CN113415236A - Heavy-duty vehicle blind area monitoring and early warning system - Google Patents

Heavy-duty vehicle blind area monitoring and early warning system Download PDF

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Publication number
CN113415236A
CN113415236A CN202110796071.7A CN202110796071A CN113415236A CN 113415236 A CN113415236 A CN 113415236A CN 202110796071 A CN202110796071 A CN 202110796071A CN 113415236 A CN113415236 A CN 113415236A
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CN
China
Prior art keywords
early warning
blind area
vehicle
information
danger
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Pending
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CN202110796071.7A
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Chinese (zh)
Inventor
冯梦琦
费明浩
蔡欣呈
丁天澄
汪涛
黄淑仪
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Nantong Institute of Technology
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Nantong Institute of Technology
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Priority to CN202110796071.7A priority Critical patent/CN113415236A/en
Publication of CN113415236A publication Critical patent/CN113415236A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means

Abstract

The invention discloses a heavy-duty vehicle blind area monitoring and early warning system, relates to the technical field of blind area early warning systems, and solves the problems that partial attention of a driver can be diverted by the existing sight blind area early warning method and the like. The method comprises the following steps: the object detection module is used for acquiring object detection information in a dead zone of the heavy-duty vehicle; the information processing module is used for analyzing the detection information and recording the motion position and the motion state of the object in the blind area; the danger prediction module is used for dividing danger coefficients of objects in the blind area according to the positions and the motion states of the objects in the blind area; and the early warning module is used for sending out early warning information according to the highest danger coefficient, wherein the early warning information comprises driving side information for early warning a driver in the vehicle and vehicle-outside early warning information for warning pedestrians or vehicles outside the vehicle. The vehicle blind area visual field is obtained, moving objects around the vehicle body are monitored in real time, the danger level is divided for the moving objects, and therefore the effect of improving safety is achieved.

Description

Heavy-duty vehicle blind area monitoring and early warning system
Technical Field
The invention relates to the technical field of blind area early warning systems, in particular to a heavy-duty vehicle blind area monitoring and early warning system.
Background
The prior art starts to solve the problem of sight blind areas from three directions, the first method eliminates the sight blind areas by modifying a rearview mirror or a perspective auxiliary glasses of an automobile, so that partial attention of a driver is transferred while the sight blind areas are eliminated, and the danger coefficient is improved; the second method utilizes ultrasonic waves, infrared rays, radars, cameras and the like to detect the distance between a barrier and a vehicle body, and splices the surrounding environment of the vehicle body onto a central console for a driver to observe, so that the method prolongs the reaction time of the driver, and causes untimely operation and improper operation; the third method utilizes the V2X technology to connect the pedestrian and vehicle roads and the like to one block to acquire mutual information to solve the problem of blind sight areas, and the method is difficult to realize and has high land falling cost.
Disclosure of Invention
The invention aims to provide a heavy-duty vehicle blind area monitoring and early warning system which can carry out direct early warning by acquiring the field of vision of the vehicle blind area, monitoring moving objects around a vehicle body in real time and classifying danger grades for the moving objects, thereby improving the safety.
The technical purpose of the invention is realized by the following technical scheme:
the utility model provides a heavy-duty vehicle blind area monitoring and early warning system, includes:
the object detection module is used for acquiring object detection information in a dead zone of the heavy-duty vehicle;
the information processing module is used for analyzing the detection information and recording the motion position and the motion state of the object in the blind area;
the danger prediction module is used for dividing danger coefficients of objects in the blind area according to the positions and the motion states of the objects in the blind area;
and the early warning module is used for sending out early warning information according to the highest danger coefficient, wherein the early warning information comprises driving side information for early warning a driver in the vehicle and vehicle-outside early warning information for warning pedestrians or vehicles outside the vehicle.
Further, the object detection module includes a plurality of radars for sensing the closest obstacle within the blind zone.
Further, the analysis of the detection information includes identifying objects within the blind zone, classifying the identified objects, and tracking and locating the objects.
Furthermore, the danger prediction module calculates the current speed and the collision time T between the vehicle body and the object under the current speed state of the object according to the motion position and the motion state of the object, and the collision time T is a preset value T when no collision is predictedMAnd dividing the danger coefficient according to the transverse distance L between the object and the vehicle body and the predicted collision time T.
Further, the risk factor is classified into 0-3 class, L0~3And T0~3Is a predetermined value, TM≥T1，
L1≤L≤L0Or T is more than or equal to T1When, risk factor = 1;
L2≤L<L1or T2≤T<T1When, risk factor = 2;
L<L2or T<T2Risk factor = 3.
Furthermore, the early warning module comprises a voice broadcasting system, when the highest risk coefficient =1, the driving side information prompts 'caution, vehicle or pedestrian enters a blind area of visual field, please drive cautiously' through the voice broadcasting system;
when the danger coefficient =2, the driving side information prompts 'alarm, vehicle or pedestrian out of control risk, and please slow down and walk' through a voice broadcasting system;
when the danger coefficient =3, the driving side information prompts danger through a voice broadcasting system! Please check for parking.
Furthermore, the early warning module still includes the blind area projection arrangement that is used for instructing vehicle blind area position, and when danger coefficient =1 and the projection function was started, blind area projection arrangement opened.
Furthermore, the early warning module further comprises a plurality of warning lamps and an alarm which are connected with the vehicle body, and when the danger coefficient =2, the early warning information outside the vehicle comprises the flickering of the warning lamps; when the danger coefficient =3, the early warning information outside the vehicle includes the flashing of a warning lamp and the sounding of an alarm.
Furthermore, the early warning module further comprises a straight and turning collision database, when the danger coefficient is larger than or equal to 2, the early warning module outputs an optimal action solution according to the object motion position and motion state corresponding to the straight and turning collision database, and the driving side information is used for prompting through a voice broadcasting system.
In conclusion, the invention has the following beneficial effects:
through obtaining the vehicle blind area field of vision, remove the thing around the real-time supervision automobile body to for it divides danger level and carries out direct early warning, the early warning module has included driving side information and outer early warning information of car, not only indicates driver's blind area information and operation suggestion, still indicates outer vehicle or pedestrian with the blind area scope and warn, improves driving safety.
Drawings
Fig. 1 is a schematic diagram of the structural principle of the present invention.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings, and the present embodiment is not to be construed as limiting the invention.
A heavy vehicle blind area monitoring and early warning system, as shown in figure 1, includes:
the object detection module is used for acquiring object detection information in a dead zone of the heavy-duty vehicle; the object detection module comprises a camera and a plurality of radars, the radars are used for sensing the closest obstacles in the blind area, and the camera and the radar are fused for carrying out 360-degree auxiliary detection;
the information processing module is used for analyzing the detection information and recording the motion position and the motion state of the object in the blind area; the analysis of the detection information comprises the steps of identifying objects in the blind areas, classifying the identified objects, tracking and positioning each object, positioning and analyzing the objects in all the blind areas, and analyzing only a plurality of closest targets;
the danger prediction module is used for dividing danger coefficients of objects in the blind area according to the positions and the motion states of the objects in the blind area;
specifically, the danger prediction module calculates the current speed and the collision time T of the vehicle body and the object under the current speed state of the object according to the motion position and the motion state of the object, and the collision time T is a preset value T when no collision is predictedMDividing a danger coefficient according to the transverse distance L between the object and the vehicle body and the predicted collision time T;
wherein the danger coefficient is 0-3 grade, L0~3And T0~3Is a predetermined value, TM≥T1，
L1≤L≤L0Or T is more than or equal to T1When, risk factor = 1;
L2≤L<L1or T2≤T<T1When, risk factor = 2;
L<L2or T<T2When the risk factor =3,
in this example, T2For the set reaction time, take 1.5s, L2For the set reaction distance, 0.1m, T is taken1Take 2X T2，L0Taking the maximum transverse distance, L, of the blind area1Take (L)0+L2）/2。
The early warning module is used for sending out early warning information according to the highest danger coefficient, wherein the early warning information comprises driving side information for early warning a driver in the vehicle and vehicle outside early warning information for warning pedestrians or vehicles outside the vehicle;
the early warning module comprises an in-vehicle voice broadcasting system, when the highest risk coefficient =1, the driving side information prompts attention through the voice broadcasting system, and vehicles or pedestrians enter a visual field blind area to please drive cautiously;
when the danger coefficient =2, the driving side information prompts 'alarm, vehicle or pedestrian out of control risk, and please slow down and walk' through a voice broadcasting system;
when the danger coefficient =3, the driving side information prompts danger through a voice broadcasting system! Please check for parking.
The early warning module still includes the blind area projection arrangement that is used for instructing vehicle blind area position and the light sense sensor (or visibility sensor) that control blind area projection arrangement opened and close, and when the visibility was less than the setting value outside sensing vehicle, the light sense sensor controlled the projection function switch and opened, and when danger coefficient =1, blind area projection arrangement opened.
The vehicle body is connected with a plurality of warning lamps and alarms, and when the danger coefficient =2, the early warning information outside the vehicle comprises the flickering of the warning lamps; when the danger coefficient =3, the early warning information outside the vehicle includes the flashing of a warning lamp and the sounding of an alarm.
The early warning module also comprises a preset straight-going and turning collision database, optimal action solutions in states of position intervals, movement speed intervals and the like are divided, when the danger coefficient is larger than or equal to 2, the early warning module corresponds to the straight-going and turning collision database according to the movement positions and the movement states of the objects, the optimal action solutions are output, and the driving side information is used for prompting through a voice broadcasting system.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention.

Claims (9)

1. The utility model provides a heavy-duty vehicle blind area monitoring and early warning system which characterized in that: the method comprises the following steps:
the object detection module is used for acquiring object detection information in a dead zone of the heavy-duty vehicle;
the information processing module is used for analyzing the detection information and recording the motion position and the motion state of the object in the blind area;
the danger prediction module is used for dividing danger coefficients of objects in the blind area according to the positions and the motion states of the objects in the blind area;
and the early warning module is used for sending out early warning information according to the highest danger coefficient, wherein the early warning information comprises driving side information for early warning a driver in the vehicle and vehicle-outside early warning information for warning pedestrians or vehicles outside the vehicle.
2. The blind area monitoring and early warning system for heavy vehicles according to claim 1, characterized in that: the object detection module comprises a plurality of radars for sensing the closest obstacle in the blind zone.
3. The blind area monitoring and early warning system for heavy vehicles according to claim 1 or 2, characterized in that: the analysis of the detection information includes identifying objects within the blind zone, classifying the identified objects, and tracking and locating each object.
4. The blind area monitoring and early warning system for heavy vehicles according to claim 1, characterized in that: the danger prediction module calculates the current speed and the collision time T of the vehicle body and the object under the current speed state of the current object according to the motion position and the motion state of the object, and the collision time T is a preset value T when no collision is predictedMAnd dividing the danger coefficient according to the transverse distance L between the object and the vehicle body and the predicted collision time T.
5. The blind area monitoring and early warning system for heavy vehicles according to claim 4, characterized in that: the danger coefficient is divided into 0-3 grade, L0~2And T0~2Is a predetermined value, TM≥T1，
L1≤L≤L0Or T is more than or equal to T1When, risk factor = 1;
L2≤L<L1or T2≤T<T1When, risk factor = 2;
L<L2or T<T2Risk factor = 3.
6. The blind area monitoring and early warning system for heavy vehicles according to claim 5, characterized in that:
the early warning module comprises a voice broadcasting system, when the highest risk coefficient =1, the driving side information prompts attention through the voice broadcasting system, and vehicles or pedestrians enter a visual field blind area to please drive cautiously;
when the danger coefficient =2, the driving side information prompts 'alarm, vehicle or pedestrian out of control risk, and please slow down and walk' through a voice broadcasting system;
when the danger coefficient =3, the driving side information prompts danger through a voice broadcasting system! Please check for parking.
7. The blind area monitoring and early warning system for heavy vehicles according to claim 5 or 6, characterized in that: the early warning module still includes the blind area projection arrangement that is used for instructing vehicle blind area position, and danger coefficient =1 and when the projection function was started, blind area projection arrangement opened.
8. The blind area monitoring and early warning system for heavy vehicles according to claim 5 or 6, characterized in that: the early warning module further comprises a plurality of warning lamps and an alarm which are connected with the vehicle body, and when the danger coefficient =2, the early warning information outside the vehicle comprises the flickering of the warning lamps; when the danger coefficient =3, the early warning information outside the vehicle includes the flashing of a warning lamp and the sounding of an alarm.
9. The blind area monitoring and early warning system for heavy vehicles according to claim 5, characterized in that: the early warning module further comprises a straight and turning collision database, when the danger coefficient is larger than or equal to 2, the early warning module corresponds to the straight and turning collision database according to the motion position and the motion state of the object, outputs an optimal action solution, and prompts the optimal action solution through a voice broadcasting system according to the information of the driving side.
CN202110796071.7A 2021-07-14 2021-07-14 Heavy-duty vehicle blind area monitoring and early warning system Pending CN113415236A (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114212097A (en) * 2021-12-16 2022-03-22 东风汽车集团股份有限公司 Intelligent driving auxiliary control system and control method
WO2023051239A1 (en) * 2021-09-29 2023-04-06 深圳市塞防科技有限公司 Vehicle visual blind area early warning system and method, and vehicle

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Publication number Priority date Publication date Assignee Title
CN110329152A (en) * 2019-06-25 2019-10-15 北京邮电大学 It is a kind of using algorithm of target detection as the driving blind area early warning system of core
CN110430401A (en) * 2019-08-12 2019-11-08 腾讯科技（深圳）有限公司 Vehicle blind zone method for early warning, prior-warning device, MEC platform and storage medium
CN112428953A (en) * 2019-08-23 2021-03-02 长城汽车股份有限公司 Blind area monitoring alarm method and device
CN112485784A (en) * 2020-11-03 2021-03-12 浙江吉利控股集团有限公司 Method and device for determining danger coefficient of target in inner wheel difference region, electronic equipment and storage medium
CN112977253A (en) * 2021-03-11 2021-06-18 同济大学 Two-way safety auxiliary system for vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110329152A (en) * 2019-06-25 2019-10-15 北京邮电大学 It is a kind of using algorithm of target detection as the driving blind area early warning system of core
CN110430401A (en) * 2019-08-12 2019-11-08 腾讯科技（深圳）有限公司 Vehicle blind zone method for early warning, prior-warning device, MEC platform and storage medium
CN112428953A (en) * 2019-08-23 2021-03-02 长城汽车股份有限公司 Blind area monitoring alarm method and device
CN112485784A (en) * 2020-11-03 2021-03-12 浙江吉利控股集团有限公司 Method and device for determining danger coefficient of target in inner wheel difference region, electronic equipment and storage medium
CN112977253A (en) * 2021-03-11 2021-06-18 同济大学 Two-way safety auxiliary system for vehicle

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023051239A1 (en) * 2021-09-29 2023-04-06 深圳市塞防科技有限公司 Vehicle visual blind area early warning system and method, and vehicle
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CN114212097B (en) * 2021-12-16 2023-09-05 东风汽车集团股份有限公司 Intelligent driving auxiliary control system and control method

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Application publication date: 20210921

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