the blind area monitoring system.
The computer-readable storage medium of an embodiment of the present invention, when the road curvature radius calculation program stored thereon is executed by the processor, enables a medium-low-profile vehicle not equipped with an ESP to calculate the road curvature radius as well.
In order to achieve the above object, a vehicle according to a third aspect of the present invention includes a steering wheel and a blind area monitoring system, where the blind area monitoring system includes a memory, a processor, and a road curvature radius calculation program of the blind area monitoring system stored in the memory and operable on the processor, and the processor implements the road curvature radius calculation method of the blind area monitoring system when executing the road curvature radius calculation program.
According to the vehicle provided by the embodiment of the invention, by implementing the road curvature radius calculation method of the blind area monitoring system, the road curvature radius can be calculated by medium and low-grade vehicles without ESPs.
In order to achieve the above object, a fourth aspect of the present invention provides a road curvature radius calculation device for a blind area monitoring system, the calculation device including: the acquisition module is used for acquiring the current steering wheel angle of the vehicle; and the calculation module is used for calculating the current turning radius of the vehicle based on the relationship between the steering wheel angle and the vehicle turning radius which are stored in advance according to the current steering wheel angle of the vehicle, and acquiring the road curvature radius according to the current turning radius of the vehicle.
According to the road curvature radius calculation device of the blind area monitoring system, the current steering wheel corner of the vehicle is obtained through the obtaining module, and then the calculation module can obtain the vehicle turning radius corresponding to the current steering wheel corner based on the pre-stored relation between the steering wheel corner and the vehicle turning radius, so that the road curvature radius is obtained. Therefore, the curvature radius of the road can be calculated by the medium and low-grade vehicles without ESPs.
In addition, the road curvature radius calculation device of the blind area monitoring system of the present invention may further have the following additional technical features:
according to one embodiment of the present invention, the relationship between the steering wheel angle and the vehicle turning radius stored in advance is established according to the following steps: passing the test vehicle through a lime pit to mark the tire; in the running process of the test vehicle, the steering wheel is dead to the left or right, and the minimum turning radius R is measured according to the running track of the test vehicle0And obtaining a steering wheel angle alpha of the test vehiclen(ii) a Striking the steering wheel of the test vehicle to alphan-1＝αnBeta and measuring its turning radius R according to the running track of the test vehicle1By analogy, the maximum steering wheel angle alpha is usednAs a base number, beta as a gradient, and sequentially measuring the steering wheel angle as alphan-2、αn-3、αn-4、…、α0Radius of turning R of vehicle corresponding to time2、R3、R4、…、Rn(ii) a R measured with MATLAB pairs0、R1、R2、…、RnInterpolation is performed to establish a relationship between the steering wheel angle and the vehicle turning radius.
According to an embodiment of the present invention, the road curvature radius calculation device of the blind area monitoring system further includes: at measuring steering wheel angle alphan-1、αn-2、αn-3、αn-4、…、α0Radius of turning R of vehicle corresponding to time1、R2、R3、R4、…、RnAnd the calculation module is further used for acquiring a plurality of vehicle turning radii corresponding to each steering wheel corner, calculating an average vehicle turning radius of the plurality of vehicle turning radii, judging whether the error between each vehicle turning radius of the plurality of vehicle turning radii and the average vehicle turning radius is smaller than a preset value, and taking the average vehicle turning radius as the vehicle turning radius corresponding to the current steering wheel corner when the error between each vehicle turning radius of the plurality of vehicle turning radii and the average vehicle turning radius is smaller than the preset value.
According to an embodiment of the present invention, the road curvature radius calculation device of the blind area monitoring system further includes: β is 10 °.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a road radius of curvature calculation method of a blind zone monitoring system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a road radius of curvature calculation method of a blind spot monitoring system according to another embodiment of the present invention;
FIG. 3 is a flow chart of a road radius of curvature calculation method of a blind spot monitoring system according to yet another embodiment of the present invention;
FIG. 4 is a block diagram of a vehicle according to an embodiment of the invention;
fig. 5 is a block diagram of a road curvature radius calculation device of the blind area monitoring system according to the embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a vehicle and a road curvature radius calculation method and device of a blind area monitoring system thereof according to an embodiment of the invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of a road curvature radius calculation method of a blind area monitoring system according to an embodiment of the present invention.
As shown in fig. 1, the road curvature calculating method of the blind area monitoring system may include the steps of:
and S11, acquiring the current steering wheel angle of the vehicle.
In the embodiment of the present invention, a corresponding sensor may be disposed On a steering wheel of a vehicle, and a CAN (Controller Area Network) card connected to an On Board Unit (OBU) interface reads a message sent by the sensor, so as to obtain a current steering wheel angle of the vehicle.
And S12, calculating the current turning radius of the vehicle according to the current steering wheel angle of the vehicle and based on the relationship between the steering wheel angle and the turning radius of the vehicle, which is stored in advance.
As one example, as shown in fig. 2, the flow of establishing the relationship between the steering wheel angle and the vehicle turning radius stored in advance may be as follows:
s21, passing the test vehicle through a lime pit to mark the tire.
S22, in the running process of the test vehicle, the steering wheel is dead to the left or the right, and the minimum turning radius R is measured according to the running track of the test vehicle0And obtaining a steering wheel angle alpha of the test vehiclen。
Specifically, the turning radius of the vehicle can be acquired according to the vehicle running track marked by lime.
S23, the steering wheel of the test vehicle is hit to alphan-1＝αnBeta and measuring the turning radius R thereof from the running track of the test vehicle1By analogy, the maximum steering wheel angle alpha is usednAs a base number, beta as a gradient, and sequentially measuring the steering wheel angle as alphan-2、αn-3、αn-4、…、α0Radius of turning R of vehicle corresponding to time2、R3、R4、…、Rn。
Wherein, the value of β can be calibrated as required, for example, the value can be 10 °.
As an example, as shown in FIG. 3, the steering wheel angle is measured as αn-1、αn-2、αn-3、αn-4、…、α0Radius of turning R of vehicle corresponding to time1、R2、R3、R4、…、RnThe procedure of (a) can be as follows:
and S31, acquiring a plurality of vehicle turning radiuses corresponding to each steering wheel turning angle.
As one example, the steering wheel of a vehicle may be steered to a turn angle αn-1Driving the vehicles to pass through the lime pit for 3 times, and acquiring turning radii R of a plurality of vehicles according to the vehicle running tracks marked by lime11、R12、R13. Further, the steering wheel of the vehicle is turned to a turning angle αn-2、αn-3、αn-4…α0Obtaining the turning radius (R) of the corresponding vehicle21、R22、R23)、(R31、R32、R33)、(R41、R42、R43)…(Rn1、Rn2、Rn3)。
S32, calculating the average turning radius of the plurality of turning radii of the vehicle.
Specifically, R may be obtained by averaging the turning radii of the plurality of vehicles acquired as described above1、R2、R3、R4…Rn。
As an example, turning radii R for a plurality of vehicles acquired as described above11、R12、R13Averaging it to obtain R1Further, the turning radii (R) of the plurality of vehicles obtained above are obtained21、R22、R23)、(R31、R32、R33)、(R41、R42、R43)…(Rn1、Rn2、Rn3) Respectively taking the average value to obtain R2、R3、R4…Rn。
And S33, judging whether the error between each vehicle turning radius in the plurality of vehicle turning radii and the average vehicle turning radius is smaller than a preset value.
Wherein, the preset value can be between 1.5% and 2.5%, for example, can be 2%.
As an example, each of the turning radii R of the plurality of vehicles acquired as described above is compared separately11、R12、R13And its average value R1The magnitude relation of (1), judge R11、R12、R13And R1Whether the errors are all less than the preset value, and further, judging (R)31、R32、R33)、(R41、R42、R43)…(Rn1、Rn2、Rn3) With average value R corresponding thereto2、R3、R4…RnWhether the errors are all smaller than the preset value.
Alternatively, if there is a turning radius having an error greater than or equal to a preset value from among a plurality of vehicle turning radii measured at the current steering wheel angle, the above-described steps S31 to S32 are repeated for the steering wheel angle.
And S34, when the error between each vehicle turning radius in the plurality of vehicle turning radii and the average vehicle turning radius is smaller than the preset value, taking the average vehicle turning radius as the vehicle turning radius corresponding to the current steering wheel turning angle.
S24, measurement of R by MATLAB0、R1、R2、…、RnInterpolation is performed to establish a relationship between the steering wheel angle and the vehicle turning radius.
And S13, acquiring the curvature radius of the road according to the current turning radius of the vehicle.
Specifically, the road on which the vehicle turns may be approximately regarded as a segment of an arc, and after the turning radius of the vehicle is obtained, the turning radius may be regarded as the radius of the circle on which the arc is located.
In summary, the method for calculating the road curvature radius of the blind area monitoring system in the embodiment of the invention can enable medium and low-grade vehicles without ESPs to calculate the road curvature radius. And the operation difficulty is small, the implementation method is simple, and the precision is high.
Further, the present invention proposes a computer-readable storage medium.
In an embodiment of the present invention, a computer-readable storage medium stores a road curvature radius calculation program of a blind area monitoring system, and the road curvature calculation program, when executed by a processor, implements the road curvature radius calculation method of the blind area monitoring system described above.
The computer-readable storage medium of the embodiment of the invention, when the road curvature radius calculation program of the blind area monitoring system stored on the computer-readable storage medium is executed by the processor, can enable the medium and low-grade vehicle not equipped with the ESP to calculate the road curvature radius. And the operation difficulty is small, the implementation method is simple, and the precision is high.
Further, the invention provides a vehicle.
Fig. 4 is a block diagram of the structure of the vehicle of the embodiment of the invention.
As shown in fig. 4, the vehicle 100 includes a steering wheel 101 and a blind area monitoring system 102, the blind area monitoring system 102 includes a memory, a processor and a road curvature radius calculation program of the blind area monitoring system stored in the memory and operable on the processor, and when the processor executes the road curvature radius calculation program, the road curvature radius calculation method of the blind area monitoring system is implemented.
According to the vehicle provided by the embodiment of the invention, by implementing the road curvature radius calculation method of the blind area monitoring system, the road curvature radius can be calculated by medium and low-grade vehicles without ESPs. And the operation difficulty is small, the implementation method is simple, and the precision is high.
Fig. 5 is a block diagram of a road curvature radius calculation device of the blind area monitoring system according to the embodiment of the present invention.
As shown in fig. 5, the road curvature radius calculation apparatus 200 includes an acquisition module 201 and a calculation module 202.
Specifically, the obtaining module 201 is configured to obtain a current steering wheel angle of the vehicle; the calculating module 202 is configured to calculate a current turning radius of the vehicle based on a pre-stored relationship between a steering wheel angle and a turning radius of the vehicle according to the current steering wheel angle of the vehicle, and obtain a road curvature radius according to the current turning radius of the vehicle.
The road curvature radius calculating device of the blind area monitoring system can enable medium and low-grade vehicles not equipped with ESPs to calculate the road curvature radius.
In one embodiment of the present invention, the relationship between the steering wheel angle and the vehicle turning radius, which is stored in advance in the calculation module 202, is established according to the following steps: passing the test vehicle through a lime pit to mark the tire; during the running process of the test vehicle, the steering wheel is dead to the left or the right, and the minimum turning radius R is measured according to the running track of the test vehicle0And obtaining a steering wheel angle alpha of the test vehiclen(ii) a Drive the steering wheel of the test vehicle to alphan-1＝αnBeta and measuring the turning radius R thereof from the running track of the test vehicle1By analogy, the maximum steering wheel angle alpha is usednAs a base number, beta as a gradient, and sequentially measuring the steering wheel angle as alphan-2、αn-3、αn-4、…、α0Radius of turning R of vehicle corresponding to time2、R3、R4、…、Rn(ii) a R measured with MATLAB pairs0、R1、R2、…、RnInterpolation to establish steering wheel rotationAngle versus vehicle turning radius.
Wherein beta can take the value of 10 °
In one embodiment of the present invention, the calculation module 202 is further configured to measure the steering wheel angle as αn-1、αn-2、αn-3、αn-4、…、α0Radius of turning R of vehicle corresponding to time1、R2、R3、R4、…、RnAnd when the error between each vehicle turning radius in the plurality of vehicle turning radii and the average vehicle turning radius is smaller than the preset value, the average vehicle turning radius is used as the vehicle turning radius corresponding to the current steering wheel corner.
It should be noted that, for other specific embodiments of the road curvature radius calculation device of the blind area monitoring system according to the embodiment of the present invention, reference may be made to the road curvature radius calculation method of the blind area monitoring system according to the above-mentioned embodiment.
In summary, the road curvature radius calculation device of the blind area monitoring system in the embodiment of the invention can enable medium and low-grade vehicles without ESPs to calculate the road curvature radius. And the operation difficulty is small, the implementation method is simple, and the precision is high.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. A road curvature radius calculation method of a blind area monitoring system is characterized by comprising the following steps:
acquiring a current steering wheel angle of a vehicle;
calculating the current turning radius of the vehicle based on a relationship between a steering wheel angle and a vehicle turning radius, which is stored in advance, according to the current steering wheel angle of the vehicle;
and acquiring the curvature radius of the road according to the current turning radius of the vehicle.
2. The road curvature radius calculation method of a blind spot monitoring system according to claim 1, characterized in that the relationship between the steering wheel angle and the vehicle turning radius, which is stored in advance, is established according to the steps of:
passing the test vehicle through a lime pit to mark the tire;
in the running process of the test vehicle, the steering wheel is dead to the left or right, and the minimum turning radius R is measured according to the running track of the test vehicle0And obtaining a steering wheel angle alpha of the test vehiclen；
Striking the steering wheel of the test vehicle to alphan-1＝αnBeta and measuring its turning radius R according to the running track of the test vehicle1By analogy, the maximum steering wheel angle alpha is usednIs a baseCounting, taking beta as gradient, measuring steering wheel angle alpha in turnn-2、αn-3、αn-4、…、α0Radius of turning R of vehicle corresponding to time2、R3、R4、…、Rn；
R measured with MATLAB pairs0、R1、R2、…、RnInterpolation is performed to establish a relationship between the steering wheel angle and the vehicle turning radius.
3. The method of calculating a radius of curvature of a road in a blind spot monitoring system according to claim 2, wherein the steering wheel angle is measured as αn-1、αn-2、αn-3、αn-4、…、α0Radius of turning R of vehicle corresponding to time1、R2、R3、R4、…、RnAnd when the error between each vehicle turning radius in the plurality of vehicle turning radii and the average vehicle turning radius is smaller than the preset value, the average vehicle turning radius is used as the vehicle turning radius corresponding to the current steering wheel corner.
4. The road curvature radius calculation method of a blind spot monitoring system according to claim 2, wherein β is 10 °.
5. A computer-readable storage medium, characterized in that a road curvature radius calculation program of a blind area monitoring system is stored thereon, which when executed by a processor implements a road curvature radius calculation method of the blind area monitoring system according to any one of claims 1 to 4.
6. A vehicle comprising a steering wheel and a blind spot monitoring system, the blind spot monitoring system comprising a memory, a processor and a road radius of curvature calculation program for the blind spot monitoring system stored on the memory and operable on the processor, when executing the road radius of curvature calculation program, implementing a road radius of curvature calculation method for the blind spot monitoring system as claimed in any one of claims 1 to 4.
7. A road curvature radius calculation device of a blind area monitoring system is characterized by comprising:
the acquisition module is used for acquiring the current steering wheel angle of the vehicle;
and the calculation module is used for calculating the current turning radius of the vehicle based on the relationship between the steering wheel angle and the vehicle turning radius which are stored in advance according to the current steering wheel angle of the vehicle, and acquiring the road curvature radius according to the current turning radius of the vehicle.
8. The road curvature radius calculation device of a blind spot monitoring system according to claim 7, wherein the relationship between the steering wheel angle and the vehicle turning radius, which is stored in advance, is established according to the steps of:
passing the test vehicle through a lime pit to mark the tire;
in the running process of the test vehicle, the steering wheel is dead to the left or right, and the minimum turning radius R is measured according to the running track of the test vehicle0And obtaining a steering wheel angle alpha of the test vehiclen；
Striking the steering wheel of the test vehicle to alphan-1＝αnBeta and measuring its turning radius R according to the running track of the test vehicle1By analogy, the maximum steering wheel angle alpha is usednAs a base number, beta as a gradient, and sequentially measuring the steering wheel angle as alphan-2、αn-3、αn-4、…、α0Radius of turning R of vehicle corresponding to time2、R3、R4、…、Rn；
Using MATLABFor measured R0、R1、R2、…、RnInterpolation is performed to establish a relationship between the steering wheel angle and the vehicle turning radius.
9. The road curvature radius calculation device for a blind spot monitoring system according to claim 8, wherein the steering wheel angle is measured as αn-1、αn-2、αn-3、αn-4、…、α0Radius of turning R of vehicle corresponding to time1、R2、R3、R4、…、RnAnd the calculation module is further used for acquiring a plurality of vehicle turning radii corresponding to each steering wheel corner, calculating an average vehicle turning radius of the plurality of vehicle turning radii, judging whether the error between each vehicle turning radius of the plurality of vehicle turning radii and the average vehicle turning radius is smaller than a preset value, and taking the average vehicle turning radius as the vehicle turning radius corresponding to the current steering wheel corner when the error between each vehicle turning radius of the plurality of vehicle turning radii and the average vehicle turning radius is smaller than the preset value.
10. The road radius of curvature calculation device of a blind spot monitoring system of claim 8, wherein β is 10 °.
CN202010859889.4A 2020-08-24 2020-08-24 Road curvature radius calculation method and device of blind area monitoring system and vehicle Pending CN112092818A (en)

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CN102991505A (en) * 2012-12-07 2013-03-27 长安大学 Device for estimating curvature of front road and method therefor
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Application publication date: 20201218