CN113246978A

CN113246978A - Vehicle rearview mirror blind area detection method and detection device

Info

Publication number: CN113246978A
Application number: CN202110735771.5A
Authority: CN
Inventors: 张飞; 靳慧鲁; 吴俊�; 沈志顺; 范永杰
Original assignee: Chery New Energy Automobile Co Ltd
Current assignee: Chery New Energy Automobile Co Ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2021-08-13

Abstract

The application discloses vehicle rearview mirror blind area detection method and device, wherein the method comprises the following steps: detecting whether the vehicle has a lane changing intention; when the intention of changing the lane is detected, acquiring barrier data of a blind area of a rearview mirror of the vehicle; and recognizing lane change risks of the vehicle according to the barrier data, and controlling the vehicle to stop lane change while performing lane change danger warning on the driver when determining the lane change risks based on the lane change risks. Therefore, the problems that the detection mode of the related technology for the obstacles in the blind area of the rearview mirror is too rough, the early warning cannot be accurately carried out on a driver, the active intervention cannot be carried out on the vehicle when the potential safety hazard exists, the driving safety cannot be effectively guaranteed and the like are solved.

Description

Vehicle rearview mirror blind area detection method and detection device

Technical Field

The application relates to the technical field of automobile intelligent control, in particular to a method and a device for detecting blind areas of a vehicle rearview mirror.

Background

Although the automobile industry has been developed for hundreds of years, the blind area of the rearview mirror still exists, and due to the existence of the blind area, certain potential safety hazards exist in the running process of the automobile, and safety accidents can occur once the automobile is observed carelessly.

In the related technology, the detection mode of the obstacle in the blind area of the rearview mirror is too rough, the driver cannot be warned accurately, the vehicle cannot be intervened actively when potential safety hazards exist, and the driving safety cannot be guaranteed effectively.

Content of application

The application provides a vehicle rearview mirror blind area detection method and a detection device, which are used for solving the problems that the prior art only carries out early warning when the lane changing risk exists, can not actively intervene in a vehicle, can not control the vehicle in time according to early warning signals if the attention of a driver is not concentrated, and still can not effectively ensure the driving safety and the like.

An embodiment of a first aspect of the application provides a vehicle rearview mirror blind area detection method, which includes the following steps: detecting whether the vehicle has a lane changing intention; when the lane changing intention is detected, acquiring obstacle data of a blind area of a rearview mirror of the vehicle; and recognizing lane change risks of the vehicle according to the obstacle data, and controlling the vehicle to stop lane change while warning lane change dangers to a driver when determining lane change dangers based on the lane change risks.

Optionally, in an embodiment of the present application, the acquiring obstacle data of a blind zone of a rearview mirror of the vehicle includes: detecting whether an obstacle exists in the blind area of the rearview mirror; and if the obstacles exist, acquiring the actual position and the actual speed of each obstacle in the blind area of the rearview mirror relative to the vehicle, and generating obstacle data based on the actual positions and the actual speeds of all the obstacles.

Optionally, in an embodiment of the present application, the warning of the lane change danger to the driver includes: determining the current state of the vehicle according to the actual working condition of the vehicle and the lane changing risk, wherein the current state is a closing state, a safety state, an alarming state or a fault state; and controlling the warning mark on each rearview mirror to display the current state, and controlling the vehicle-mounted display screen to display the current state.

Optionally, in an embodiment of the present application, the detecting whether the vehicle has an intention to change lanes includes: detecting a steering angle of a steering wheel of the vehicle, and judging that the lane changing intention exists when the steering angle is larger than a preset angle; or judging whether a steering lamp of the vehicle is turned on, and if the steering lamp is turned on, judging that the lane changing intention exists.

Optionally, in an embodiment of the present application, the warning of the lane change danger to the driver includes: generating an alarm category according to the lane change risk; and controlling a warning device of the vehicle to execute corresponding warning actions according to the warning categories.

An embodiment of a second aspect of the present application provides a vehicle mirror blind area detection device, including: the detection module is used for detecting whether the vehicle has a lane changing intention; the acquisition module is used for acquiring barrier data of a blind area of a rearview mirror of the vehicle when the lane changing intention is detected; and the control module is used for identifying the lane changing risk of the vehicle according to the barrier data, and controlling the vehicle to stop changing lanes while warning the lane changing risk of the driver when determining the lane changing risk based on the lane changing risk.

Optionally, in an embodiment of the present application, the obtaining module is specifically configured to: detecting whether obstacles exist in the blind area of the rearview mirror, if so, acquiring the actual position and the actual speed of each obstacle in the blind area of the rearview mirror relative to the vehicle, and generating obstacle data based on the actual positions and the actual speeds of all the obstacles.

Optionally, in an embodiment of the present application, the control module includes: the determining unit is used for determining the current state of the vehicle according to the actual working condition of the vehicle and the lane changing risk, wherein the current state is a closing state, a safety state, an alarming state or a fault state; and the warning unit is used for controlling the warning mark on each rearview mirror to display the current state and controlling the vehicle-mounted display screen to display the current state.

An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to perform the vehicle mirror blind spot detection method as described in the above embodiments.

A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to perform the vehicle mirror blind spot detection method as described in the above embodiments.

When the intention of lane changing of the vehicle is detected, obstacle data of a blind area of a rearview mirror of the vehicle are obtained, the lane changing risk of the vehicle is accurately identified according to the obstacle data, the lane changing danger warning is carried out on a driver according to the lane changing risk, meanwhile, the vehicle is actively controlled, and the driving safety is effectively improved. Therefore, the technical problems that the detection mode of the related technology for the obstacles in the blind area of the rearview mirror is too rough, the early warning cannot be accurately carried out on a driver, the active intervention cannot be carried out on the vehicle when the potential safety hazard exists, the driving safety cannot be effectively guaranteed and the like are solved.

Additional aspects and advantages of the present application 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 present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flowchart illustrating a blind spot detection method for a rearview mirror of a vehicle according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a blind area detection area provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of a vehicle rearview mirror blind area detection implementation provided in accordance with an embodiment of the present application;

fig. 4 is an exemplary diagram of a vehicle mirror blind area detection apparatus according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Description of reference numerals:

detection module 100, acquisition module 200, control module 300, 501-memory, 502-processor and 503-communication interface.

Detailed Description

Reference will now be made in detail to embodiments of the present application, 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 exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

The following describes a vehicle mirror blind area detection method and a vehicle mirror blind area detection device according to an embodiment of the present application with reference to the drawings. The method comprises the steps of obtaining obstacle data of a blind area of the rearview mirror of the vehicle when the intention of lane changing of the vehicle is detected, accurately identifying lane changing risks of the vehicle according to the obstacle data, warning lane changing risks of the driver according to the lane changing risks, and actively controlling the vehicle to effectively improve driving safety. Therefore, the problems that the detection mode of the related technology for the obstacles in the blind area of the rearview mirror is too rough, the early warning cannot be accurately carried out on a driver, the active intervention cannot be carried out on the vehicle when the potential safety hazard exists, the driving safety cannot be effectively guaranteed and the like are solved.

Specifically, fig. 1 is a flowchart of a vehicle mirror blind area detection method according to an embodiment of the present application.

As shown in fig. 1, the vehicle mirror blind area detection method includes the steps of:

in step S101, it is detected whether the vehicle has an intention to switch lanes.

Optionally, in an embodiment of the present application, detecting whether the vehicle has an intention to change lanes includes: detecting the steering angle of a steering wheel of the vehicle, and judging that a lane changing intention exists when the steering angle is larger than a preset angle; or, whether a turn signal of the vehicle is turned on or not is judged, and if the turn signal is turned on, the intention of lane changing is judged.

In the embodiments of the present application, there are various ways to detect the lane-changing intention of the vehicle, and if the determination is made according to the steering angle of the steering wheel, taking the steering angle of 5 degrees as an example, when the steering angle of the steering wheel is greater than 5 degrees, it can be determined that the vehicle has the lane-changing intention. For another example, the determination is made based on a turn signal of the vehicle, and when the turn signal is turned on, it is determined that the vehicle has the intention to switch lanes. As another possible implementation manner, the embodiment of the present application may further determine whether the vehicle has a lane change intention according to the navigation route and the real-time positioning information of the vehicle or according to the current road information, which is not limited herein.

In step S102, when it is detected that there is an intention to switch lanes, obstacle data of a blind area of a mirror of a vehicle is acquired.

In the embodiment of the application, when the vehicle changes lanes, obstacle area data of a blind area of a rearview mirror of the vehicle are obtained, and whether the lane can be changed according to the current road condition is judged according to the obstacle data. There are various ways to acquire obstacle data, such as installing sensors at multiple positions of a vehicle or directly adopting the sensors of the vehicle to judge obstacles, or acquiring the current image of the blind area of the rearview mirror through a camera and extracting the characteristics of the obstacles from the image.

As shown in fig. 2, taking a three-lane example, a vehicle 1 in a middle lane is a main vehicle, the direction indicated by an arrow is a forward direction, hatched areas 2 and 3 in the figure are mirror blind areas of the vehicle 1, and when it is detected that there is an intention to change lanes for the vehicle, obstacle data is detected in the mirror blind areas 2 and 3.

Optionally, in an embodiment of the present application, acquiring obstacle data of a blind zone of a rearview mirror of a vehicle includes: detecting whether an obstacle exists in a blind area of the rearview mirror; and if the obstacles exist, acquiring the actual position and the actual speed of each obstacle relative to the vehicle in the blind area of the rearview mirror, and generating obstacle data based on the actual positions and the actual speeds of all the obstacles.

In the embodiment of the present application, a vehicle or a pedestrian or the like in the blind zone of the rear view mirror may be regarded as an obstacle such as a moving or stationary vehicle or pedestrian, and this is not limitative. The obstacles in different positions and different motion states have different influences on the vehicle, when the obstacles are detected to exist in the blind area of the rearview mirror, the actual positions and the actual speeds of all the obstacles relative to the vehicle are collected, and obstacle data are generated according to the actual positions and the actual speeds of all the obstacles, so that whether the obstacles can threaten lane changing of the vehicle or not can be judged according to the obstacle data. If a running motor vehicle is detected in the blind area of the left rearview mirror of the vehicle, the position and the speed of the motor vehicle relative to the vehicle can be obtained, and therefore obstacle data can be obtained.

In the embodiment of the present application, the form of the obstacle data may be set, for example, the form may be an array or a matrix including the obstacle species and the obstacle position and speed.

In step S103, a lane change risk of the vehicle is identified from the obstacle data, and when a lane change risk is determined based on the lane change risk, the lane change risk is warned to the driver and the vehicle is controlled to stop changing lanes.

In the embodiment of the application, whether the blind area of the rearview mirror of the vehicle affects the lane changing risk of the vehicle is analyzed and confirmed according to the acquired barrier data, and whether the lane changing risk is confirmed. Taking a vehicle traveling in an adjacent lane as an example, when changing lanes, if the distance between the vehicle in the adjacent lane and the host vehicle is too close, for example, less than 10 meters, or the speed of the host vehicle is too high, there is a lane change risk. At this time, if it is detected that the vehicle has an intention to change lanes, for example, if it is detected that the turning angle of the steering wheel is greater than a preset angle or it is detected that a turn signal of the vehicle is turned on, it may be considered that the lane change is dangerous. When the lane change is dangerous, the lane change warning device can carry out dangerous lane change warning on a driver to remind the driver of cautiously changing the lane, the driver can stop the dangerous lane change warning after stopping changing the lane, and if the driver intends to change the lane, the lane change warning device can carry out certain intervention, such as locking a steering wheel or enhancing the strength of the dangerous lane change warning, so as to prevent vehicles from changing the lane, avoid traffic accidents and improve the driving safety.

Optionally, in an embodiment of the present application, the warning of lane change danger to the driver includes: determining the current state of the vehicle according to the actual working condition and the lane changing risk of the vehicle, wherein the current state is a closing state, a safety state, an alarming state or a fault state; and controlling the warning mark on each rearview mirror to display the current state, and controlling the vehicle-mounted display screen to display the current state.

In the embodiment of the application, the indicator lamps can be respectively arranged on the two rearview mirrors to display the current state of the vehicle, such as the current state of the vehicle is distinguished through different colors or the number of the normally-on indicator lamps and the like. The current state of the vehicle may also be displayed through the on-board display screen, such as directly displaying characters or displaying by using a pattern identifier, which is not limited specifically. The current state of the vehicle is informed to the driver through the rearview mirror or the vehicle-mounted display screen, and the driver is reminded, so that the lane change of the driver is assisted, and the driving safety is improved.

In the actual implementation process, the current state of the vehicle may be defined according to different situations, for example, in the application embodiment, the current state may be divided into an off state, a safe state, an alarm state, or a fault state. Specifically, the vehicle is in a starting state, the gear is in a non-reverse gear, the working condition of the vehicle is good, no obstacle influencing lane changing safety is detected in a blind zone of a rearview mirror, and at the moment, the state of the vehicle can be judged to be a safe state; when the vehicle is in a starting state, a gear is in a non-reverse gear, the working condition of the vehicle is good, and when an obstacle influencing lane change safety is detected on any side of a blind area of a rearview mirror, the state of the vehicle can be judged to be an alarm state; if the blind zone detection of the rearview mirror of the embodiment of the application is not used in the driving process, the state of the vehicle can be judged as the closed state; if a certain working condition parameter of the vehicle breaks down, the blind area detection of the rearview mirror cannot be carried out, and at the moment, the current working condition of the vehicle can be judged to be a fault state.

In the actual execution process, when the vehicle is started, whether the rearview mirror blind area detection of the embodiment of the application is started or not can be selected through the display screen or the console button to carry out lane change assistance and lane change early warning, wherein the lane change assistance and the lane change early warning can be set only once and then are all acquiescently determined to be in the starting state.

Optionally, in an embodiment of the present application, the warning of lane change danger to the driver includes: generating an alarm category according to the lane change risk; and controlling a warning device of the vehicle to execute corresponding warning actions according to the warning categories.

In the embodiment of the present application, the warning device may be an indicator light or a display sign on a rearview mirror or a vehicle-mounted display screen, a vehicle audio device, a vehicle vibration device, and the like, which is not particularly limited.

In the embodiment of the application, different warning categories can be set according to different lane changing risks, and corresponding warning actions are executed according to the warning categories, so that a driver can make a judgment quickly. The alert category may be set by a person skilled in the art according to actual conditions, and is not particularly limited in this regard.

For example, when an obstacle appears in the blind area of the rearview mirror, a primary warning can be set, the warning device executes a corresponding warning action, and for example, an indicator lamp on the rearview mirror or the vehicle-mounted display screen can be lighted up to serve as the warning action of the primary warning. The barrier appears in the rear-view mirror blind area, and detects that the vehicle has the intention of changing the lane, can set for the second grade warning, can light the warning action of pilot lamp as the second grade warning on two rear-view mirrors or the on-vehicle display screen. Except that can warn the warning of classification through the pilot lamp number difference, this application embodiment can also carry out the warning of different warning classifications through the different states of pilot lamp, like the length is bright, scintillation or different colour display.

Based on the above embodiment, if the lane change intention of the vehicle is detected to disappear in the secondary warning state, if the turn signal lamp or the steering wheel is turned back, the vehicle can exit from the secondary warning state, enter into the primary warning state, and execute the warning action corresponding to the primary warning category.

Referring to fig. 2, when a vehicle is in a starting state, a gear is in a non-reverse gear, and an obstacle appears in a rearview mirror blind area 2 or a rearview mirror blind area 3, the embodiment of the application determines that a lane change risk exists at the time, and can trigger a warning device on a corresponding side, if the vehicle does not have a lane change intention at the time, if an alarm side steering lamp is not turned on by a driver, the vehicle-mounted display screen lights a green function icon, and maintains a normally-on state, and the rearview mirror warning lamp keeps yellow and normally-on; under the condition of primary warning, if the vehicle has the intention of lane changing, if a driver turns on an alarm side steering lamp or rotates a steering wheel, secondary warning can be judged, functional icons of a vehicle-mounted display screen flicker, a rearview mirror reminding lamp keeps yellow flicker, and meanwhile, a vehicle sound device gives out sound prompt to prompt that the driver is dangerous when changing lanes currently.

Under the state of secondary warning, it is judged that no collision risk exists in front of a current travelling lane of the vehicle, the steering angle is larger than a certain value, and the distance between the current travelling lane of the vehicle and an obstacle is larger than a certain distance, as shown in fig. 3, the embodiment of the application receives steering controllable signal feedback of the steering controller through the vehicle body controller, sends a steering recovery signal to the steering controller, controls the steering motor to work through the steering controller, enables the vehicle to keep running on the original road, and effectively guarantees driving safety through active intervention on steering.

In some embodiments, a delay time period may be set when the vehicle overtakes, and the vehicle does not alarm within the delay time period, thereby reducing the number of false alarms. As shown in figure 2, when the vehicle is in a starting state, a gear is in a non-reverse gear, the main vehicle 1 overruns a certain vehicle, the overtaken vehicle passively enters a rearview mirror blind area 2 or 3, at the moment, the delay time is set to be 2 seconds, and the warning device of the vehicle does not give an alarm within 2 seconds.

In some embodiments, if the obstacle enters the blind area of the rearview mirror of the vehicle by the opposite driving or the obstacle is stationary in the blind area of the rearview mirror, the alarm is not given. As shown in figure 2, the vehicle is in a starting state, the gear is in a non-reverse gear, an obstacle drives in the opposite direction of the main vehicle 1 and enters a blind area 2 or 3 of a rearview mirror, and the vehicle warning device does not give an alarm.

In some embodiments, after the warning state is triggered, if the obstacle moves out of the blind zone of the rearview mirror, the warning signal may stop warning after a certain time, such as 3 seconds.

In some embodiments, when the vehicle is in a reverse gear and a barrier appears in a blind area of the rearview mirror, no alarm is given, and the use experience of a user is improved.

As shown in fig. 3, the method according to the embodiment of the present application may be implemented by the system shown in fig. 3, and the vehicle body controller may be responsible for driving the turn signal to light, receiving the target information collected by the radar sensors in front of and at the side of the vehicle, and performing logic judgment and calculation; the instrument controller can be responsible for displaying the state of the steering lamp and simulating secondary alarm sound; the steering controller can be responsible for controlling steering and steering angle acquisition; the gear controller can be responsible for collecting and processing gear information and READY information, and the large screen controller can be responsible for collecting the soft switching state of the blind zone safety auxiliary function.

According to the method for detecting the blind area of the rearview mirror of the vehicle, when the intention of lane changing of the vehicle is detected, the obstacle data of the blind area of the rearview mirror of the vehicle are obtained, the risk of lane changing of the vehicle is accurately identified according to the obstacle data, the danger warning of lane changing is carried out on a driver according to the risk of lane changing, meanwhile, the vehicle is actively controlled, the driving safety is effectively improved, and the technical problems that the detection mode of the rearview mirror blind area obstacle in the related technology is too rough, the early warning cannot be accurately carried out on the driver, the active intervention cannot be carried out on the vehicle when the potential safety hazard exists, the driving safety cannot be effectively guaranteed and the like are solved.

Next, a vehicle mirror blind area detection device proposed according to an embodiment of the present application is described with reference to the drawings.

Fig. 4 is an exemplary diagram of a vehicle mirror blind area detection device according to an embodiment of the present application.

As shown in fig. 4, the vehicle mirror blind spot detection apparatus 10 includes: a detection module 100, an acquisition module 200, and a control module 300.

The detection module 100 is used for detecting whether the vehicle has a lane change intention. The obtaining module 200 is configured to obtain obstacle data of a blind area of a rearview mirror of a vehicle when a lane-changing intention is detected. The control module 300 is configured to identify a lane change risk of the vehicle according to the obstacle data, and control the vehicle to stop changing lanes while performing lane change risk warning on the driver when determining the lane change risk based on the lane change risk.

Optionally, in an embodiment of the present application, the obtaining module 200 is specifically configured to detect whether an obstacle exists in the blind area of the rearview mirror, collect an actual position and an actual speed of each obstacle in the blind area of the rearview mirror relative to the vehicle if the obstacle exists, and generate obstacle data based on the actual positions and the actual speeds of all the obstacles.

Optionally, in an embodiment of the present application, the control module 300 includes: and the determining unit is used for determining the current state of the vehicle according to the actual working condition and the lane changing risk of the vehicle, wherein the current state is a closing state, a safety state, an alarming state or a fault state. And the warning unit is used for controlling the warning mark on each rearview mirror to display the current state and controlling the vehicle-mounted display screen to display the current state.

Optionally, in an embodiment of the present application, the detecting module 100 is specifically configured to detect a steering angle of a steering wheel of a vehicle, and determine that there is a lane-changing intention when the steering angle is greater than a preset angle; or, whether a turn signal of the vehicle is turned on or not is judged, and if the turn signal is turned on, the intention of lane changing is judged.

Optionally, in an embodiment of the present application, the control module 300 includes: and the generating unit is used for generating the warning category according to the lane change risk. And the execution unit is used for controlling the warning device of the vehicle to execute the corresponding warning action according to the warning type.

It should be noted that the foregoing explanation of the embodiment of the vehicle rearview mirror blind area detection method is also applicable to the vehicle rearview mirror blind area detection device of the embodiment, and is not repeated herein.

According to the vehicle rearview mirror blind area detection device provided by the embodiment of the application, when the fact that the vehicle has the intention of changing the lane is detected, the obstacle data of the vehicle rearview mirror blind area are obtained, the lane changing risk of the vehicle is accurately identified according to the obstacle data, the lane changing danger warning is carried out on a driver according to the lane changing risk, meanwhile, the vehicle is actively controlled, and the driving safety is effectively improved. The technical problems that the detection mode of the related technology for the obstacles in the blind area of the rearview mirror is too rough, early warning cannot be accurately performed on a driver, active intervention cannot be performed on a vehicle when potential safety hazards exist, driving safety cannot be effectively guaranteed and the like are solved.

Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The electronic device may include:

a memory 501, a processor 502, and a computer program stored on the memory 501 and executable on the processor 502.

The processor 502 executes a program to implement the vehicle mirror blind spot detection method provided in the above-described embodiment.

Further, the vehicle further includes:

a communication interface 503 for communication between the memory 501 and the processor 502.

A memory 501 for storing computer programs that can be run on the processor 502.

The memory 501 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.

Optionally, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may complete communication with each other through an internal interface.

The processor 502 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

The present embodiment also provides a computer-readable storage medium having stored thereon a computer program characterized in that the program, when executed by a processor, implements the vehicle mirror blind spot detection method as above.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means 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 application. In this specification, the schematic representations of the terms used above are not necessarily intended to 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 N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

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 application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. 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.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A vehicle rearview mirror blind area detection method is characterized by comprising the following steps:

detecting whether the vehicle has a lane changing intention;

when the lane changing intention is detected, acquiring obstacle data of a blind area of a rearview mirror of the vehicle;

and recognizing lane change risks of the vehicle according to the obstacle data, and controlling the vehicle to stop lane change while warning lane change dangers to a driver when determining lane change dangers based on the lane change risks.

2. The method of claim 1, wherein the obtaining obstacle data for a blind zone of a rear view mirror of the vehicle comprises:

detecting whether an obstacle exists in the blind area of the rearview mirror;

and if the obstacles exist, acquiring the actual position and the actual speed of each obstacle in the blind area of the rearview mirror relative to the vehicle, and generating obstacle data based on the actual positions and the actual speeds of all the obstacles.

3. The method of claim 1, wherein the alerting the driver of the lane change hazard comprises:

determining the current state of the vehicle according to the actual working condition of the vehicle and the lane changing risk, wherein the current state is a closing state, a safety state, an alarming state or a fault state;

and controlling the warning mark on each rearview mirror to display the current state, and controlling the vehicle-mounted display screen to display the current state.

4. The method of claim 1, wherein the detecting whether the vehicle has an intent to switch lanes comprises:

detecting a steering angle of a steering wheel of the vehicle, and judging that the lane changing intention exists when the steering angle is larger than a preset angle;

or judging whether a steering lamp of the vehicle is turned on, and if the steering lamp is turned on, judging that the lane changing intention exists.

5. The method of claim 1, wherein the alerting the driver of the lane change hazard comprises:

generating an alarm category according to the lane change risk;

and controlling a warning device of the vehicle to execute corresponding warning actions according to the warning categories.

6. A vehicle rearview mirror blind area detection device, comprising:

the detection module is used for detecting whether the vehicle has a lane changing intention;

the acquisition module is used for acquiring barrier data of a blind area of a rearview mirror of the vehicle when the lane changing intention is detected; and

and the control module is used for identifying the lane changing risk of the vehicle according to the barrier data, and controlling the vehicle to stop changing lanes while warning the lane changing risk of the driver when determining the lane changing risk based on the lane changing risk.

7. The method of claim 1, wherein the obtaining module is specifically configured to:

detecting whether obstacles exist in the blind area of the rearview mirror, if so, acquiring the actual position and the actual speed of each obstacle in the blind area of the rearview mirror relative to the vehicle, and generating obstacle data based on the actual positions and the actual speeds of all the obstacles.

8. The method of claim 1, wherein the control module comprises:

the determining unit is used for determining the current state of the vehicle according to the actual working condition of the vehicle and the lane changing risk, wherein the current state is a closing state, a safety state, an alarming state or a fault state;

and the warning unit is used for controlling the warning mark on each rearview mirror to display the current state and controlling the vehicle-mounted display screen to display the current state.

9. A vehicle, characterized by comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor executing the program to implement the vehicle mirror blind spot detection method according to any one of claims 1 to 5.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for implementing the vehicle mirror blind spot detection method according to any one of claims 1 to 5.