CN113879297A - Vehicle vision blind area early warning system and method and vehicle - Google Patents
Vehicle vision blind area early warning system and method and vehicle Download PDFInfo
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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
- 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
- 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
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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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
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
- 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
- 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
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
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- B60—VEHICLES IN GENERAL
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- 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
- B60W40/10—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 vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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Abstract
The invention relates to the technical field of vehicle early warning systems, and discloses a vehicle vision blind area early warning system, a vehicle vision blind area early warning method and a vehicle. The vehicle vision blind area early warning system comprises a controller, and a radar component, an early warning component and an early warning decision module which are respectively connected with the controller; the radar component is used for collecting the motion information of the obstacles in the preset range on the side surface of the vehicle; the early warning decision module is used for acquiring running information of a vehicle, acquiring a first motion track of the vehicle according to the running information, acquiring a second motion track of an obstacle according to the motion information acquired by the radar component, acquiring early warning conditions according to the first motion track and the second motion track and sending the early warning conditions to the controller; the controller is used for sending the alarm instruction of corresponding grade to the early warning subassembly according to the early warning condition to make the early warning subassembly carry out the early warning of different strong and weak grades, promote early warning system's intelligent degree, reduce the accident rate of the accident because of vehicle blind area takes place, alleviate driver's driving burden.
Description
Technical Field
The invention relates to the technical field of vehicle early warning systems, in particular to a vehicle visual field blind area early warning system, a vehicle visual field blind area early warning method and a vehicle.
Background
The main reason that the heavy truck generates road safety accidents is that blind areas exist in side view, and a driver cannot find pedestrians and vehicles to cause accidents; the secondary reasons are that the heavy truck has inner and outer wheel differences, the driver cannot accurately predict the driving track of the truck to cause accidents, or pedestrians and surrounding vehicles accidentally enter the driving track of the truck due to the fact that the inner and outer wheel differences of the truck are not considered to cause accidents. These traffic accidents involving heavy trucks are often rare and cause irreparable loss of life and property safety for people.
At present, in the prior art, a driver mainly depends on the traditional reflectors on two sides for observation, and the observation range of the reflectors is limited; some vehicles are additionally provided with an additional early warning device, the early warning device can make sound and light to remind pedestrians to avoid when the vehicles turn, or a driver is warned by detecting obstacles around the vehicles, or panoramic observation is realized through a camera; these methods have certain limitations: the condition that the pedestrians cannot avoid timely or even not exists when the pedestrians are reminded to avoid, the actual effect is poor, and even the peripheral pedestrians or vehicles can feel disliked; the driver is warned, the distance of the obstacle cannot be directly obtained, the driver can only frequently observe and decelerate, and reasonable coping cannot be carried out according to the risk of collision; panoramic observation requires a driver to stare at a screen and observe all the time, and at the moment, the driver needs to consider other conditions at the same time, so that distraction is easy.
Disclosure of Invention
The technical problem mainly solved by the embodiment of the invention is that corresponding early warning prompts are provided according to the risk level of possible collision of the obstacle in the blind area, and the time of collision of the vehicle and the obstacle is prompted to a driver, so that the vehicle is decelerated or braked in a targeted manner.
In order to solve the above technical problem, one technical solution adopted by the embodiment of the present invention is: the vehicle vision blind area early warning system comprises a controller, and a radar component, an early warning component and an early warning decision module which are respectively connected with the controller; the radar component is used for collecting the movement information of the obstacles in the preset range on the side surface of the vehicle; the early warning decision module is used for: acquiring running information of vehicle running; acquiring a first motion track of vehicle running according to the running information; acquiring a second motion trail of the obstacle according to the motion information acquired by the radar component; acquiring an early warning condition according to the first motion track and the second motion track, and sending the early warning condition to the controller; the controller is used for sending alarm instructions of corresponding levels to the early warning assembly according to the early warning conditions so that the early warning assembly can perform early warning of different levels of strength.
In some embodiments, the early warning decision module is integrally disposed within the radar component; or integrated within the controller.
In some embodiments, the vehicle blind zone of vision early warning system further comprises a camera assembly for capturing images within a preset range.
In some embodiments, the vehicle blind area vision early warning system further comprises a display panel, the display panel is arranged in the cab, and the display panel is used for displaying pictures shot by the camera assembly.
In some embodiments, the display panel is further configured to display the first motion profile and the second motion profile.
In some embodiments, the early warning decision module is connected to a CAN interface of a vehicle, and acquires the driving information of the vehicle through the CAN interface.
In some embodiments, the vehicle blind zone of vision early warning system further comprises a rotation speed sensor and an angle sensor, wherein the rotation speed sensor is electrically connected with the controller and is used for detecting the rotation speed of the wheels of the vehicle; the angle sensor is electrically connected to the controller and is used to detect a rotation angle of a steering wheel of the vehicle.
In some embodiments, the vehicle blind zone of vision early warning system further comprises a braking module electrically connected with the controller and used for sending a braking instruction to the vehicle.
In some embodiments, the vehicle blind vision zone warning system further comprises a self-checking module electrically connected to the controller and configured to detect whether the vehicle blind vision zone warning system is in a fault state or a limited state.
In some embodiments, a system status indicator light is disposed on the warning assembly for indicating whether the vehicle blind spot warning system is in a fault condition and a restricted condition.
In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is: a vehicle is provided with the vehicle vision blind area early warning system.
In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is: there is provided a vehicle sight-blind area early warning method, which is applied to the vehicle sight-blind area early warning system as described above, and includes: acquiring running information of vehicle running; acquiring a first motion track of vehicle running according to the running information; acquiring the motion information of an obstacle in a preset range on the side of a vehicle; acquiring a second motion trail of the barrier according to the motion information; acquiring an early warning condition according to the first motion track and the second motion track; and controlling the early warning assembly to perform early warning of corresponding levels according to the early warning conditions.
In some embodiments, the obtaining an early warning condition according to the first motion trajectory and the second motion trajectory includes: the first motion trail and the second motion trail are both functions containing time variables; arranging interference frame lines around track points of the first motion track and the second motion track; and introducing the first motion track and the second motion track into a horizontal coordinate system, and calculating the time when the interference frame lines of the first motion track and the second motion track interfere and the coordinates of the track points by using an enumeration method, wherein the value interval of the enumeration method is less than or equal to 0.1 s.
Different from the situation of the related technology, the vehicle vision blind area early warning system, the vehicle vision blind area early warning method and the vehicle provided by the embodiment of the invention can be used for collecting the motion information of the obstacles in the blind areas on the sides of the vehicle, predicting the track of the obstacles, predicting the possible collision by combining the running information of the vehicle, converting the predicted information into early warning conditions, and triggering early warning of corresponding grades according to the early warning conditions. The multi-level early warning method can prompt the driver of the degree of coping with the collision possibly occurring, avoid frequent invalid early warning from influencing the attention of the driver, and avoid causing the driver to be relaxed and mentally exhausted; and strong early warning can be carried out on the collision with higher risk, the driver is timely reminded to pay attention to deceleration and avoidance, the intelligent degree of the early warning system is fully improved, the accident rate of accidents caused by vehicle blind areas is reduced, the driving burden of the driver is reduced, and the driving safety of the automobile is improved.
Drawings
One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.
FIG. 1 is a schematic structural diagram of a vehicle blind area vision early warning system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a vehicle blind spot warning system according to another embodiment of the present invention;
FIG. 3 is an instruction level diagram of an embodiment of the invention:
FIG. 4 is a diagram illustrating the states of the early warning component system normal, system failure, and system limited according to an embodiment of the present invention;
FIG. 5 is a block diagram of a vehicle blind area early warning method according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a trajectory prediction of a vehicle blind zone of view early warning system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in the device diagrams, with logical sequences shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than the block divisions in the device diagrams, or the flowcharts.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and fig. 2, a vehicle blind spot warning system 100 is provided, in which the vehicle blind spot warning system 100 of the present invention includes: the device comprises a controller 1, and a radar component 2, an early warning decision module 3, an early warning component 4, a camera component 5, a display panel 6, a brake module 7, a self-checking module 8, a rotating speed sensor 9 and an angle sensor 10 which are respectively connected with the controller 1.
The radar component 2 is used for collecting the movement information of the obstacle 200 in the preset range on the side surface of the vehicle 300; the early warning decision module 3 is configured to process the motion information of the obstacle 200 acquired by the radar component 2, generate the first motion trajectory and the first motion trajectory, and determine an early warning condition for collision with the obstacle 200; the controller 1 is used for sending an alarm instruction with a corresponding grade to the early warning component 4 according to the early warning condition; the early warning component 4 is used for carrying out early warning of different levels of strength according to the early warning conditions so as to prompt a driver to decelerate and avoid, thereby realizing early warning of a visual field blind area of the vehicle 300; the camera assembly 5 is used for shooting images within a preset range; the display panel 6 is used for displaying the photographed image, the first motion trajectory and the second motion trajectory, so that a driver can visually check the moving trajectories of the vehicle 300 and the obstacle 200, and can easily avoid possible collision; the braking module 7 is used for sending emergency braking information to the vehicle 300, so that emergency braking measures are taken when high risk of collision exists, and accidents caused by untimely response of a driver are avoided; the self-checking module 8 is configured to detect a working state of the vehicle vision blind area early warning system 100, and send a detection result to the early warning component 4 for indication; the rotation speed sensor 9 and the angle sensor 10 are used for acquiring the rotation speed of a wheel and the rotation angle of a steering wheel, and sending speed and angle information to the early warning decision module 3.
The vehicle view blind area early warning system 100, the vehicle view blind area early warning method and the vehicle 300 can collect the motion information of the obstacle 200 in the blind area at the side edge of the vehicle 300, predict the track of the obstacle, predict the possible collision by combining the running information of the vehicle 300, convert the predicted information into the early warning condition and trigger the early warning of the corresponding grade according to the early warning condition. The multi-level early warning method can prompt the driver of the degree of coping with the collision possibly occurring, avoid frequent invalid early warning from influencing the attention of the driver, and avoid causing the driver to be relaxed and mentally exhausted; and strong early warning can be carried out on the collision with higher risk, and the driver is timely reminded to pay attention to deceleration and avoidance. Fully promote early warning system's intelligent degree, reduce the accident rate because of the accident that vehicle 300 blind areas took place, alleviate driver's driving burden, improve the security that the car went, the practicality is strong.
For the controller 1, the controller 1 is disposed in a cab of the vehicle 300 and integrated with the display panel 6, and the controller 1 is configured to send an alarm instruction of a corresponding level to the early warning component 4 according to the early warning condition, so that the early warning component 4 performs early warning of different levels of strength.
In one embodiment, please refer to fig. 3, the levels of the alarm commands of the controller 1 are divided into four levels according to the collision time, the collision time is greater than T1, the four levels are four-level commands, the visual early warning is triggered, the yellow light is normally on, the target is detected by the radar, but cannot be observed by the camera; the collision time between T1 and T2 is a three-level instruction, at this time, visual early warning is triggered, the yellow light flickers, a driver can observe the barrier 200 through the picture displayed by the display panel 6 and can adjust the driving direction of the vehicle 300 to avoid; the collision time between T2 and T3 is a secondary instruction, visual and sound early warning is triggered, the yellow light flickers, the early warning component 4 gives out an alarm sound, and a driver needs to adjust the driving direction and decelerate in time; a collision time less than T3 is a primary command, triggering a visual and audible warning and emergency braking, and the vehicle 300 is forcibly braked. Wherein T1 > T2 > T3.
In one embodiment, the controller 1 is directly connected to the radar assembly 2, the warning assembly 4, the camera assembly 5, the display panel 6, the rotation speed sensor 9 and the angle sensor 10, and the brake module 7 and the self-test module 8 are built in the controller 1.
With the above-described radar assembly 2, at least two side radars having a wide field of view capable of detecting the targets in the front side and the rear side of the vehicle 300 at the same time are included. The at least two lateral radars are installed on the left side and the right side of the outside of the vehicle 300, and the lateral radars can detect the motion information of the obstacle 200 within a preset range on the side of the vehicle 300 and send the data to the early warning decision module 3. The obstacle 200 includes a vehicle 300 and a pedestrian, and the radar unit 2 is capable of detecting a dynamic weak target and a static weak target.
In a specific embodiment, the side radar adopts a high-performance radar with 180 ° FOV, two side radars are installed on the outer side of the vehicle 300 and have a height of 70-80cm from the ground, and specific signals of the side radars are as follows: the ASR100, V1.0, with the working frequency band at 77GHz, when installed on the side of the vehicle 300, has the farthest detection distance of 80m between the front of the vehicle 300 and the rear of the vehicle 300, and has excellent resolution and measurement accuracy, and can stably detect the position of the target.
In one embodiment, multiple small range radars may be used in place of the lateral radar described above, which can reduce imaging distortion.
In a particular embodiment, the radar component 2 is a millimeter wave radar or an ultrasonic radar.
In one embodiment, the radar component 2 further includes a reverse radar and/or a forward radar, the reverse radar is disposed behind the vehicle 300, and the forward radar is disposed in front of the vehicle 300, so that the function of the vehicle vision blind area early warning system 100 can be enriched, and the system can not only detect blind areas at the sides of the vehicle 300, but also detect blind areas behind the vehicle and close to the front of the vehicle 300, so as to facilitate the vehicle 300 to reverse and run on a narrow road.
According to the embodiment of the invention, the radar component 2 is arranged, so that the obstacles 200 in the blind areas in front of and behind the side of the vehicle 300 can be detected, the early warning function of the blind areas is realized, the radar detection is not influenced by light and weather, and the detection effect is good.
As for the above-mentioned early warning decision module 3, please refer to fig. 1 and fig. 2, the early warning decision module 3 is integrally disposed in the controller 1 or integrally disposed in the radar component 2, and when integrally disposed in the controller 1, data is exchanged with the radar component 2, the CAN interface, the rotation speed sensor 9 and the angle sensor 10 through the controller 1; when the integration is arranged in the radar component 2, data are directly exchanged with the rotating speed sensor 9 and the angle sensor 10 through the radar component 2, and data are exchanged with the CAN interface through the controller 1. The decision information obtained by the alarm decision module is sent to the controller 1 for final execution.
The early warning decision module 3 acquires the running information of the vehicle 300 through the CAN interface; or the running information of the vehicle 300 including the running speed of the vehicle 300 and the turning angle, which can be converted by the detection of the steering wheel angle, is acquired through the speed sensor and the angle sensor 10.
In one embodiment, the early warning decision module 3 obtains the driving information of the vehicle 300 only when the turning angle of the vehicle 300 is larger than A1And the track can be calculated and predicted only when the vehicle reaches the preset value, so that unnecessary calculation force is saved, the long-time stable work of the vehicle vision blind area early warning system 100 is ensured, and the power consumption can be reduced. The radar unit 2 can detect a dynamic weak target and a static weak target when the turning angle of the vehicle 300 is less than A1And when the target is detected, the early warning decision module 3 controls the radar component 2 to detect only the dynamic weak target.
The early warning decision module 3 obtains a first motion track of the vehicle 300 according to the running information, and calculates a first motion track of the vehicle 300 moving on the ground according to the running speed of the vehicle 300 and the turning angle of the vehicle 300, wherein the first motion track is a function X containing time t1(t)、Y1(t) a set of points in two-dimensional coordinates.
The early warning decision module 3 obtains a second motion track of the obstacle 200 according to the motion information acquired by the radar component 2, and calculates a second motion track of the obstacle 200 moving on the ground according to the motion information of the obstacle 200 within a preset range acquired by the radar component 2, including the motion direction and the speed of the obstacle 200, wherein the second motion track is also a function X containing time t2(t)、Y2(t) a set of points in two-dimensional coordinates.
It should be noted that, here, the first motion trajectory and the second motion trajectory are updated in real time and are adjusted according to the changes of the motion direction and speed of the vehicle 300 and the obstacle 200; and the working condition of the early warning decision module 3 is preferably set to be that the speed of the vehicle 300 is less than 30km/h, and the speed is too high, so that the error of a calculation result is too large, and the normal running is influenced.
The early warning decision module 3 obtains early warning conditions according to the first motion trajectory and the second motion trajectory, and specifically includes: bringing a function of the first motion trajectory and the second motion trajectory into planar coordinatesIn and let X1(t)＝X2(t)、Y1(t)＝Y2(t) calculating to obtain t1Then subtract the current time t0The predicted time to collision T ═ T can be obtained1-t0I.e. the pre-warning condition, and sends the pre-warning condition to the controller 1.
It is conceivable that, in the actual working process, a plurality of obstacles 200 may occur, and the warning condition at this time is preferably the one with the highest warning level or the one with the shortest collision time.
According to the embodiment of the invention, the early warning decision module 3 is arranged, so that data detected by the radar component 2 can be analyzed, and early warning conditions are output, thereby realizing graded early warning; the early warning decision module 3 is arranged in the radar component 2, so that the data transmission times can be reduced, and the data analysis efficiency is improved; the early warning decision module 3 can also be arranged in the controller 1 and the controller 1, so that the number of the early warning decision modules 3 can be reduced, and the cost is saved.
For the above rotation speed sensor 9 and the above angle sensor 10, the rotation speed sensor 9 is electrically connected to the controller 1, and is configured to detect the rotation speed of the wheel of the vehicle 300 and send speed information to the early warning decision module 3, and the rotation speed sensor 9 is a hall wheel speed sensor, preferably four, and is respectively installed at two front steering wheel hubs and two other wheel hubs of the vehicle 300; angle sensor 10 with controller 1 electricity is connected for the rotation angle of the steering wheel of detection vehicle 300 and with angle information send to early warning decision module 3, angle sensor 10 installs on the steering wheel stand of vehicle 300 to detect the rotation angle of steering wheel, the rethread conversion can obtain the turning angle of vehicle 300.
As for the above-mentioned early warning component 4, please refer to fig. 4, a yellow warning light is disposed on the early warning component 4, and can be turned on or turned on, and a speaker or a buzzer is further disposed to emit an alarm sound. The early warning assembly 4 is further provided with a system status indicator lamp, and the system status indicator lamp is used for indicating whether the vehicle vision blind area early warning system 100 is in a fault state or a limited state. At least two early warning subassembly 4 installation sets up in the left and right sides of driver's cabin, and sets up on the A post of vehicle 300, the size of early warning subassembly 4 is no longer than 80X 200X 50mm, avoids occupying the too much space of driver's cabin and avoids blockking driver's sight.
The alarms of the early warning assembly 4 are classified into three levels: the target detection, the visual early warning, the visual and sound early warning respectively correspond to a fourth-level instruction, a third-level instruction and a second-level instruction of the controller 1.
Target detection: the yellow light is always on;
visual early warning: flashing a yellow light;
visual and acoustic warning: the yellow light flashes and the early warning assembly 4 sounds an alarm.
The early warning assembly 4 is further provided with a system status indicator lamp, and the system status indicator lamp is used for indicating whether the vehicle vision blind area early warning system 100 is in a fault state or a limited state, wherein the limited state refers to a temporary failure of the system. The system status indicator lamp includes:
the starting and system normal working lamps indicate that the system works normally, and the system is in a starting working state and can be indicated by a green starting lamp;
the system fault state lamp indicates that the system cannot be used due to the fact that faults exist in the system and can be represented by a red lamp with an icon;
the system temporary failure state lamp means that the radar or the camera cannot be used temporarily due to shielding and the like, and the system can automatically return to normal after the state is relieved and can be represented by a white lamp with an icon.
The appearance design of the early warning assembly 4 is not limited to that shown in fig. 4, various appearance designs can be adopted, the colors and the shapes of the warning lamp and the system state indicating lamp can be changed according to requirements, and other state function indicating lamps can be added. The early warning assembly 4 may also be integrally disposed within the a-pillar of the vehicle 300 or at the door of the bus.
In the embodiment of the invention, the early warning component 4 is arranged, so that different levels of sound and light early warnings can be given out to prompt a driver to pay attention to the collision risk of the obstacle 200 in the blind area of the vehicle 300, the driver can deal with the collision risk according to the level of the collision risk, the driving safety is improved, the driver does not need to pay attention to the risk of the blind area all the time, and the driving strength is reduced.
To above-mentioned camera subassembly 5, two at least camera subassemblies 5 set up the outer left and right sides of vehicle 300, camera subassembly 5 is used for gathering the image that the scope was predetermine in vehicle 300 both sides to the cooperation radar subassembly 2, the degree of depth fusion detection function reduces the influence of weather and night, provides the early warning of reliable straight tube for the driver.
In one embodiment, the range of detection by the radar assembly 2 is greater than a predetermined range captured by the camera assembly 5, thereby providing a wide range of target detection before the obstacle 200 enters the captured image of the camera assembly 5.
In one embodiment, the camera assembly 5 adopts an infrared high-definition waterproof camera, so that a better shooting effect can be ensured in severe weather such as rainstorm and the like and at night.
For the display panel 6, the display panel 6 is disposed in the cab, the display panel 6 is used for displaying the picture shot by the camera assembly 5, and the display panel 6 can also display the first motion track of the vehicle 300 and the second motion track of the obstacle 200, so that the driver can visually see the moving directions of the vehicle 300 and the obstacle 200, and the driving direction of the vehicle 300 can be adjusted.
In one embodiment, a plurality of obstacles 200 may be displayed on the display panel 6, and different color traces may be set according to the risk of collision between the obstacles 200 and the vehicle 300, the higher risk is set to red, the higher risk is set to yellow, the lower risk is set to blue, and the lower risk is set to green.
In one embodiment, the display panel 6 is integrated with the controller 1 and is installed at a position in the middle of the front of the cab, and the display panel 6 employs a liquid crystal display.
According to the embodiment of the invention, the camera assembly 5 and the display panel 6 are arranged, so that images in a preset range can be shot and displayed on the display panel 6, and a predicted movement track is displayed together, so that a driver can conveniently and visually check the images, and a proper coping strategy is made.
For the braking module 7, the braking module 7 is electrically connected to the controller 1, and is configured to receive an instruction from the controller 1 and send a braking instruction to the vehicle 300, so that the vehicle 300 is braked urgently to avoid a collision.
According to the embodiment of the invention, the vehicle 300 can be braked in an emergency by arranging the brake module 7, so that accidents caused by untimely reaction of a driver are avoided.
For the self-checking module 8, the self-checking module 8 is electrically connected to the controller 1, and is configured to detect whether the vehicle blind area visual field early warning system 100 is in a fault state and a limited state, and send a detection result to the early warning component 4, so as to indicate that common faults and limited states are as shown in table 1 below.
Table 1: system fault and failure status list
Self-checking module 8 can real-time detection vehicle field of vision blind area early warning system 100 is in fault condition and restricted state to with testing result send to early warning subassembly 4, thereby the suggestion driver vehicle field of vision blind area early warning system 100 can normally work, thereby avoid because of vehicle field of vision blind area early warning system 100 can not normally work and lead to the accident.
The embodiment of the invention also provides a vehicle 300, wherein the vehicle 300 is provided with the vehicle vision blind area early warning system 100, so that collision possibly occurring in the driving process can be predicted, the prediction information is converted into early warning conditions, and early warning of corresponding levels is triggered according to the early warning conditions. The multi-level early warning method can prompt the driver of the degree of coping with the collision possibly occurring, avoid frequent invalid early warning from influencing the attention of the driver, and avoid causing the driver to be relaxed and mentally exhausted; and strong early warning can be carried out on the collision with higher risk, the driver is timely reminded to pay attention to deceleration and avoidance, the intelligent degree of the early warning system is fully improved, the accident rate of accidents caused by the dead zone of the vehicle 300 is reduced, the driving burden of the driver is reduced, and the driving safety of the automobile is improved.
Referring to fig. 5, an embodiment of the present invention further provides a vehicle blind area visual field early warning method, where the method is applied to the vehicle blind area visual field early warning system 100, and the method includes:
s1, acquiring the driving information of the vehicle 300: acquiring the wheel rotation speed and the steering wheel rotation angle of the vehicle 300 through the CAN interface of the automobile or the rotation speed sensor 9 and the angle sensor 10, and converting the wheel rotation speed and the steering wheel rotation angle into the running speed and the steering angle of the vehicle 300;
s2, acquiring a first motion track of the vehicle 300 according to the running information: establishing a plane coordinate system, taking the current position of the vehicle as the origin of coordinates, and bringing the running speed and the turning angle into the coordinate system to obtain a first motion track (X) of the vehicle 300 during running1(t)、Y1(t))；
S3, acquiring the movement information of the obstacle 200 in the preset range on the side of the vehicle 300: acquiring the position, the movement direction and the speed of the obstacle 200 through the radar component 2;
s4, obtaining a second movement trajectory of the obstacle 200 according to the movement information: substituting the position, the motion direction and the velocity of the obstacle 200 into the plane coordinate system to obtain a second motion trajectory (X) of the obstacle 2002(t)、Y2(t))；
S5, acquiring early warning conditions according to the first motion track and the second motion track: let the above-mentioned X1(t)＝X2(t)、Y1(t)＝Y2(t), the collision time t can be calculated1Then subtract the current time t0The predicted time interval of collision t can be obtained2＝t1-t0；
S6, controlling the early warning component 4 to perform early warning of corresponding levels according to the early warning conditions: and sending the obtained collision time T to the controller 1, sending an early warning instruction to the early warning component 4 by the controller 1 according to the collision time T, and sending out sound and/or light alarm by the early warning component 4 according to the early warning instruction.
Referring to fig. 6, the first motion trajectory and the second motion trajectory are both functions f containing time variables1(X1(t)、Y1(t))，f2(X2(t)、Y2(t)); in practical application, the vehicle 300 and the obstacle 200 are both large-sized objects, so that in the calculation process, if the frame lines which are matched with the shapes and the sizes of the vehicle 300 and the obstacle 200 are added to the track points, the prediction accuracy can be greatly improved; interference frame lines are arranged around track points of the first motion track and the second motion track, the interference frame lines are outlines of the vehicle 300 and the obstacle 200, the early warning conditions can be calculated more accurately by arranging the interference frame lines, and the interference frame lines generally adopt rectangular frame lines; introducing the first motion track and the second motion track into a horizontal coordinate system, and calculating the time when the interference frame lines of the first motion track and the second motion track interfere and the coordinates of the track point by using an enumeration method, wherein the time t is t and t is t3When the interference frame line is not interfered, but t4＝t3Interference occurs at + T, the collision time is T4Time interval of collision t5＝t4-t0The coordinate of the track point is A (X)1(t4)、Y1(t4))，B(X2(t4)、Y2(t4)). The method has the advantages that the predicted early warning condition can be roughly and rapidly calculated by using an enumeration method, the calculation efficiency is influenced when the value interval of the enumeration method is too small, the accuracy of the prediction result is influenced when the value interval is too large, and the value interval T is 0.01-0.1 s when the reaction time of a driver is considered.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (13)
1. A vehicle vision blind area early warning system is characterized by comprising a controller, and a radar component, an early warning component and an early warning decision module which are respectively connected with the controller;
the radar component is used for collecting the movement information of the obstacles in the preset range on the side surface of the vehicle;
the early warning decision module is used for:
acquiring running information of vehicle running;
acquiring a first motion track of vehicle running according to the running information;
acquiring a second motion trail of the obstacle according to the motion information acquired by the radar component;
acquiring an early warning condition according to the first motion track and the second motion track, and sending the early warning condition to the controller;
the controller is used for sending alarm instructions of corresponding levels to the early warning assembly according to the early warning conditions so that the early warning assembly can perform early warning of different levels of strength.
2. The vehicle blind spot in vision warning system of claim 1, wherein the warning decision module is integrally disposed within the radar component; or integrated within the controller.
3. The vehicle blind spot vision early warning system of claim 1, further comprising a camera assembly for capturing images within a preset range.
4. The vehicle blind spot vision early warning system of claim 3, further comprising a display panel disposed in the cab, wherein the display panel is configured to display a picture captured by the camera assembly.
5. The vehicle blind spot warning system as claimed in claim 4, wherein the display panel is further configured to display the first motion trajectory and the second motion trajectory.
6. The vehicle vision blind area early warning system as claimed in any one of claims 1 to 5, wherein the early warning decision module is connected to a CAN interface of the vehicle, and acquires the driving information of the vehicle through the CAN interface.
7. The vehicle blind spot vision early warning system according to any one of claims 1 to 5, further comprising a rotation speed sensor and an angle sensor, wherein the rotation speed sensor is electrically connected with the controller and is used for detecting the rotation speed of wheels of a vehicle; the angle sensor is electrically connected to the controller and is used to detect a rotation angle of a steering wheel of the vehicle.
8. The vehicle blind spot vision early warning system of claim 7, further comprising a braking module electrically connected to the controller and configured to send a braking command to the vehicle.
9. The vehicle blind spot vision early warning system of claim 7, further comprising a self-check module electrically connected to the controller and configured to detect whether the vehicle blind spot vision early warning system is in a fault state or a restricted state.
10. The vehicle blind spot warning system as claimed in claim 9, wherein a system status indicator light is provided on the warning assembly for indicating whether the vehicle blind spot warning system is in a fault state or a restricted state.
11. A vehicle characterized by being provided with the vehicle vision blind zone early warning system as recited in any one of claims 1 to 10.
12. A vehicle blind spot warning method applied to the vehicle blind spot warning system according to any one of claims 1 to 10, the method comprising:
acquiring running information of vehicle running;
acquiring a first motion track of vehicle running according to the running information;
acquiring the motion information of an obstacle in a preset range on the side of a vehicle;
acquiring a second motion trail of the barrier according to the motion information;
acquiring an early warning condition according to the first motion track and the second motion track;
and controlling the early warning assembly to perform early warning of corresponding levels according to the early warning conditions.
13. The vehicle vision blind area early warning method according to claim 12, wherein the obtaining of the early warning condition according to the first motion trajectory and the second motion trajectory comprises:
the first motion trail and the second motion trail are both functions containing time variables;
arranging interference frame lines around track points of the first motion track and the second motion track;
and introducing the first motion track and the second motion track into a horizontal coordinate system, and calculating the time when the interference frame lines of the first motion track and the second motion track interfere and the coordinates of the track points by using an enumeration method, wherein the value interval of the enumeration method is less than or equal to 0.1 s.
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| CN202111154290.1A CN113879297A (en) | 2021-09-29 | 2021-09-29 | Vehicle vision blind area early warning system and method and vehicle |
| PCT/CN2022/118625 WO2023051239A1 (en) | 2021-09-29 | 2022-09-14 | Vehicle visual blind area early warning system and method, and vehicle |
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| CN202111154290.1A CN113879297A (en) | 2021-09-29 | 2021-09-29 | Vehicle vision blind area early warning system and method and vehicle |
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