CN114162041B

CN114162041B - Vehicle sensing system

Info

Publication number: CN114162041B
Application number: CN202110666678.3A
Authority: CN
Inventors: 李俊贤; 陈咸闵; 钱肇豪; 胡毓旺; 陈正夫; 钟世忠
Original assignee: Weishengke Technology Co ltd
Current assignee: Weishengke Technology Co ltd
Priority date: 2020-08-20
Filing date: 2021-06-16
Publication date: 2024-05-31
Anticipated expiration: 2041-06-16
Also published as: TWI793637B; TW202208215A; CN117774962A; CN114162041A

Abstract

A vehicle sensing system is arranged on a vehicle, the vehicle is an integrated vehicle, and the vehicle sensing system comprises a computing unit. The computing unit comprises a steering computing module and a vehicle dimension data set, wherein the vehicle dimension data set comprises at least one of a wheelbase, a vehicle width, a front overhang length and a rear overhang length of the vehicle, and the computing unit is used for receiving the steering data set of the vehicle. Based on the steering calculation module, the calculation unit is configured to determine the inner front wheels and the inner rear wheels from the steering data set, and to determine a steering alert area from the vehicle size data set and the steering data set, wherein the steering alert area is associated with at least one of time and the steering data set. Therefore, the vehicle sensing system can calculate the dynamic steering warning area.

Description

Vehicle sensing system

Technical Field

The present invention relates to a vehicle sensing system, and more particularly to a vehicle sensing system for determining a steering warning area.

Background

Under the explosive development of advanced driving assistance systems (ADVANCED DRIVER ASSISTANCE SYSTEM, ADAS) and automatic driving technologies, the application and requirements of vehicle sensing systems are also increasing.

For vehicles with more than four wheels, particularly large vehicles such as buses, trucks and coupes, the phenomenon of "inner wheel difference" (Radius Difference Between INNER WHEELS) of the rear wheel shifting to the turning side occurs during turning, and is usually a dead angle of view for driving, so that the side vehicles pose a considerable threat, wherein the risk of the vehicle bearing the right turn (turning to the other side of the driver's seat) is the greatest.

Under the two factors of the large-scale sight dead angle and the inner wheel difference phenomenon of the large-scale vehicle, pedestrians or other vehicles are exposed to extremely high risks only by advocating the reminding. In large-sized vehicles, the occurrence frequency of buses which must run in urban areas is high, and the vehicles are heavy when the number of passengers is large, so that abnormal shapes are found when other vehicles are pressed, which is too late. At present, motorcycles, bicycles and pedestrians can only be advocated passively, and the motorcycles, the bicycles and the pedestrians should be kept away from the large-sized vehicles as far as possible when the pedestrians pass through a road, so that the pedestrians are prevented from approaching the periphery of the large-sized vehicles, and the pedestrians should keep a larger distance with the large-sized vehicles when turning around the large-sized vehicles, so that driving safety is ensured.

Therefore, in the market of the present vehicle sensing systems, there is a need to develop a solution for effectively actively calculating a steering warning area from a vehicle itself, particularly a large vehicle itself, so as to prevent traffic accidents caused by blind sight angles or poor inner wheels.

Disclosure of Invention

The invention provides a vehicle sensing system, which is used for determining a steering warning area by a calculation unit according to a vehicle size data set and a steering data set, wherein the steering warning area is related to at least one of time and the steering data set so as to ensure the safety of people and vehicles around the vehicle when the vehicle is steered.

According to one embodiment of the present invention, a vehicle sensing system is provided for being mounted on a vehicle, the vehicle being a hitch, the vehicle comprising a tractor and a trailer and having a hitch axle, the trailer comprising a left rear wheel of the trailer and a right rear wheel of the trailer, the vehicle sensing system comprising a computing unit and an object sensing unit. The calculating unit comprises a steering calculating module and a vehicle size data set, and is used for receiving the steering data set of the traction vehicle. The object sensing unit is in communication connection with the calculating unit and is used for sensing the position of an object outside the vehicle relative to the vehicle, the object sensing unit is arranged on the side part of the traction vehicle, and when the included angle between the traction vehicle and the trailer is equal to 90 degrees, the object sensing unit is not hidden by the trailer. Based on the steering calculation module, the calculation unit is configured to determine an inner rear wheel from the steering data set, the inner rear wheel being one of a left rear wheel of the trailer and a right rear wheel of the trailer, and determine at least one of a length of the trailer and a steering alert area from the vehicle size data set and the steering data set, and the steering alert area is associated with at least one of a time and the steering data set. When the calculating unit is used for determining the steering warning area, based on the steering calculating module, the calculating unit is also used for determining whether the position of the object sensed by the object sensing unit falls into the steering warning area. Therefore, the vehicle sensing system can calculate the dynamic steering warning area.

In accordance with an embodiment of the foregoing vehicle sensing system, the vehicle dimension data set may include at least one of a wheelbase of the traction vehicle, a front overhang length of the traction vehicle, a rear overhang length of the traction vehicle, a distance between a wheelbase center of the traction vehicle and the hitch axle, a trailer width, and a distance between the hitch axle and a rear wheel center of the trailer.

According to the embodiment of the vehicle sensing system, a steering sensing unit and a vehicle speed sensing unit may be further included. The steering sensing unit is in communication connection with the calculating unit and is used for providing a steering data set of the traction vehicle to the calculating unit, wherein the steering data set comprises the yaw rate of the traction vehicle. The speed sensing unit is in communication connection with the calculating unit and is used for providing the speed of the traction vehicle to the calculating unit. Based on the steering calculation module, the calculation unit is used for determining a steering warning area according to the distance between the center of the wheelbase of the traction vehicle and the coupling shaft, the width of the trailer, the distance between the coupling shaft and the center of the rear wheels of the trailer, the yaw rate and the speed of the vehicle.

In an embodiment of the foregoing vehicle sensing system, the calculating unit may be configured to determine the yaw rate related radius of the traction vehicle from the yaw rate of the traction vehicle and the vehicle speed based on the steering calculating module. The distance between the center of the wheelbase of the traction vehicle and the coupling shaft is LA1, the width of the trailer vehicle is WB, the distance between the coupling shaft and the center of the rear wheels of the trailer is LB2, the yaw rate related radius is R1, the coupling shaft related radius is R4, and the rear wheel related radius of the trailer is R2, which satisfies the following conditions:

And

According to an embodiment of the foregoing vehicle sensing system, the calculating unit may be configured to determine a yaw rate related radius of the traction vehicle from a yaw rate of the traction vehicle and a vehicle speed, and determine a center of a circle, a coupling axle related radius, and a rear wheel related radius of the trailer from a yaw rate related radius and a rear wheel related radius direction of the trailer, the rear wheel related radius direction being a direction perpendicular to a side surface of the trailer and passing through the inner rear wheel, the yaw rate related radius being a distance between a center of a wheelbase of the traction vehicle and the center of the circle, the coupling axle related radius being a distance between the coupling axle and the center of the circle, and the rear wheel related radius being a distance between the inner rear wheel of the trailer and the center of the circle.

In an embodiment of the foregoing vehicle sensing system, the calculating unit may be configured to determine the steering warning area according to a radius related to the rear wheel based on the steering calculating module, the object sensing unit is a radar unit, and the vehicle sensing system further includes an alarm unit communicatively connected to the calculating unit, and the alarm unit generates the alarm signal when the position of the object sensed by the object sensing unit falls into the steering warning area.

By means of the vehicle sensing system of the embodiment, dangers caused by the internal wheel difference phenomenon can be effectively prevented according to different vehicle sizes.

According to another embodiment of the present invention, a vehicle sensing system is provided for being disposed on a vehicle, the vehicle including a traction vehicle for coupling a trailer and having a coupling shaft, the vehicle sensing system including a computing unit and an object sensing unit. The calculating unit comprises a steering calculating module and a vehicle size data set, and is used for receiving the steering data set of the traction vehicle. The object sensing unit is in communication connection with the calculating unit and is used for sensing the included angle between the traction vehicle and the trailer, the object sensing unit is arranged on the side part of the traction vehicle, and when the included angle between the traction vehicle and the trailer is equal to 90 degrees, the object sensing unit is not hidden by the trailer. Based on the steering calculation module, the calculation unit is used for determining whether the traction vehicle is in a coupling state or a non-coupling state according to the vehicle size data set, the steering data set and the included angle between the traction vehicle and the trailer. Thus, the vehicle sensing system can determine whether the traction vehicle is in a coupled or uncoupled state without knowing whether the traction vehicle is coupled to the trailer or the size data of the coupled trailer.

In accordance with an embodiment of the foregoing vehicle sensing system, the vehicle dimension data set may include at least one of a wheelbase of the traction vehicle, a front suspension length of the traction vehicle, a rear suspension length of the traction vehicle, and a distance between a wheelbase center of the traction vehicle and the hitch shaft.

According to the embodiment of the vehicle sensing system, a steering sensing unit and a vehicle speed sensing unit may be further included. The steering sensing unit is in communication connection with the calculating unit and is used for providing a steering data set of the traction vehicle to the calculating unit, wherein the steering data set comprises the yaw rate of the traction vehicle. The speed sensing unit is in communication connection with the calculating unit and is used for providing the speed of the traction vehicle to the calculating unit. The object sensing unit is also used for sensing the position of an object located outside the vehicle relative to the vehicle. Based on the steering calculation module, the calculation unit is used for determining at least one of the length related to the trailer and the steering warning area according to the distance between the center of the wheelbase of the traction vehicle and the connecting shaft, the yaw rate, the vehicle speed and the included angle between the traction vehicle and the trailer, and the steering warning area is related to time and the yaw rate. When the calculating unit is used for determining the steering warning area, based on the steering calculating module, the calculating unit is also used for determining whether the position of the object sensed by the object sensing unit falls into the steering warning area.

In an embodiment of the foregoing vehicle sensing system, the calculating unit may be configured to determine the yaw rate related radius of the traction vehicle from the yaw rate of the traction vehicle and the vehicle speed based on the steering calculating module. The distance between the center of the wheelbase of the traction vehicle and the coupling shaft is LA1, the yaw rate related radius is R1, the coupling shaft related radius is R4, and the included angle between the direction of the yaw rate related radius and the direction of the coupling shaft related radius is theta 2, which satisfies the following conditions:

And

In an embodiment of the foregoing vehicle sensing system, wherein the calculating unit is configured to determine the inner rear wheel from the steering data set based on the steering calculating module, wherein the inner rear wheel is one of a left rear wheel of the trailer and a right rear wheel of the trailer, the distance between the coupling axle and the center of the rear wheel of the trailer is LB2, the angle between the tractor and the trailer is α, and the relative angle between the tractor and the trailer is θ1, which satisfies the following conditions:

θ1=180- α [ degrees ]; and

R4×sin(θ1－θ2)＝LB2。

In an embodiment of the vehicle sensing system, wherein the calculating unit is configured to define a time when the yaw rate related radius is continuously smaller than the condition radius as a minimum radius time based on the steering calculating module, and determine that the traction vehicle is in the uncoupled state when the relative angle of the traction vehicle with respect to the trailer is continuously smaller than the condition angle at the minimum radius time.

According to an embodiment of the foregoing vehicle sensing system, the calculating unit is configured to determine, based on the steering calculation module, an inner rear wheel from the steering data set, the inner rear wheel being one of a left rear wheel of the trailer and a right rear wheel of the trailer, the calculating unit is further configured to determine a yaw rate-related radius of the tractor from a yaw rate of the tractor and a vehicle speed, and determine a center of a circle, a coupling axis-related radius, a rear wheel-related radius of the trailer, and a distance between the coupling axis and a center of the rear wheel of the trailer from a direction perpendicular to a side surface of the tractor and passing through a center of an wheelbase of the tractor, the yaw rate-related radius being a distance between the center of the wheelbase of the tractor and the center of the circle, the coupling axis-related radius being a distance between the coupling axis and the center of the circle, and the rear wheel-related radius being a distance between the inner rear wheel of the trailer and the center of the circle.

According to an embodiment of the foregoing vehicle sensing system, wherein the calculating unit is configured to determine the steering warning area according to the radius related to the rear wheel based on the steering calculating module, the object sensing unit is a radar unit, and the vehicle sensing system further includes an alarm unit communicatively connected to the calculating unit, and the alarm unit generates an alarm signal when the position of the object sensed by the object sensing unit falls into the steering warning area.

By means of the vehicle sensing system in the embodiment, the condition that whether the traction vehicle is connected with the trailer or not is automatically detected, and the corresponding trailer length and the corresponding steering warning area are updated is facilitated.

Drawings

FIG. 1A is a block diagram of a vehicle sensing system according to a first embodiment of the present invention;

FIG. 1B is a schematic diagram illustrating a usage state of the vehicle sensing system according to the first embodiment;

FIG. 1C is a schematic view of the vehicle sensing system according to the first embodiment illustrating the rear-wheel related radius and the front-wheel related radius during steering;

FIGS. 1D, 1E, 1F, 1G and 1H are schematic diagrams illustrating parameters according to time points 1,2, 3, 4 and 5 in FIG. 1C, respectively;

FIG. 2 is a block diagram of a vehicle sensing system according to a second embodiment of the present invention;

FIG. 3A is a block diagram of a vehicle sensing system according to a third embodiment of the present invention;

FIG. 3B is a schematic diagram illustrating a usage state of the vehicle sensing system according to the third embodiment;

FIG. 3C is a schematic view of a third embodiment of a vehicle sensing system during steering with a radius associated with the rear wheels;

FIG. 3D is a schematic view of a vehicle sensing system of a third embodiment showing the relative angle of the traction car with respect to the trailer during steering;

Fig. 3E, 3F, 3G, 3H, 3I show parameter diagrams according to time points 1, 2,3, 4, 5 in fig. 3C and 3D, respectively;

FIG. 4 is a block diagram of a vehicle sensing system according to a fourth embodiment of the present invention;

FIG. 5A is a block diagram of a vehicle sensing system according to a fifth embodiment of the present invention;

FIG. 5B is a schematic diagram showing a usage state of the vehicle sensing system according to the fifth embodiment;

FIG. 5C is a schematic view showing a yaw-rate-related radius of the vehicle sensing system of the fifth embodiment during steering in a linked state;

FIG. 5D is a schematic view showing the relative angle of the traction car with respect to the trailer during steering in the coupled state of the fifth embodiment of the vehicle sensing system;

fig. 5E, 5F, 5G, 5H, 5I show parameter diagrams according to time points 1, 2,3, 4, 5 in fig. 5C and 5D, respectively;

FIG. 5J is a schematic view showing a yaw-rate related radius of the vehicle sensing system of the fifth embodiment during steering in a non-linked state;

FIG. 5K is a schematic diagram showing the relative angle of the traction car with respect to the trailer during steering in the uncoupled state of the vehicle sensing system of the fifth embodiment;

FIG. 5L, FIG. 5M, FIG. 5N, FIG. 5O, FIG. 5P are schematic diagrams showing parameters according to the time points 1, 2, 3, 4, 5 in FIG. 5J and FIG. 5K, respectively; and

Fig. 6 is a block diagram of a vehicle sensing system according to a sixth embodiment of the invention.

Detailed Description

A plurality of embodiments of the present invention will be described below with reference to the accompanying drawings. For purposes of clarity, many practical details will be set forth in the following description. However, it should be understood that these practical details are not to be taken as limiting the invention. That is, in some embodiments of the invention, these practical details are unnecessary. In addition, for the sake of simplicity of the drawing, some of the sub-arrangements and elements shown in the drawings are conventional; and repeated elements will likely be indicated by identical reference numerals.

Fig. 1A is a block diagram of a vehicle sensing system 100 according to a first embodiment of the invention, and fig. 1B is a schematic diagram illustrating a usage state of the vehicle sensing system 100 according to the first embodiment. Referring to fig. 1A and 1B, the vehicle sensing system 100 is configured to be disposed on a vehicle 10, the vehicle 10 is an integrated vehicle, the vehicle 10 includes a left front wheel 15, a right front wheel, a left rear wheel 17 and a right rear wheel, and the vehicle sensing system 100 includes a computing unit 110.

The computing unit 110 includes a steering computing module 133 and a vehicle size data set 134. The vehicle dimension data set 134 includes at least one of a wheelbase AD, a vehicle width WD, a front overhang length, and a rear overhang length of the vehicle 10, and the computing unit 110 is configured to receive a steering data set of the vehicle 10. In the first embodiment, the computing unit 110 is an electronic control unit (Electronic Control Unit, abbreviated as ECU) of the vehicle 10.

Based on the steering calculation module 133, the calculation unit 110 is configured to determine the inner front wheel 16 and the inner rear wheel 18 from the steering data set, wherein the inner front wheel 16 is one of the left front wheel 15 and the right front wheel, the inner rear wheel 18 is one of the left rear wheel 17 and the right rear wheel on the same side as the inner front wheel 16 (taking fig. 1B as an example, the inner front wheel 16 is the right front wheel, the inner rear wheel 18 is the right rear wheel, and the inner front wheel 16 and the inner rear wheel 18 are both located on the steering side of the vehicle 10). The computing unit 110 is further configured to determine a steering alert area from the vehicle size data set 134 and the steering data set, and the steering alert area is associated with the time and steering data set (i.e., the steering alert area is adaptively and dynamically adjusted over time and the steering data set). Thus, the vehicle sensing system 100 may calculate a dynamic steering warning region from the dynamic steering data set, the default vehicle size data set 134 (e.g., wheelbase or vehicle width).

The vehicle sensing system 100 may further include a steering sensing unit 150 and a vehicle speed sensing unit 160. The steering sensing unit 150 is communicatively connected to the computing unit 110, and the steering sensing unit 150 is configured to provide a steering data set of the vehicle 10 to the computing unit 110, the steering data set including a Yaw Rate (Yaw Rate) ω of the vehicle 10. The vehicle speed sensing unit 160 is communicatively connected to the computing unit 110, and the vehicle speed sensing unit 160 is configured to provide the vehicle speed v of the vehicle 10 to the computing unit 110. Based on the steering calculation module 133, the calculation unit 110 is configured to determine a steering warning area from the wheelbase AD, the vehicle width WD, the yaw rate ω, and the vehicle speed v of the vehicle 10. From this, the vehicle sensing system 100 can calculate a dynamic steering warning region from the yaw rate ω.

Based on the steering calculation module 133, the calculation unit 110 may be configured to determine a yaw rate related radius R1 of the vehicle 10 from a yaw rate ω of the vehicle 10 and a vehicle speed v, determine a center (i.e., a virtual center position) C1, a rear wheel related radius R2, and a front wheel related radius R3 from directions of the yaw rate related radius R1 and the rear wheel related radius R2, the rear wheel related radius R2 being a direction perpendicular (i.e., orthogonal) to the side surface 12 of the vehicle 10 and passing through an axle of the inner rear wheel 18 (i.e., a direction parallel and passing through an axle of the inner rear wheel 18), the yaw rate related radius R1 being a distance between the center 13 of the axle of the vehicle 10 and the center C1, the rear wheel related radius R2 being a distance between the inner rear wheel 18 and the center C1, and the front wheel related radius R3 being a distance between the inner front wheel 16 and the center C1. Accordingly, the greater the steering degree of the vehicle 10, the smaller the yaw rate-related radius R1, the greater the steering degree of the vehicle 10, and the yaw rate-related radius R1 is dynamic (i.e., not constant) during one turn of the vehicle 10, so that the steering warning area can be adjusted in real time and dynamically according to the steering degree of the vehicle 10.

Based on the steering calculation module 133, the calculation unit 110 can be configured to determine a steering warning area according to the rear-wheel related radius R2 and the front-wheel related radius R3. Therefore, if the steering warning area is too large, the dangerous area cannot be effectively distinguished, if the steering warning area is too small, pedestrians or other vehicles outside the steering warning area may be exposed in the dangerous area, and the vehicle sensing system 100 comprehensively considering the rear-wheel related radius R2 and the front-wheel related radius R3 is beneficial to determining the proper steering warning area. Further, the steering calculation module 133 may estimate the yaw rate ω of the vehicle 10 at the next time point, the vehicle speed v, and the possible trajectory range of the steering side surface 12 of the vehicle 10 based on the rear-wheel related radius R2, the front-wheel related radius R3, and the details of the steering side surface 12 in the vehicle size data set 134 to further determine the steering warning region.

Specifically, based on the steering calculation module 133, the yaw rate is ω, the vehicle speed is v, the wheelbase is AD, the vehicle width is WD, the yaw rate-related radius is R1, and the rear wheel-related radius of the vehicle 10 is R2, which satisfies the following conditions of equations 1.1 and 1.2:

And

In the first embodiment, the known parameters in the formulas 1.1 and 1.2 are the yaw rate ω, the vehicle speed v, the wheelbase AD, and the vehicle width WD, and the undetermined parameter that can be calculated by the steering calculation module 133 and the known parameters is the radius R1. The angle in the direction of the yaw rate related radius R1 and the direction of the rear wheel related radius R2 is θ1. Thus, the vehicle sensing system 100 can calculate the dynamic steering warning region using the trigonometric function.

The vehicle sensing system 100 may further include an object sensing unit 170 and an alarm unit 180. The object sensing unit 170 is a radar unit and is communicatively connected to the computing unit 110, the object sensing unit 170 is configured to sense a position of an object (not shown, including pedestrians and other vehicles) located outside the vehicle 10 relative to the vehicle 10, and the number of the object sensing units 170 is at least one and is disposed on at least one side portion, i.e. at least one of a left side portion and a right side portion, of the vehicle 10, the object sensing unit 170 may be disposed on a side portion away from a driver seat (not shown) of the vehicle 10, or may be disposed on a side portion close to the driver seat of the vehicle 10, and the object sensing unit 170 is at least 40cm from the ground. The alarm unit 180 is communicatively connected to the computing unit 110, and the alarm unit 180 generates an alarm signal when the position of the object sensed by the object sensing unit 170 falls within the steering warning region. Thereby, the vehicle sensing system 100 can effectively prevent the danger caused by the internal wheel difference phenomenon. In addition, the object sensing unit 170 may be a photographing unit or an ultrasonic sensing unit, and is not limited thereto. The alarm unit 180 may be a speaker, a buzzer, a siren, a display, a light indicator, an Icon (Icon) indicator, etc., to alert the driver of the vehicle 10 by means of sound, light, etc., and is not limited thereto.

Furthermore, each of the steering sensing unit 150, the vehicle speed sensing unit 160, the object sensing unit 170, and the alarm unit 180 of the vehicle 10 may be connected to the computing unit 110 by wired communication, such as a controller area network (Controller Area Network, CAN), or by wireless communication. In other embodiments according to the present invention (not shown), the vehicle sensing system includes a calculating unit, but does not include a steering sensing unit, a vehicle speed sensing unit, an object sensing unit and an alarm unit, and is configured to receive, wired or wireless, a data set of a yaw rate, a vehicle speed and a position of an object relative to the vehicle transmitted by the vehicle itself or a device other than the vehicle, and to transmit, wired or wireless, a signal to drive the vehicle itself or the alarm unit other than the vehicle to generate an alarm signal.

Fig. 1C is a schematic diagram showing a rear-wheel related radius R2 and a front-wheel related radius R3 of the vehicle sensing system 100 in the steering process according to the first embodiment, fig. 1D, fig. 1E, fig. 1F, fig. 1G, fig. 1H are schematic diagrams showing parameters according to time points 1, 2, 3, 4, and 5 in fig. 1C, respectively, and the steering process applicable to the vehicle sensing system 100 according to the invention is not limited thereto. Referring to fig. 1C to 1H, during the running of the vehicle 10, the wheelbase AD and the vehicle width WD are preset values stored in the vehicle size data set 134, and the yaw rate ω and the vehicle speed v are sensed in real time and are time-dependent, so that the center C1, the rear-wheel related radius R2, the front-wheel related radius R3, and the steering warning area are also time-dependent. At the time point 1 shown in fig. 1D, the vehicle 10 is not yet turned, the yaw rate ω is 0, the center C1 is located at infinity, and the rear-wheel related radius R2 and the front-wheel related radius R3 are both infinite. At time points 2 to 4 shown in fig. 1E to 1G, respectively, the vehicle 10 is turning along the non-road area 90, the yaw rate ω is not 0, the rear-wheel related radius R2 and the front-wheel related radius R3 are all changed with time even though the travel track of the vehicle 10 forms a circular arc of a fixed radius, and the rear-wheel related radius R2 and the front-wheel related radius R3 may have a minimum value at the time point 3. At time 5 shown in fig. 1H, the vehicle 10 is turned, the yaw rate ω is 0, the center C1 is at infinity, and the rear-wheel related radius R2 and the front-wheel related radius R3 are both infinity. Furthermore, it should be understood that the center C1, the rear-wheel related radius R2 and the front-wheel related radius R3 of the vehicle 10 are not limited to those shown in fig. 1E to 1G, and the vehicle sensing system 100 according to the present invention can be used to determine a steering warning area when the yaw rate ω of the intersection steering, the lane changing, the parking is not 0, but not limited thereto.

Fig. 2 is a block diagram of a vehicle sensing system 200 according to a second embodiment of the invention, referring to fig. 2, the vehicle sensing system 200 is configured to be disposed on a vehicle (not shown), which is an integrated vehicle, the vehicle includes a left front wheel, a right front wheel, a left rear wheel and a right rear wheel, and the vehicle sensing system 200 includes a computing unit 210.

The computing unit 210 includes a processor 220 and a memory 230, the memory 230 provides a steering computing module 233 and a vehicle size data set 234, the memory 230 is a non-volatile memory (Nonvolatile Memory), which may also be referred to as a non-transitory computer-readable memory, and the steering computing module 233 is software program code, but is not limited thereto. The vehicle dimension data set 234 includes at least one of a wheelbase, a vehicle width, a front overhang length, and a rear overhang length of the vehicle, and the computing unit 210 is configured to receive a steering data set of the vehicle.

Based on the steering calculation module 233, the calculation unit 210 is configured to determine an inner front wheel and an inner rear wheel from the steering data set, the inner front wheel being one of a left front wheel and a right front wheel, and the inner rear wheel being one of the left rear wheel and the right rear wheel on the same side as the inner front wheel. The computing unit 210 is further configured to determine a steering alert area from the vehicle size data set 234 and the steering data set, and the steering alert area is related to the time and the steering data set.

In the second embodiment, the vehicle sensing system 200 further includes an object sensing unit 270, where the object sensing unit 270 is a radar unit and is communicatively connected to the computing unit 210, and the object sensing unit 270 is configured to sense a position of an object located outside the vehicle relative to the vehicle. Specifically, the vehicle sensing system 200 is a vehicle radar system including a computing unit 210 and at least one object sensing unit 270, wherein the at least one object sensing unit 270 is disposed on at least one side of the vehicle, the vehicle sensing system 200 is configured to receive a data set of yaw rate and vehicle speed of the vehicle transmitted by the vehicle itself or a device other than the vehicle, and the vehicle sensing system 200 is configured to transmit a signal to drive an alarm unit of the vehicle itself or the device other than the vehicle to generate an alarm signal. For further details regarding the vehicle sensing system 200 of the second embodiment, reference may be made to the content of the vehicle sensing system 100 of the aforementioned first embodiment, which is not described in detail herein.

Fig. 3A is a block diagram of a vehicle sensing system 300 according to a third embodiment of the invention, and fig. 3B is a schematic diagram of a usage state of the vehicle sensing system 300 according to the third embodiment of the invention. Referring to fig. 3A and 3B, the vehicle sensing system 300 is configured to be disposed on a vehicle 30, the vehicle 30 is a coupling vehicle, the vehicle 30 includes a tractor (i.e. a trailer head) 31 and a trailer (i.e. a trailer) 34, and has a coupling axle 39, the trailer 34 includes a left rear wheel 37 and a right rear wheel of the trailer, and the vehicle sensing system 300 includes a calculating unit 310 and an object sensing unit 370.

The computing unit 310 includes a processor 320 and a memory 330, the memory 330 providing a steering computing module 333 and a vehicle size data set 334, the computing unit 310 being an electronic control unit of the vehicle 30 and being adapted to receive the steering data set of the traction vehicle 31. The object sensing unit 370 is communicatively connected to the calculating unit 310, the object sensing unit 370 is configured to sense a position of an object (not shown, including pedestrians and other vehicles) located outside the vehicle 30 relative to the vehicle 30, the number of the object sensing unit 370 is at least one, and the object sensing unit 370 is disposed on a right side portion of the tractor 31, which is a side portion far from a driver's seat (not shown) of the vehicle 30, and the object sensing unit 370 is not hidden by the trailer 34 when an included angle α between the tractor 31 and the trailer 34 is equal to 90 degrees.

Based on the steering calculation module 333, the calculation unit 310 is configured to determine the inner rear wheel 38 from the steering data set, the inner rear wheel 38 being one of the left rear wheel 37 of the trailer and the right rear wheel of the trailer (for example, the inner rear wheel 38 being the right rear wheel of the trailer in fig. 3B), and determine at least one of a trailer related length (for example, a distance LB2 between the coupling axle 39 and the rear wheel center 36 of the trailer 34) and a steering warning area from the vehicle size data set 334 and the steering data set, and the steering warning area being related to the time and the steering data set (i.e., the steering warning area is adaptively and dynamically adjusted with time and the steering data set). Based on the steering calculation module 333, the calculation unit 310 is configured to determine whether the position of the object sensed by the object sensing unit 370 falls within a steering warning area. Thus, the vehicle sensing system 300 may calculate a dynamic steering warning region from the dynamic steering data set, the default vehicle size data set 334.

The vehicle dimension data set 334 may include at least one of a wheelbase of the traction vehicle 31, a front overhang length of the traction vehicle 31, a rear overhang length of the traction vehicle 31, a distance LA1 of the wheelbase center 33 of the traction vehicle 31 from the hitch axle 39, a trailer width WB, and a distance LB2 of the hitch axle 39 from the rear wheel center 36 of the trailer 34. Thus, the vehicle sensing system 300 can effectively prevent the danger caused by the internal wheel difference phenomenon according to different vehicle sizes.

The vehicle sensing system 300 may further include a steering sensing unit 350 and a vehicle speed sensing unit 360. The steering sensing unit 350 is communicatively connected to the calculating unit 310, and the steering sensing unit 350 is configured to provide the steering data set of the traction vehicle 31 to the calculating unit 310, wherein the steering data set includes the yaw rate ω of the traction vehicle 31. The vehicle speed sensing unit 360 is communicatively connected to the calculating unit 310, and the vehicle speed sensing unit 360 is configured to provide the vehicle speed v of the traction vehicle 31 to the calculating unit 310. Based on the steering calculation module 333, the calculation unit 310 is configured to determine a steering warning area from the distance LA1 between the wheelbase center 33 of the traction vehicle 31 and the hitch shaft 39, the trailer width WB, the distance LB2 between the hitch shaft 39 and the rear wheel center 36 of the trailer 34, the yaw rate ω, and the vehicle speed v. From this, the vehicle sensing system 300 can calculate a dynamic steering warning region from the yaw rate ω.

Based on the steering calculation module 333, the calculation unit 310 may be configured to determine a yaw rate related radius R1 of the traction vehicle 31 from a yaw rate ω of the traction vehicle 31 and a vehicle speed v, determine a center (i.e., a virtual center position) C1 from a direction of the yaw rate related radius R1 and a rear wheel related radius R2 of the trailer 34, determine a coupling axle related radius R4 and a rear wheel related radius R2 of the trailer 34, wherein the direction of the rear wheel related radius R2 is perpendicular (i.e., orthogonal) to the side surface 35 of the trailer 34 and passes through a direction of the inner rear wheels 38 (i.e., a direction parallel to and passing through a wheel axle of the inner rear wheels 38), and determine a yaw rate related radius R1 from the center 33 of the traction vehicle 31 to the center C1 from a direction of the coupling axle 39 to the center C1 and determine a rear wheel related radius R2 from the inner rear wheels 38 of the trailer 34 (in the third embodiment, as shown in fig. 3B, by a longitudinal center point of the two inner rear wheels 38). Accordingly, the greater the steering degree of the traction vehicle 31, the smaller the yaw rate-related radius R1, and vice versa, and the yaw rate-related radius R1 is dynamic (i.e., not constant) during one steering of the traction vehicle 31, so that the steering warning area can be adjusted in real time and dynamically according to the steering degree of the traction vehicle 31.

Based on the steering calculation module 333, the calculation unit 310 may be configured to determine a steering warning area according to the rear wheel related radius R2. The object sensing unit 370 is a radar unit (at least 40cm from the ground), or may be a photographing unit or an ultrasonic sensing unit, but is not limited thereto. The vehicle sensing system 300 further comprises an alarm unit 380, which is communicatively connected to the computing unit 310, and the alarm unit 380 generates an alarm signal when the position of the object sensed by the object sensing unit 370 falls within the steering warning region. Therefore, if the steering warning area is too large, the dangerous area cannot be effectively distinguished, if the steering warning area is too small, pedestrians or other vehicles outside the steering warning area may be exposed to the danger, and the vehicle sensing system 300 considering the rear wheel related radius R2 is beneficial to determining the proper steering warning area. Further, the steering calculation module 333 may estimate the yaw rate ω of the vehicle 30 at the next time point, the vehicle speed v, and the possible track ranges of the side surfaces 32, 35 of the steering side of the vehicle 30 based on the rear-wheel related radius R2 and the details of the side surfaces 32, 35 of the steering sides of the traction vehicle 31 and the trailer 34 in the vehicle size data set 334 to further determine the steering warning area.

Furthermore, each of the steering sensing unit 350, the vehicle speed sensing unit 360, the object sensing unit 370, and the alarm unit 380 of the vehicle 30 may be connected to the computing unit 310 by wired communication, such as a controller area network, or by wireless communication.

Specifically, based on the steering calculation module 333, the yaw rate is ω, the vehicle speed is v, the distance between the center 33 of the wheelbase of the traction vehicle 31 and the hitch axle 39 is LA1, the trailer vehicle width is WB, the distance between the hitch axle 39 and the rear wheel center 36 of the trailer 34 is LB2, the yaw rate-related radius is R1, the hitch axle-related radius is R4, the rear wheel-related radius of the trailer 34 is R2, the angle between the traction vehicle 31 and the trailer 34 is α, and the relative angle between the traction vehicle 31 and the trailer 34 (the angle equal to the direction of the yaw rate-related radius R1 and the direction of the rear wheel-related radius R2 of the trailer) is θ1, which satisfies the following conditions of equations 2.1 to 2.4:

And

Θ1=180- α [ degree ] (expression 2.4).

In the third embodiment, the known parameters in equations 2.1 to 2.4 are yaw rate ω, vehicle speed v, distance LA1, trailer width WB and distance LB2, and the undetermined parameters that can be calculated by the steering calculation module 333 and the known parameters are radii R1, R4, R2, an included angle α and a relative angle θ1. Or, when the object sensing unit 370 is further configured to sense the angle α between the traction vehicle 31 and the trailer 34, the known parameters in equations 2.1 to 2.4 are the yaw rate ω, the vehicle speed v, the distance LA1, the trailer width WB and the angle α, and the undetermined parameters that can be calculated by the steering calculation module 333 and the known parameters are the distance LB2, the radius R1, the radius R4, the radius R2 and the relative angle θ1, and the related details can also refer to the content of the vehicle sensing system 500 of the fifth embodiment. Thus, the vehicle sensing system 300 can calculate the dynamic steering warning area by using the trigonometric function.

Fig. 3C is a schematic diagram showing a radius R2 related to a rear wheel of the vehicle sensing system 300 according to the third embodiment during a steering process, fig. 3D is a schematic diagram showing a relative angle θ1 of the traction vehicle 31 relative to the trailer 34 of the vehicle sensing system 300 according to the third embodiment during a steering process, and fig. 3E, 3F, 3G, 3H, 3I are schematic diagrams showing parameters at time points 1, 2, 3, 4, 5 in fig. 3C and 3D, respectively, and the applicable steering process of the vehicle sensing system 300 according to the present invention is not limited thereto. Referring to fig. 3C to 3I, during the running of the vehicle 30, the distance LA1 between the center 33 of the wheelbase of the traction vehicle 31 and the coupling axle 39, the trailer width WB, the distance LB2 between the coupling axle 39 and the center 36 of the rear wheel of the trailer 34 are constant values stored in the vehicle size data set 334, and the yaw rate ω and the vehicle speed v are sensed in real time and are time-dependent, so that the center C1, the relative angle θ1 of the traction vehicle 31 with respect to the trailer 34, the rear wheel-related radius R2, and the steering warning area are also time-dependent. At the time point 1 shown in fig. 3E, the vehicle 30 is not yet turned, and the yaw rate ω and the relative angle θ1 are both 0, the center C1 is located at infinity, and the rear-wheel related radius R2 is infinite. At time points 2 to 4 shown in fig. 3F to 3H, respectively, the vehicle 30 is turning along the non-road area 90, the yaw rate ω and the relative angle θ1 are not 0, and even if the running track of the vehicle 30 forms a circular arc of a fixed radius, both the rear-wheel related radius R2 and the relative angle θ1 still change with time, and the rear-wheel related radius R2 may have a minimum value at time point 3 and the relative angle θ1 may have a maximum value at time point 3. At time 5 shown in fig. 3I, the vehicle 30 is turned, the yaw rate ω and the relative angle θ1 are both 0, the center C1 is located at infinity, and the rear wheel-related radius R2 is infinity. Furthermore, it should be understood that the center C1, the rear-wheel related radius R2 and the relative angle θ1 of the vehicle 30 are not limited to those shown in fig. 3F to 3H, and the vehicle sensing system 300 according to the present invention can be used to determine a steering warning area when the yaw rate ω of the intersection steering, the lane changing, the parking, etc. is not 0, but not limited thereto.

Fig. 4 is a block diagram of a vehicle sensing system 400 according to a fourth embodiment of the invention, referring to fig. 4, the vehicle sensing system 400 is configured to be mounted on a vehicle (not shown), the vehicle is a hitch, the vehicle comprises a tractor and a trailer, the trailer comprises a trailer left rear wheel and a trailer right rear wheel, and the vehicle sensing system 400 comprises a computing unit 410 and an object sensing unit 470.

The calculating unit 410 includes a steering calculating module 433 and a vehicle size data set 434, and the calculating unit 410 is configured to receive the steering data set of the traction vehicle. The object sensing unit 470 is communicatively connected to the calculating unit 410, the object sensing unit 470 is configured to sense a position of an object located outside the vehicle relative to the vehicle, the number of the object sensing units 470 is at least one and is disposed on at least one side of the traction vehicle, and the object sensing unit 470 is not hidden by the trailer when an included angle between the traction vehicle and the trailer is equal to 90 degrees.

Based on the steering calculation module 433, the calculation unit 410 is configured to determine an inner rear wheel from the steering data set, the inner rear wheel being one of a left rear wheel of the trailer and a right rear wheel of the trailer, and determine a steering alert area from the vehicle size data set 434 and the steering data set, and the steering alert area is related to the time and the steering data set. Based on the steering calculation module 433, the calculation unit 410 is configured to determine whether the position of the object sensed by the object sensing unit 470 falls within the steering warning area.

Specifically, the vehicle sensing system 400 is a vehicle radar system including a computing unit 410 and an object sensing unit 470, the vehicle sensing system 400 is configured to receive a data set of a yaw rate and a vehicle speed of a vehicle transmitted by the vehicle itself or a device other than the vehicle in a wired or wireless manner, and the vehicle sensing system 400 is configured to transmit a signal in a wired or wireless manner to drive an alarm unit other than the vehicle itself or the vehicle to generate an alarm signal. For further details regarding the vehicle sensing system 400 of the fourth embodiment, reference may be made to the content of the vehicle sensing system 300 of the aforementioned third embodiment, which is not described in detail herein.

Fig. 5A is a block diagram of a vehicle sensing system 500 according to a fifth embodiment of the invention, and fig. 5B is a schematic diagram illustrating a usage state of the vehicle sensing system 500 according to the fifth embodiment of the invention. Referring to fig. 5A and 5B, the vehicle sensing system 500 is configured to be disposed on a vehicle 50, the vehicle 50 includes a traction vehicle 51 and has a coupling shaft 59, the traction vehicle 51 is configured to couple with a trailer 54 or other trailers, and the vehicle sensing system 500 includes a computing unit 510 and an object sensing unit 570.

The calculating unit 510 includes a steering calculating module 533 and a vehicle size data set 534, and the calculating unit 510 is an electronic control unit of the vehicle 50 and is configured to receive the steering data set of the traction vehicle 51. The object sensing units 570 are communicatively connected to the computing unit 510, the object sensing units 570 are configured to sense a position of an object (not shown, including pedestrians and other vehicles) located outside the vehicle 50 and an angle α between the traction vehicle 51 and the trailer 54, the number of the object sensing units 570 is at least two, and the object sensing units 570 are respectively disposed on two sides (i.e. a left side and a right side) of the traction vehicle 51, and when the angle α between the traction vehicle 51 and the trailer 54 is equal to 90 degrees, the object sensing units 570 are not hidden by the trailer 54.

Based on the steering calculation module 533, the calculation unit 510 is configured to determine whether the traction vehicle 51 is in a coupled state or an uncoupled state according to the vehicle size data set 534, the steering data set, and the angle α between the traction vehicle 51 and the trailer 54. For example, the sensed angle α is independent of the steering data set and is about 180 degrees constant, and it is determined that the traction car 51 is in the uncoupled state. Alternatively, the calculating unit 510 is configured to determine that the trailer length LB is greater than or equal to 0, wherein a trailer length LB greater than 0 indicates that the tractor 51 is in a coupled state, i.e. coupled to the trailer 54 or other trailers, and a trailer length LB equal to 0 indicates that the tractor 51 is in an uncoupled state, i.e. not coupled to any trailer. Based on the steering calculation module 533, the calculation unit 510 is configured to determine whether the position of the object sensed by the object sensing unit 570 falls within a steering warning region. Thus, the vehicle sensing system 500 can determine whether the truck 51 is in a coupled or uncoupled state without knowing whether the truck 51 is coupled to a trailer (e.g., the trailer 54) and without knowing the size data of the coupled trailer, and facilitate further calculation of a steering warning area associated with the size of the coupled trailer.

The vehicle dimension data set 534 may include at least one of a wheelbase of the traction car 51, a front overhang length of the traction car 51, a rear overhang length of the traction car 51, and a distance LA1 of the wheelbase center 53 of the traction car 51 from the hitch shaft 59. Thus, the vehicle sensing system 500 can effectively prevent the risk caused by the internal wheel difference phenomenon according to different vehicle sizes.

The vehicle sensing system 500 may further include a steering sensing unit 550 and a vehicle speed sensing unit 560, and the computing unit 510 may further include a list of standard trailer lengths 535. The steering sensing unit 550 is communicatively connected to the calculating unit 510, and the steering sensing unit 550 is configured to provide the calculating unit 510 with a steering data set of the traction vehicle 51, wherein the steering data set includes the yaw rate ω of the traction vehicle 51. The vehicle speed sensing unit 560 is communicatively connected to the calculating unit 510, and the vehicle speed sensing unit 560 is configured to provide the vehicle speed v of the traction vehicle 51 to the calculating unit 510. Based on the steering calculation module 533, the calculation unit 510 is configured to determine a trailer-related length (e.g., the distance LB2 between the hitch axle 59 and the rear wheel center 56 of the trailer 54, the trailer length LB) and a steering alert area from the distance LA1 between the wheelbase center 53 of the traction vehicle 51 and the hitch axle 59, the yaw rate ω, the vehicle speed v, the angle α between the traction vehicle 51 and the trailer 54, and the standard trailer length list 535, and the steering alert area is related to the time and steering data set (i.e., the steering alert area is adaptively and dynamically adjusted over time and the steering data set). When the calculating unit 510 is configured to determine the steering warning area, based on the steering calculating module 533, the calculating unit 510 is configured to determine whether the position of the object sensed by the object sensing unit 570 falls within the steering warning area. From this, the vehicle sensing system 500 can calculate the trailer-related length and the dynamic steering warning area from the yaw rate ω.

Based on the steering calculation module 533, the calculation unit 510 may be configured to determine the inner rear wheel 58 from the steering data set, the inner rear wheel 58 being one of the left rear wheel 57 of the trailer and the right rear wheel of the trailer (the inner rear wheel 58 being the right rear wheel of the trailer, as illustrated in fig. 5B, the inner rear wheel 58 being located on the steering side of the vehicle 50). The calculating unit 510 is further configured to determine a yaw rate related radius R1 of the traction vehicle 51 from the yaw rate ω of the traction vehicle 51 and the vehicle speed v, determine a center (i.e., a virtual center position) C1, a coupling axle related radius R4, a rear wheel related radius R2 of the trailer 54, and a distance LB2 between the coupling axle 59 and the rear wheel center 56 of the trailer 54 from the yaw rate related radius R1 and the yaw rate related radius R1 of the traction vehicle 51, wherein the yaw rate related radius R1 is a distance between the center 53 of the traction vehicle 51 and the center C1, the coupling axle related radius R4 is a distance between the coupling axle 59 and the center C1, and the rear wheel related radius R2 is a distance between the inner rear wheels 58 of the trailer 54 (in the fifth embodiment, the longitudinal center points of the two inner rear wheels 58 are calculated as shown in fig. 5B), and the direction of the rear wheel related radius R2 is a direction parallel to the center point of the inner rear wheel 58. Accordingly, the greater the steering degree of the traction vehicle 51, the smaller the yaw rate-related radius R1, and vice versa, and the yaw rate-related radius R1 is dynamic (i.e., not constant) during one steering of the traction vehicle 51, so that the steering warning area can be adjusted in real time and dynamically according to the steering degree of the traction vehicle 51.

Based on the list of standard trailer lengths 535, the computing unit 510 may determine the trailer length LB and the trailer width WB from the distance LB2 of the hitch axle 59 from the rear wheel center 56 of the trailer 54. Based on the steering calculation module 533, the calculation unit 510 is configured to determine a steering warning area according to the rear-wheel related radius R2, and the object sensing unit 570 is a radar unit (at least 40cm from the ground), or may be a photographing unit or an ultrasonic sensing unit, but is not limited thereto. The vehicle sensing system 500 further comprises an alarm unit 580, which is communicatively connected to the computing unit 510, the alarm unit 580 generating an alarm signal when the position of the object sensed by the object sensing unit 570 falls within the steering warning region. Therefore, if the steering warning area is too large, the dangerous area cannot be effectively distinguished, if the steering warning area is too small, pedestrians or other vehicles outside the steering warning area may be exposed to the danger, and the vehicle sensing system 500 considering the rear wheel related radius R2 is beneficial to determining the appropriate steering warning area. Further, the steering calculation module 533 may estimate the yaw rate ω of the vehicle 50 at the next time point, the vehicle speed v, and the possible track ranges of the side surfaces 52, 55 of the traction vehicle 51 and the trailer 54 on the steering side based on the rear-wheel related radius R2 and the details of the side surface 52 of the traction vehicle 51 in the vehicle size data set 534 to further determine the steering warning area.

Furthermore, each of the steering sensing unit 550, the vehicle speed sensing unit 560, the object sensing unit 570, and the alarm unit 580 of the vehicle 50 may be connected to the computing unit 510 by wired communication, for example, via a controller area network, or by wireless communication.

Specifically, based on the steering calculation module 533, the yaw rate ω and the vehicle speed v, the calculation unit 510 may determine the yaw rate-related radius R1 of the traction vehicle 51 from the yaw rate ω of the traction vehicle 51 and the vehicle speed v. The distance between the wheelbase center 53 of the traction vehicle 51 and the coupling shaft 59 is LA1, the yaw-rate-related radius is R1, the coupling-shaft-related radius is R4, and the angle between the direction of the yaw-rate-related radius R1 and the direction of the coupling-shaft-related radius R4 is θ2, which satisfies the following conditions of formulas 3.1 to 3.3:

And

Thus, the vehicle sensing system 500 may calculate a dynamic steering warning region using a trigonometric function without knowing whether the traction vehicle 51 is coupled to a trailer (e.g., the trailer 54).

Based on the steering calculation module 533 and the standard trailer length list 535, the calculation unit 510 may be configured to determine, from the steering data set, the inner rear wheel 58 being one of the left rear wheel 57 and the right rear wheel of the trailer, the trailer length being LB, the front edge 54F of the trailer 54 being at a distance LB1 from the hitch axle 59, the hitch axle 59 being at a distance LB2 from the rear wheel center 56 of the trailer 54, the rear wheel center 56 of the trailer 54 being at a distance LB3 from the rear edge 54B, the hitch axle-related radius being R4, the angle between the tractor 51 and the trailer 54 being α, the relative angle between the tractor 51 and the trailer 54 (the angle being equal to the angle between the yaw rate-related radius R1 and the rear wheel-related radius R2 of the trailer 54) being θ1, the angle between the yaw rate-related radius R1 and the hitch axle-related radius R4 being θ2, which satisfies the following conditions of equations 3.4 through 3.6:

θ1=180- α [ degrees ] (formula 3.4);

r4×sin (θ1- θ2) =lb2 (formula 3.5); and

L1+l2+l3=lb (formula 3.6).

In the fifth embodiment, the known parameters in the formulas 3.1 to 3.5 are the yaw rate ω, the vehicle speed v, the distance LA1 and the angle α, and the undetermined parameters that can be calculated by the steering calculation module 533 and the known parameters are the radii R1, R4, the angle θ2, the relative angle θ1 and the distance LB2. Thus, the vehicle sensing system 500 may calculate the distance LB2 using trigonometric functions and further calculate or estimate the trailer length LB using the list of standard trailer lengths 535 without knowing whether the traction vehicle 51 is coupled to a trailer (e.g., the trailer 54).

During the running of the vehicle 50, the distance LA1 between the wheelbase center 53 of the traction vehicle 51 and the coupling axle 59 is a constant value stored in the vehicle dimension data set 534 in advance, and the yaw rate ω, the vehicle speed v, and the angle α between the traction vehicle 51 and the trailer 54 are sensed in real time and are known in time, so that the center C1, the relative angle θ1 of the traction vehicle 51 with respect to the trailer 54, the rear wheel related radius R2, and the steering warning area are also time-dependent, and the related description of fig. 3C to 3I in the third embodiment can be referred to.

Fig. 5C is a schematic diagram showing a yaw rate related radius R1 of the vehicle sensing system 500 according to the fifth embodiment during a steering process of a coupled state (e.g. the traction vehicle 51 is coupled with the trailer 54), fig. 5D is a schematic diagram showing a relative angle θ1 of the traction vehicle 51 relative to the trailer 54 during a steering process of the vehicle sensing system 500 according to the fifth embodiment, fig. 5E, fig. 5F, fig. 5G, fig. 5H, fig. 5I are schematic diagrams showing parameters at time points 1,2, 3, 4, 5 according to fig. 5C and fig. 5D, respectively, and the steering process applicable to the vehicle sensing system 500 according to the present invention is not limited thereto. Referring to fig. 5C to 5I, based on the steering calculation module 533, the calculation unit 510 may be configured to define a time interval during which the yaw rate related radius R1 is continuously smaller than the condition radius Rc as a minimum radius time, which is between the minimum radius start time Ta and the minimum radius end time Tb in fig. 5C and 5D. When the relative angle θ1 of the truck 51 with respect to the trailer 54 is continuously greater than the conditional included angle θc for a minimum radius time, it is determined that the truck 51 is in the coupled state, i.e., the trailer length LB is greater than 0, i.e., the truck 51 is coupled to the trailer 54 or other trailers. The calculated rear wheel related radius R2, the distance LB2 between the hitch axle 59 and the rear wheel center 56 of the trailer 54, and the calculated trailer length LB, the distance LB1 between the front edge 54F of the trailer 54 and the hitch axle 59, the distance LB3 between the rear wheel center 56 of the trailer 54 and the rear edge 54B, and the trailer width WB are further determined based on the lookup table and the calculation of the data in the standard trailer length list 535. In detail, when the vehicle 50 turns, the traction vehicle 51 turns first to generate turning force, and the trailer 54 starts turning after being influenced by the force, so the yaw rate-related radius R1 becomes smaller first, and then the relative angle θ1 starts an angular delay phenomenon, and when the yaw rate-related radius R1 is the minimum value, it is usually not just the maximum value of the relative angle θ1.

Fig. 5J is a schematic diagram showing a yaw rate related radius R1 of the vehicle sensing system 500 according to the fifth embodiment during a steering process of the non-coupled state (i.e. the traction vehicle 51 is not coupled with any trailer), fig. 5K is a schematic diagram showing a relative angle θ1 of the traction vehicle 51 relative to the trailer 54 of the vehicle sensing system 500 according to the fifth embodiment during a steering process of the non-coupled state, fig. 5L, 5M, 5N, 5O, 5P are schematic diagrams showing parameters at time points 1,2, 3, 4, 5 according to fig. 5J and 5K, respectively, and the steering process applicable to the vehicle sensing system 500 according to the present invention is not limited thereto. Referring to fig. 5J to 5P, when the relative angle θ1 of the tractor 51 with respect to the trailer to be determined is continuously smaller than the condition included angle θc at the minimum radius time, it is determined that the tractor 51 is in the uncoupled state, i.e. the trailer length LB is equal to 0, i.e. the tractor 51 is not coupled with any trailer. In detail, the angle α between the tractor 51 and the trailer to be determined sensed by the object sensing unit 570 is substantially 180 degrees when the vehicle 50 turns and is still substantially 180 degrees when the vehicle is not turning in a straight line, and the relative angle θ1 is substantially 0 degrees and less than the conditional angle θc according to the above formula 3.4, so that the trailer length LB is determined to be equal to 0, i.e. the tractor 51 is not coupled with any trailer. Further, the non-coupled state is sensed for each turn plus an accumulated number of times, and when the consecutive accumulated number of times exceeds the condition number of times, the vehicle 50 is updated to the non-coupled state and the steering warning area thereof. Thus, when the vehicle 50 arrives at the destination, the trailer 54 is removed and only the traction vehicle 51 is left to run for the next delivery task, and the steering warning area needs to be changed according to the uncoupled state (i.e., the no-trailer state) to achieve the warning accuracy. Therefore, the vehicle sensing system 500 according to the present invention can automatically detect whether the traction vehicle 51 is coupled with the trailer or not by using the trailer coupling detection function, and update the corresponding trailer length LB and the steering warning area.

Fig. 6 is a block diagram of a vehicle sensing system 600 according to a sixth embodiment of the invention, referring to fig. 6, the vehicle sensing system 600 is configured to be mounted on a vehicle, the vehicle comprises a traction vehicle and has a coupling shaft, the traction vehicle is configured to couple with a trailer, and the vehicle sensing system 600 comprises a computing unit 610 and an object sensing unit 670.

The computing unit 610 includes a steering computing module 633, a vehicle size data set 634, and a standard trailer length list 635, the computing unit 610 being configured to receive a steering data set of the traction vehicle. The object sensing unit 670 is communicatively connected to the calculating unit 610, the object sensing unit 670 is configured to sense a position of an object located outside the vehicle relative to the vehicle and an angle between the traction vehicle and the trailer, the number of the object sensing units 670 is at least one and is disposed on at least one side of the traction vehicle, and when the angle between the traction vehicle and the trailer is equal to 90 degrees, the object sensing unit 670 is not hidden by the trailer.

Based on the steering calculation module 633, the calculation unit 610 is configured to determine a steering alert area and a trailer length from the vehicle size data set 634, the steering data set, the angle between the traction vehicle and the trailer, and the standard trailer length list 635, wherein the steering alert area is related to time and the steering data set, and the trailer length is greater than or equal to 0. Based on the steering calculation module 633, the calculation unit 610 is configured to determine whether the position of the object sensed by the object sensing unit 670 falls within a steering warning area.

Specifically, the vehicle sensing system 600 is a vehicle radar system including a computing unit 610 and at least two object sensing units 670, the vehicle sensing system 600 is configured to receive, wired or wireless, a data set of yaw rate and vehicle speed of a vehicle transmitted by the vehicle itself or a device other than the vehicle, and the vehicle sensing system 600 is configured to transmit, wired or wireless, a signal to drive an alarm unit other than the vehicle itself or the vehicle to generate an alarm signal. For further details regarding the vehicle sensing system 600 of the sixth embodiment, reference may be made to the content of the vehicle sensing system 500 of the aforementioned fifth embodiment, which is not described in detail herein.

While the present invention has been described with reference to the above embodiments, it should be understood that the invention is not limited thereto, but may be variously modified and modified by those skilled in the art without departing from the spirit and scope of the present invention, and the scope of the present invention is defined by the appended claims.

[ Symbolic description ]

10,30,50 Vehicle

12,32,35,52,55 Side surfaces

13,33,53 Center of wheelbase

15 Left front wheel

16 Inner front wheel

17 Left rear wheel

18,38,58 Inner rear wheel

31,51 Traction vehicle

34,54 Trailer

54F leading edge

54B trailing edge

36,56 Rear wheel center

37,57 Left rear wheel of trailer

39,59 Connecting shaft

90 Non-road area

100,200,300,400,500,600: Vehicle sensing system

110,210,310,410,510,610 Computing Unit

220,320 Processor

230,330 Memory

133,233,333,433,533,633 Steering calculation module

134,234,334,434,534,634 Vehicle size data set

535,635 Standard trailer Length List

150,350,550 Steering sensing unit

160,360,560 Vehicle speed sensing unit

170,270,370,470,570,670 Object sensing unit

180,380,580 Alarm unit

AD: wheelbase

WD vehicle width

C1 is the center of a circle

R1 yaw Rate related radius

R2, related radius of rear wheel

R3, radius of front wheel

LA1 distance between center of wheelbase of traction vehicle and coupling shaft

WB trailer width

LB1 distance between the front edge of the trailer and the coupling axle

LB2 distance between the coupling axle and the rear wheel center of the trailer

LB3 distance between rear wheel center and rear edge of trailer

R4 related radius of connecting shaft

Rc, conditional radius

Θ1 relative angle of traction vehicle to trailer

Θ2 angle between the direction of the yaw-rate-related radius and the direction of the coupling-axis-related radius

Θc conditional included angle

Alpha, included angle between traction vehicle and trailer

Ta minimum radius start time

Tb minimum radius end time.

Claims

1. A vehicle sensing system for positioning in a vehicle, the vehicle being a hitch, the vehicle comprising a tractor and a trailer and having a hitch axle, the trailer comprising a rear left wheel and a rear right wheel of the trailer, the vehicle sensing system comprising:

The calculation unit comprises a steering calculation module and a vehicle size data set, and is used for receiving the steering data set of the traction vehicle; and

The object sensing unit is in communication connection with the calculating unit and is used for sensing the position of an object positioned outside the vehicle relative to the vehicle, the object sensing unit is arranged on the side part of the traction vehicle, and when the included angle between the traction vehicle and the trailer is equal to 90 degrees, the object sensing unit is not hidden by the trailer;

wherein, based on the steering calculation module, the calculation unit is configured to determine an inner rear wheel from the steering data set, the inner rear wheel being one of a left rear wheel of the trailer and a right rear wheel of the trailer, and determine at least one of a trailer-related length and a steering alert zone from the vehicle-size data set and the steering data set, and the steering alert zone is related to at least one of time and the steering data set;

When the calculating unit is used for determining the steering warning area, based on the steering calculating module, the calculating unit is also used for determining whether the position of the object sensed by the object sensing unit falls into the steering warning area.

2. The vehicle sensing system of claim 1, wherein the vehicle dimension data set includes at least one of a wheelbase of the traction vehicle, a front overhang length of the traction vehicle, a rear overhang length of the traction vehicle, a distance of a wheelbase center of the traction vehicle from the hitch axle, a trailer width, and a distance of the hitch axle from a rear wheel center of the trailer.

3. The vehicle sensing system according to claim 2, further comprising:

the steering sensing unit is in communication connection with the calculating unit and is used for providing the steering data set of the traction vehicle to the calculating unit, wherein the steering data set comprises the yaw rate of the traction vehicle; and

The speed sensing unit is in communication connection with the calculating unit and is used for providing the speed of the traction vehicle to the calculating unit;

The calculation unit is used for determining the steering warning area according to the distance between the wheelbase center of the traction vehicle and the coupling shaft, the width of the trailer, the distance between the coupling shaft and the center of the rear wheel of the trailer, the yaw rate and the vehicle speed based on the steering calculation module.

4. The vehicle sensing system according to claim 3, wherein based on the steering calculation module, the calculation unit is configured to determine a yaw rate related radius of the traction vehicle from the yaw rate of the traction vehicle and the vehicle speed;

wherein the distance between the wheelbase center of the traction vehicle and the coupling axle is LA1, the vehicle width of the trailer is WB, the distance between the coupling axle and the rear wheel center of the trailer is LB2, the yaw rate related radius is R1, the coupling axle related radius is R4, and the rear wheel related radius of the trailer is R2, which satisfies the following conditions:

And

5. The vehicle sensing system according to claim 3, wherein based on the steering calculation module, the calculation unit is configured to determine a yaw rate related radius of the traction vehicle from the yaw rate and the vehicle speed, and determine a center of a circle, a hitch axle related radius, and a rear wheel related radius of the trailer from a direction of the yaw rate related radius and a rear wheel related radius of the trailer, the rear wheel related radius being a direction perpendicular to a side surface of the trailer and passing through the inner rear wheel, the yaw rate related radius being a distance between the center of the wheelbase of the traction vehicle and the center of the circle, the hitch axle related radius being a distance between the hitch axle and the center of the circle, the rear wheel related radius being a distance between the inner rear wheel of the trailer and the center of the circle.

6. The vehicle sensing system of claim 5, wherein the computing unit is configured to determine the steering warning region from the rear wheel related radius based on the steering computing module, the object sensing unit is a radar unit, the vehicle sensing system further comprising:

And the alarm unit is in communication connection with the calculation unit, and generates an alarm signal when the position of the object sensed by the object sensing unit falls into the steering warning area.

7. A vehicle sensing system for positioning in a vehicle, the vehicle including a traction vehicle and having a hitch axle, the traction vehicle being configured to hitch a trailer, the vehicle sensing system comprising:

The object sensing unit is in communication connection with the calculating unit and is used for sensing the included angle between the traction vehicle and the trailer, the object sensing unit is arranged on the side part of the traction vehicle, and when the included angle between the traction vehicle and the trailer is equal to 90 degrees, the object sensing unit is not hidden by the trailer;

The calculation unit is used for determining whether the traction vehicle is in a coupling state or a non-coupling state according to the vehicle size data set, the steering data set and the included angle between the traction vehicle and the trailer based on the steering calculation module.

8. The vehicle sensing system of claim 7, wherein the vehicle dimension data set includes at least one of a wheelbase of the traction vehicle, a front overhang length of the traction vehicle, a rear overhang length of the traction vehicle, and a distance of a wheelbase center of the traction vehicle from the hitch shaft.

9. The vehicle sensing system of claim 8, further comprising:

the object sensing unit is also used for sensing the position of an object positioned outside the vehicle relative to the vehicle;

Wherein, based on the steering calculation module, the calculation unit is used for determining at least one of the relative length of the trailer and a steering warning area according to the distance between the center of the wheelbase of the traction vehicle and the connecting shaft, the yaw rate, the vehicle speed and the included angle between the traction vehicle and the trailer, and the steering warning area is related to time and the yaw rate;

10. The vehicle sensing system according to claim 9, wherein based on the steering calculation module, the calculation unit is configured to determine a yaw rate related radius of the traction vehicle from the yaw rate of the traction vehicle and the vehicle speed;

Wherein the distance between the center of the wheelbase of the traction vehicle and the coupling shaft is LA1, the yaw rate-related radius is R1, the coupling shaft-related radius is R4, and the angle between the direction of the yaw rate-related radius and the direction of the coupling shaft-related radius is θ2, which satisfies the following conditions:

And

11. The vehicle sensing system of claim 10, wherein based on the steering calculation module, the calculation unit is configured to determine an inner rear wheel from the steering data set, the inner rear wheel being one of a left rear wheel of a trailer and a right rear wheel of the trailer, the coupling axle being located at a distance LB2 from a rear wheel center of the trailer, the traction vehicle being located at an angle α from the trailer, the relative angle θ1 of the traction vehicle with respect to the trailer, which satisfies the following condition:

θ1=180- α [ degrees ]; and

R4×sin(θ1－θ2)＝LB2。

12. The vehicle sensing system of claim 10, wherein based on the steering calculation module, the calculation unit is configured to define a time when the yaw rate related radius is continuously less than a conditional radius as a minimum radius time, and determine that the traction vehicle is in the uncoupled state when a relative angle of the traction vehicle with respect to the trailer is continuously less than a conditional angle at the minimum radius time.

13. The vehicle sensing system according to claim 9, wherein based on the steering calculation module, the calculation unit is configured to determine an inner rear wheel from the steering data set, the inner rear wheel being one of a left rear wheel of a trailer and a right rear wheel of the trailer, the calculation unit is configured to determine a yaw rate-related radius of the tractor from the yaw rate of the tractor and the vehicle speed, and determine a center, a hitch axle-related radius, a rear wheel-related radius of the trailer, and a distance between the hitch axle and a rear wheel center of the trailer from directions of the yaw rate-related radius being a direction perpendicular to a side surface of the tractor and passing through the center of the wheelbase of the tractor, the hitch axle-related radius being a distance between the hitch axle and the center, the rear wheel-related radius being a distance between the inner rear wheel of the trailer and the center.

14. The vehicle sensing system of claim 13, wherein based on the steering calculation module, the calculation unit is configured to determine the steering warning region from the rear wheel related radius, the object sensing unit is a radar unit, the vehicle sensing system further comprising: