CN116039503A - Commercial vehicle vision blind area monitoring and reminding method, mobile terminal and storage medium - Google Patents
Commercial vehicle vision blind area monitoring and reminding method, mobile terminal and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of intelligent driving of automobiles, in particular to a visual field blind area monitoring and reminding method, a mobile terminal and a storage medium for a commercial vehicle, which comprises the steps of building a visual field blind area monitoring framework of the commercial vehicle, respectively installing two microwave radars below the middle part of a carriage of the commercial vehicle, and electrically connecting a blind area monitoring system of the commercial vehicle based on the microwave radars; judging whether the commercial vehicle is stationary, sequentially executing a door opening early warning judging process and a blind spot monitoring and lane changing auxiliary judging process, and executing corresponding reminding actions; the system monitors the traffic condition of the side rear part of the vehicle through the microwave radar during the running and the static process of the commercial vehicle, and can carry out safety reminding on a driver if other vehicles or other moving targets possibly causing collision exist in the monitored area. If other vehicles or other moving objects which are rapidly approaching exist in the monitoring area, the lane change has collision risk, and the system can carry out safety reminding on a driver.
Description
Technical Field
The invention relates to the technical field of intelligent driving of automobiles, in particular to a visual field blind area monitoring and reminding method for a commercial vehicle, a mobile terminal and a storage medium.
Background
With the day-to-day variation of intelligent driving technologies in the automobile industry, automobile manufacturers have already become very mature in applying intelligent driving technologies on the level of passenger cars L1 and L2, and the configuration rate is quite high. However, for commercial vehicles, especially light truck types in commercial vehicles, the investment of automobile manufacturers on the vehicle type is relatively small, and more limited is the use of millimeter wave radar for monitoring blind areas in wide-body light truck type commercial vehicles and the like.
The blind area monitoring technology refers to detecting traffic conditions of the side rear part (the blind area of an external rearview mirror) of a vehicle by means of a millimeter wave radar sensor carried by the vehicle, and if other vehicles or other moving targets possibly causing collision are in a monitored area, the system can carry out safety reminding on a driver.
The blind area monitoring technology on the existing passenger car generally comprises the functions of blind point monitoring, lane changing assistance, rear navigation reminding, door opening early warning, rear collision early warning and the like, and the passenger car can be applied to the technology, and the key point is that the passenger car is small in body and good in radar arrangement position. For commercial vehicles with light cards of 5.99 m and 2.53 m, the coverage angle of the radar is very limited. Therefore, if the blind area monitoring technology of the existing passenger car is applied to commercial vehicles such as wide-body light truck type vehicles and the like to monitor and remind the visual field blind area, the using effect of the blind area monitoring technology is greatly reduced, the safety of the commercial vehicles cannot be ensured, and the blind area monitoring range of M2, M3, N2 and N3 vehicles under the right turning working condition cannot be met in the regulations. Therefore, how to ensure safer and more effective monitoring of the visual field blind area in a special commercial vehicle type (such as a wide light truck) and prompt a driver becomes the difficult problem of the current blind area monitoring technology.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a visual field blind area monitoring and reminding method for a commercial vehicle, a mobile terminal and a storage medium.
According to an embodiment of the first aspect of the invention, the method for monitoring and reminding the blind area of the visual field of the commercial vehicle comprises the following steps:
step S100: building a visual field blind area monitoring framework of a commercial vehicle, respectively defining a lane changing auxiliary area (a vehicle blind spot monitoring area, a lane changing auxiliary monitoring area) and a door opening early warning monitoring area, respectively installing two microwave radars below the middle part of a carriage of the commercial vehicle, electrically connecting the microwave radars with a blind area monitoring system of the commercial vehicle, electrically connecting the blind area monitoring system with an electronic control module of the whole vehicle, and electrically connecting the electronic control module of the whole vehicle with a prompt alarm module;
step S200: the commercial vehicle is electrified, and the blind area monitoring system starts to operate;
step S300: judging whether the commercial vehicle is stationary, if so, jumping to the step S400, and if not, jumping to the step S500;
step S400: executing a door opening early warning judging process, completing the door opening early warning judging process and executing a reminding action;
step S500: executing and completing the blind spot monitoring and lane changing auxiliary judging process, completing the blind spot monitoring and lane changing auxiliary judging process and executing the reminding action;
Step S600: and (5) finishing the monitoring and reminding process of the visual field blind area of the commercial vehicle.
According to the monitoring and reminding method for the visual field blind area of the commercial vehicle, based on the traffic condition of the side rear part (the blind area of the outer rearview mirror) of the commercial vehicle in the running and static processes of the commercial vehicle, if other vehicles or other moving targets possibly causing collision are in the monitoring area, the system can carry out safety reminding on a driver. If other vehicles or other moving objects which are rapidly approaching exist in the monitoring area, the lane change has collision risk, and the system can carry out safety reminding on a driver.
According to some embodiments of the invention, the door opening early warning monitoring area is: a rectangular area formed by extending 2 meters and 20 meters backwards along the direction of the vehicle body by taking the left rearview mirror and the right rearview mirror as base points; and when the commercial vehicle is stationary, whether a vehicle, a motorcycle, a bicycle and a running pedestrian approach or not in the door opening pre-alarm monitoring area is detected through the microwave radar, and passengers in the vehicle are warned and prompted through an execution part (such as sound or vision) of the blind area monitoring system, so that the safety is improved.
The vehicle blind spot monitoring area is as follows: in the running process of the commercial vehicle, the microwave radar monitors traffic conditions of the side rear part (blind area of the outer rearview mirror) of the vehicle in a rectangular area formed by extending the left rearview mirror and the right rearview mirror by 3.75 meters and extending the left rearview mirror by 10 meters along the direction of the vehicle body, and if other vehicles or other moving targets possibly causing collision are in the blind spot monitoring area of the vehicle, the system can safely remind a driver. If other vehicles or other moving targets which are rapidly approaching exist in the monitoring area, the lane change has collision risk, and the blind area monitoring system can carry out safety reminding on a driver.
According to some embodiments of the present invention, the step S400 of executing the door opening early warning judging process, completing the door opening early warning judging process and executing the reminding action specifically includes:
step S410: judging whether a target object exists in the door opening pre-alarm monitoring area, if so, jumping to the step S420, and if not, jumping to the step S430;
step S420: judging whether the environmental conditions between the commercial vehicle and the target object meet the class A primary early warning conditions, if so, jumping to the step S440, and if not, jumping to the step S470;
step S430: judging whether the environmental conditions between the commercial vehicle and the target object meet the class B primary early warning conditions, if so, jumping to the step S440, and if not, jumping to the step S470;
step S440: judging whether the commercial vehicle door is opened or not, if not, jumping to the step S450, and if yes, jumping to the step S460;
step S450: a door opening early warning system in the blind area monitoring system starts a primary warning;
step S460: a door opening early warning system in the blind area monitoring system starts a secondary warning to prompt the alarm module to work;
step S470: and (5) ending the door opening early warning judging process.
The method is used for realizing that the commercial vehicle completes the door opening early warning judging process and executes reminding actions, so that the commercial vehicle has a door opening early warning function.
According to some embodiments of the present invention, the executing and completing the blind spot monitoring and lane change auxiliary judging process in the step S500, and completing the blind spot monitoring and lane change auxiliary judging process and executing the reminding action specifically includes:
step S510: judging whether the commercial vehicle meets a vehicle speed limiting condition, wherein the vehicle speed limiting condition is that the speed of the commercial vehicle is greater than 25km/h, if so, jumping to a step S520, and if not, jumping to a step S590;
step S520: judging whether the turning radius of the commercial vehicle meets the standard requirement according to the standard (ISO 17387), if so, jumping to the step S530, and if not, jumping to the step S590;
step S530: judging whether the lane change auxiliary area has a target object, if so, jumping to the step S540, and if not, jumping to the step S550;
step S540: judging whether the target object is in a vehicle blind spot monitoring area in the lane change auxiliary area, if so, jumping to the step S5410, and if not, jumping to the step S5420;
step S5410: judging whether the environmental conditions between the commercial vehicle and the target object meet the class C primary early warning conditions, if so, jumping to the step S560, and if not, jumping to the step S590;
Step S5420: judging whether the average transverse distance between the commercial vehicle and the target object meets a first preset A value, if so, jumping to a step S5421, and if not, jumping to a step S590;
step S5421: judging whether the longitudinal distance between the commercial vehicle and the target object is not greater than a first preset B value, if so, jumping to the step S560, and if not, jumping to the step S5422;
step S5422: if the average relative vehicle speed between the commercial vehicle and the target object is less than 0km/h, if yes, jumping to step S5423, if not, jumping to step S590, wherein the average relative vehicle speed = commercial vehicle speed-target object speed;
step S5423: judging whether the average relative speed and the collision time between the commercial vehicle and the target object reach the class D primary early warning condition or not according to the average relative speed and the collision time between the commercial vehicle and the target object, if so, jumping to the step S560, and if not, jumping to the step S590;
step S550: judging whether the average transverse distance between the commercial vehicle and the target object meets a second preset A value, if so, jumping to a step S5510, and if not, jumping to a step S590;
step S5510: judging whether the longitudinal distance between the commercial vehicle and the target object is not greater than a second preset B value, if so, jumping to the step S5520, and if not, jumping to the step S5530;
Step S5520: judging whether the commercial vehicle and the target object are in the same direction, if so, jumping to the step S5521, and if not, jumping to the step S590;
step S5521: judging whether the speed of the commercial vehicle does not exceed the speed of the target object by 15km/h, if so, jumping to the step S560, and if not, jumping to the step S590;
step S5530: if the average relative speed between the commercial vehicle and the target object is less than 0km/h, if yes, jumping to the step S5531, and if not, jumping to the step S590;
step S5531, judging whether the E class first-level early warning condition is achieved between the commercial vehicle and the target object according to the average relative vehicle speed and the collision time between the commercial vehicle and the target object, if so, jumping to step S560, and if not, jumping to step S590;
step S560: a blind spot monitoring and lane changing auxiliary system in the blind spot monitoring system starts a primary warning;
step S570: judging whether the commercial vehicle turns on a steering lamp, if so, jumping to a step S580, and if not, jumping to a step S590;
step S580: a blind spot monitoring and lane changing auxiliary system in the blind spot monitoring system starts a secondary warning to prompt the alarm module to work;
step S590: and (5) ending the blind spot monitoring and lane change auxiliary judging process.
The method is used for realizing that the commercial vehicle completes the blind spot monitoring and lane changing auxiliary judging process and executes corresponding reminding actions, so that the commercial vehicle has the blind spot monitoring and lane changing auxiliary functions.
According to some embodiments of the present invention, the criterion in step S420 for meeting the class a primary warning condition is that the following conditions are met between the commercial vehicle and the target object, namely:
the average transverse distance between the commercial vehicle and the target object meets 0.05 m-2.5 m, wherein the average transverse distance is the transverse distance between the commercial vehicle and the target object when the commercial vehicle is parallel;
whether an average relative vehicle speed between the commercial vehicle and the target object meets less than 0km/h, wherein the average relative vehicle speed = commercial vehicle speed-target object speed;
the longitudinal distance between the commercial vehicle and the target object is smaller than 21m;
the collision time between the commercial vehicle and the target object is less than 2.7s, wherein the collision time is longitudinal distance/average relative vehicle speed. The vehicle and pedestrian targets in the blind area ranges at the two sides of the light truck are defined by combining the actual detection range of the microwave radar, so that a driver can be effectively warned before the dangerous situation occurs, and traffic accidents are avoided.
According to some embodiments of the present invention, the criterion in step S430 for meeting the class B primary warning condition is that the following conditions are met between the commercial vehicle and the target object, namely:
the average transverse distance between the commercial vehicle and the target object meets 0.55 m-1.75 m;
whether the average relative speed between the commercial vehicle and the target object is smaller than-5 km/h or not is met;
the longitudinal distance between the commercial vehicle and the target object is smaller than 20m;
and the collision time between the commercial vehicle and the target object is less than 1.7s. The vehicle and pedestrian targets in the blind area ranges on the two sides of the light truck are defined by combining the actual detection range of the microwave radar, so that a driver can be effectively and safely reminded before the dangerous situation occurs, and traffic accidents caused by the driver are prevented from happening.
According to some embodiments of the present invention, the criterion in step S5410 for whether the class C primary warning condition is met is that the following conditions are met between the commercial vehicle and the target object at the same time:
the average transverse distance between the commercial vehicle and the target object meets 0.05 m-4.25 m;
and the longitudinal distance between the commercial vehicle and the target object is not more than 12m.
The dangerous situation of the vehicle blind spot monitoring area is defined for the vehicle and the pedestrian targets in the blind area range on the two sides of the light truck by combining the actual detection range of the microwave radar, so that a driver can be effectively and safely reminded before the dangerous situation occurs, and traffic accidents caused by the driver are prevented from happening.
According to some embodiments of the present invention, in step S5423, according to the average relative vehicle speed and the collision time between the commercial vehicle and the target object, the determination condition for determining whether the class D primary warning condition is reached between the commercial vehicle and the target object is any one of the following conditions:
the first condition is that when the average relative speed between the commercial vehicle and the target object is greater than 72km/h, the collision time between the commercial vehicle and the target object is less than 4.5s;
the second condition is that when the average relative speed between the commercial vehicle and the target object is not more than 72km/h, the collision time between the commercial vehicle and the target object is less than 4.5s;
thirdly, when the average relative speed between the commercial vehicle and the target object is not more than-54 km/h, the collision time between the commercial vehicle and the target object is less than 4s;
and fourthly, when the average relative speed between the commercial vehicle and the target object is not more than-36 km/h, the collision time between the commercial vehicle and the target object is less than 3.5s.
The dangerous situation of the lane change auxiliary monitoring area is defined for the vehicle targets in the blind area range on the two sides of the light truck by combining the actual detection range of the microwave radar, so that a driver can be effectively and safely reminded before the dangerous situation occurs, and traffic accidents caused by the driver are prevented from happening.
According to some embodiments of the present invention, in step S5531, according to the average relative vehicle speed and the collision time between the commercial vehicle and the target object, the determining condition that whether the class E primary warning condition is achieved between the commercial vehicle and the target object is any one of the following conditions:
the first condition is that when the average relative speed between the commercial vehicle and the target object is greater than 72km/h, the collision time between the commercial vehicle and the target object is less than 3.5s;
the second condition is that when the average relative speed between the commercial vehicle and the target object is not more than 72km/h, the collision time between the commercial vehicle and the target object is less than 3.5s;
thirdly, when the average relative speed between the commercial vehicle and the target object is not more than-54 km/h, the collision time between the commercial vehicle and the target object is less than 3s;
and fourthly, when the average relative speed between the commercial vehicle and the target object is not more than-36 km/h, the collision time between the commercial vehicle and the target object is less than 2.5s.
A mobile terminal according to an embodiment of the second aspect of the present invention includes a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to cause the mobile terminal to perform the commercial vehicle vision blind area monitoring reminding method according to the above,
according to the storage medium of the third aspect of the embodiment of the invention, a computer program is stored thereon, wherein the program, when being executed by a processor, realizes the steps of the method for monitoring and reminding the blind area of the visual field of the commercial vehicle.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a commercial vehicle vision blind area monitoring and reminding method according to an embodiment of the invention;
Fig. 2 is a schematic diagram of a door opening early warning monitoring area in a monitoring reminding method for a visual field blind area of a commercial vehicle according to an embodiment of the invention;
fig. 3 is a schematic diagram of a vehicle blind spot monitoring area in a method for monitoring and reminding a blind spot of a visual field of a commercial vehicle according to an embodiment of the invention;
fig. 4 is a flowchart of a door opening early warning judging process in a monitoring and reminding method for a visual field blind area of a commercial vehicle according to an embodiment of the invention;
FIG. 5 is a flow chart of a blind area monitoring reminding method for a visual field of a commercial vehicle, which is applied to blind spot monitoring and lane change auxiliary judging process under a right-turn working condition according to an embodiment of the invention;
FIG. 6 is a specific flow chart of whether the first-level alarm condition of the comprehensive class A is met between the commercial vehicle and the target object in FIG. 5;
FIG. 7 is a specific flow chart of whether the first class B comprehensive alarm condition is met between the commercial vehicle and the target object in FIG. 5.
Detailed Description
The following detailed description of embodiments of the present invention is exemplary, with reference to the accompanying drawings, it being understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit the application.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
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 herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The terms "first," second, "" third and the like in the description and in the claims and drawings are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprising," "including," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a series of steps or elements may be included, or alternatively, steps or elements not listed or inherent to such process, method, article of manufacture, or apparatus may be included, or other steps or elements may be included, unless numerical data of this application is inherently marked or determined by any particular circumstances.
Only some, but not all, of the matters relevant to the present application are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
As used in this specification, the terms "component," "module," "system," "unit," and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, or software in execution. For example, a unit may be, but is not limited to being, a process running on a processor, an object, an executable, a thread of execution, a program, and/or being distributed between two or more computers. Furthermore, these units may be implemented from a variety of computer-readable media having various data structures stored thereon. The units may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., second unit data from another unit interacting with a local system, distributed system, and/or across a network).
Example 1
Referring to fig. 1, the embodiment provides a method for monitoring and reminding a blind area of a field of view of a commercial vehicle, which includes:
step S100: constructing a visual field blind area monitoring framework of a commercial vehicle with a blind area monitoring system, respectively defining a lane changing auxiliary area (the lane changing auxiliary area comprises a vehicle blind spot monitoring area and a lane changing auxiliary monitoring area), and a door opening early warning monitoring area, respectively installing two microwave radars below the middle part of a carriage of the commercial vehicle, more specifically, respectively installing the microwave radars on two sides of the tail of the commercial vehicle, wherein the height range from the ground installation of the microwave radars is between 400mm and 1000mm, the ports of a radar connector face the two sides of the vehicle, the axes of the radar connector face the vehicle, the traveling direction of the vehicle, the included angle between the plane of a radar radome of the microwave radars and the idle ground line of the vehicle is 90+/-2 degrees, the installation error of the rotation angle of the microwave radars is controlled to be within 1.5 degrees, the microwave radars are electrically connected with the blind area monitoring system of the commercial vehicle, the blind area monitoring system is electrically connected with a whole vehicle electronic control module, and the whole vehicle electronic control module is electrically connected with a prompt alarm module;
Step S200: the commercial vehicle is electrified, and the blind area monitoring system starts to operate;
step S300: judging whether the commercial vehicle is stationary, if so, jumping to the step S400, and if not, jumping to the step S500;
step S400: executing a door opening early warning judging process, completing the door opening early warning judging process and executing corresponding reminding actions;
step S500: executing and completing the blind spot monitoring and lane changing auxiliary judging process, completing the blind spot monitoring and lane changing auxiliary judging process and executing corresponding reminding actions;
step S600: and (5) finishing the monitoring and reminding process of the visual field blind area of the commercial vehicle.
According to the monitoring and reminding method for the visual field blind area of the commercial vehicle, based on the traffic condition of the side rear part (the blind area of the outer rearview mirror) of the commercial vehicle in the running and static processes of the commercial vehicle, if other vehicles or other moving targets possibly causing collision are in the monitoring area, the system can carry out safety reminding on a driver. If other vehicles or other moving objects which are rapidly approaching exist in the monitoring area, the lane change has collision risk, and the system can carry out safety reminding on a driver.
Specifically, the prompting and alarming module comprises a buzzer in a predicted vehicle of an indicator lamp on a rearview mirror, but is not limited to the buzzer, and is used for prompting and warning a driver through an execution part of a visual field blind area monitoring and reminding system of the commercial vehicle.
Specifically, the door opening early warning monitoring area is: a rectangular area formed by extending 2 meters and 20 meters backwards along the direction of the vehicle body by taking the left rearview mirror and the right rearview mirror as base points; the method is characterized in that whether a vehicle, a motorcycle, a bicycle and a running pedestrian approach or not is detected through a microwave radar in a door opening pre-warning monitoring area when a commercial vehicle is stationary, passengers in the vehicle are warned and prompted through an execution part (such as sound or vision) of a blind area monitoring system, and the door opening is in danger of collision, so that safety is improved, as shown in a figure 2, wherein A is an extension 2-meter distance taking a left rearview mirror and a right rearview mirror as base points, B is a distance taking the left rearview mirror and the right rearview mirror as base points and extending backwards by 20 meters along the vehicle body direction, and a door opening pre-warning monitoring area is a rectangular area formed by extending 2 meters taking the left rearview mirror and the right rearview mirror as base points and extending backwards by 20 meters along the vehicle body direction.
The vehicle blind spot monitoring area is as follows: in the running process of the commercial vehicle, the microwave radar monitors traffic conditions of the side rear part (blind area of the outer rearview mirror) of the vehicle in a rectangular area formed by extending the left rearview mirror and the right rearview mirror by 3.75 meters and extending the left rearview mirror by 10 meters along the direction of the vehicle body, and if other vehicles or other moving targets possibly causing collision are in the blind spot monitoring area of the vehicle, the system can safely remind a driver. If other vehicles or other moving objects which are rapidly approaching are in the monitoring area, the lane change has collision risk, and the blind area monitoring system can carry out safety reminding on a driver, as shown in fig. 3, wherein C is an extension distance of 3.75 meters taking a left rearview mirror and a right rearview mirror as base points, D is a rear extension distance of 10 meters taking the left rearview mirror and the right rearview mirror as base points, and the vehicle blind point monitoring area is a rectangular area formed by extension distance of 3.75 meters taking the left rearview mirror and the right rearview mirror as base points and rear extension distance of 10 meters along the direction of a vehicle body.
Example 2
Referring to fig. 4, the implementation content of the present invention is further described based on embodiment 1, and the executing the door opening early warning judging process in step S400 completes the door opening early warning judging process and executes the corresponding reminding action, which specifically includes:
step S410: judging whether a target object exists in the door opening pre-alarm monitoring area, if so, jumping to the step S420, and if not, jumping to the step S430;
step S420: judging whether the environmental conditions between the commercial vehicle and the target object meet the class A primary early warning conditions, if so, jumping to the step S440, and if not, jumping to the step S470;
step S430: judging whether the environmental conditions between the commercial vehicle and the target object meet the class B primary early warning conditions, if so, jumping to the step S440, and if not, jumping to the step S470;
step S440: judging whether the commercial vehicle door is opened or not, if not, jumping to the step S450, and if yes, jumping to the step S460;
step S450: a door opening early warning system in the blind area monitoring system starts a primary warning;
step S460: a door opening early warning system in the blind area monitoring system starts a secondary warning to prompt the alarm module to work;
step S470: and (5) ending the door opening early warning judging process.
The method is used for realizing that the commercial vehicle completes the door opening early warning judging process and executes corresponding reminding actions, so that the commercial vehicle has a door opening early warning function.
Specifically, in step S420, the criterion whether the first class a early warning condition is met is that the following conditions are met between the commercial vehicle and the target object at the same time, namely:
the average transverse distance between the commercial vehicle and the target object meets 0.05 m-2.5 m, wherein the average transverse distance is the transverse distance between the commercial vehicle and the target object when the commercial vehicle is parallel;
whether an average relative vehicle speed between the commercial vehicle and the target object meets less than 0km/h, wherein the average relative vehicle speed = commercial vehicle speed-target object speed;
the longitudinal distance between the commercial vehicle and the target object is smaller than 21m;
the collision time between the commercial vehicle and the target object is less than 2.7s, wherein the collision time is longitudinal distance/average relative vehicle speed. The vehicle and pedestrian targets in the blind area ranges at the two sides of the light truck are defined by combining the actual detection range of the microwave radar, so that a driver can be effectively warned before the dangerous situation occurs, and traffic accidents are avoided.
Specifically, in step S430, the criterion whether the first class B early warning condition is met is that the following conditions are met between the commercial vehicle and the target object at the same time, namely:
The average transverse distance between the commercial vehicle and the target object meets 0.55 m-1.75 m;
whether the average relative speed between the commercial vehicle and the target object is smaller than-5 km/h or not is met;
the longitudinal distance between the commercial vehicle and the target object is smaller than 20m;
and the collision time between the commercial vehicle and the target object is less than 1.7s. The vehicle and pedestrian targets in the blind area ranges on the two sides of the light truck are defined by combining the actual detection range of the microwave radar, so that a driver can be effectively and safely reminded before the dangerous situation occurs, and traffic accidents caused by the driver are prevented from happening.
Example 3
The embodiment further illustrates the implementation content of the present invention based on embodiment 1, wherein the executing and completing the blind spot monitoring and lane change auxiliary judging process in step S500, completing the blind spot monitoring and lane change auxiliary judging process and executing the corresponding reminding action specifically includes:
step S510: judging whether the commercial vehicle meets a vehicle speed limiting condition, wherein the vehicle speed limiting condition is that the speed of the commercial vehicle is greater than a preset calibration speed (25 km/h is taken in the embodiment), if so, jumping to a step S520, and if not, jumping to a step S590;
Step S520: judging whether the turning radius of the commercial vehicle meets the standard requirement according to the standard (ISO 17387), if so, jumping to the step S530, and if not, jumping to the step S590;
step S530: judging whether the lane change auxiliary area has a target object, if so, jumping to the step S540, and if not, jumping to the step S550;
step S540: judging whether the target object is in a vehicle blind spot monitoring area in the lane change auxiliary area, if so, jumping to the step S5410, and if not, jumping to the step S5420;
step S5410: judging whether the environmental conditions between the commercial vehicle and the target object meet the class C primary early warning conditions, if so, jumping to the step S560, and if not, jumping to the step S590;
step S5420: judging whether the average transverse distance between the commercial vehicle and the target object meets a first preset A value (in the embodiment, the value is 0.05-4.25 m and can be calibrated according to different conditions, and the method is not limited to the first preset A value), if so, jumping to the step S5421, and if not, jumping to the step S590;
step S5421: judging whether the longitudinal distance between the commercial vehicle and the target object is not greater than a first preset B value (71 m in the embodiment, the value can be calibrated according to different conditions and is not limited to the first preset B value), if so, jumping to the step S560, and if not, jumping to the step S5422;
Step S5422: if the average relative vehicle speed between the commercial vehicle and the target object is less than 0km/h, if yes, jumping to step S5423, if not, jumping to step S590, wherein the average relative vehicle speed = commercial vehicle speed-target object speed;
step S5423: judging whether the average relative speed and the collision time between the commercial vehicle and the target object reach the class D primary early warning condition or not according to the average relative speed and the collision time between the commercial vehicle and the target object, if so, jumping to the step S560, and if not, jumping to the step S590;
step S550: judging whether the average transverse distance between the commercial vehicle and the target object meets a second preset A value (in the embodiment, the value is 0.55 m-3.75 m, the value can be calibrated according to different conditions and is not limited to the value), if so, jumping to the step S5510, and if not, jumping to the step S590;
step S5510: judging whether the longitudinal distance between the commercial vehicle and the target object is not greater than a second preset B value (70 m in the embodiment, the value can be calibrated according to different conditions and is not limited to the second preset B value), if so, jumping to the step S5520, and if not, jumping to the step S5530;
step S5520: judging whether the commercial vehicle and the target object are in the same direction, if so, jumping to the step S5521, and if not, jumping to the step S590;
Step S5521: judging whether the speed of the commercial vehicle does not exceed the speed of the target object by 15km/h, if so, jumping to the step S560, and if not, jumping to the step S590;
step S5530: if the average relative speed between the commercial vehicle and the target object is less than 0km/h, if yes, jumping to the step S5531, and if not, jumping to the step S590;
step S5531, judging whether the E class first-level early warning condition is achieved between the commercial vehicle and the target object according to the average relative vehicle speed and the collision time between the commercial vehicle and the target object, if so, jumping to step S560, and if not, jumping to step S590;
step S560: a blind spot monitoring and lane changing auxiliary system in the blind spot monitoring system starts a primary warning;
step S570: judging whether the commercial vehicle turns on a steering lamp, if so, jumping to a step S580, and if not, jumping to a step S590;
step S580: a blind spot monitoring and lane changing auxiliary system in the blind spot monitoring system starts a secondary warning to prompt the alarm module to work;
step S590: and (5) ending the blind spot monitoring and lane change auxiliary judging process.
The method is used for realizing that the commercial vehicle completes the blind spot monitoring and lane changing auxiliary judging process and executes corresponding reminding actions, so that the commercial vehicle has the blind spot monitoring and lane changing auxiliary functions.
Specifically, in step S5410, the criterion whether the first-level warning condition of class C is met is that the following conditions are met between the commercial vehicle and the target object at the same time, namely:
the average transverse distance between the commercial vehicle and the target object meets 0.05 m-4.25 m;
and the longitudinal distance between the commercial vehicle and the target object is not more than 12m.
The dangerous situation of the vehicle blind spot monitoring area is defined for the vehicle and the pedestrian targets in the blind area range on the two sides of the light truck by combining the actual detection range of the microwave radar, so that a driver can be effectively and safely reminded before the dangerous situation occurs, and traffic accidents caused by the driver are prevented from happening.
Specifically, in step S5423, it is determined whether the determination condition of whether the class D primary warning condition is reached between the commercial vehicle and the target object is any one of the following conditions is satisfied according to the average relative vehicle speed and the collision time between the commercial vehicle and the target object:
the first condition is that when the average relative speed between the commercial vehicle and the target object is greater than 72km/h, the collision time between the commercial vehicle and the target object is less than 4.5s;
the second condition is that when the average relative speed between the commercial vehicle and the target object is not more than 72km/h, the collision time between the commercial vehicle and the target object is less than 4.5s;
Thirdly, when the average relative speed between the commercial vehicle and the target object is not more than-54 km/h, the collision time between the commercial vehicle and the target object is less than 4s;
and fourthly, when the average relative speed between the commercial vehicle and the target object is not more than-36 km/h, the collision time between the commercial vehicle and the target object is less than 3.5s.
The dangerous situation of the lane change auxiliary monitoring area is defined for the vehicle targets in the blind area range on the two sides of the light truck by combining the actual detection range of the microwave radar, so that a driver can be effectively and safely reminded before the dangerous situation occurs, and traffic accidents caused by the driver are prevented from happening.
Specifically, in step S5531, according to the average relative vehicle speed and the collision time between the commercial vehicle and the target object, the determination condition for determining whether the class E primary warning condition is reached between the commercial vehicle and the target object is any one of the following conditions:
the first condition is that when the average relative speed between the commercial vehicle and the target object is greater than 72km/h, the collision time between the commercial vehicle and the target object is less than 3.5s;
the second condition is that when the average relative speed between the commercial vehicle and the target object is not more than 72km/h, the collision time between the commercial vehicle and the target object is less than 3.5s;
Thirdly, when the average relative speed between the commercial vehicle and the target object is not more than-54 km/h, the collision time between the commercial vehicle and the target object is less than 3s;
and fourthly, when the average relative speed between the commercial vehicle and the target object is not more than-36 km/h, the collision time between the commercial vehicle and the target object is less than 2.5s.
The dangerous situation of the lane change auxiliary monitoring area is defined for the vehicle targets in the blind area range on the two sides of the light truck by combining the actual detection range of the microwave radar, so that a driver can be effectively and safely reminded before the dangerous situation occurs, and traffic accidents caused by the driver are prevented from happening.
Example 4
Referring to fig. 5-7, based on the above embodiment, the present embodiment provides a method for monitoring and reminding a blind area of a field of view of a commercial vehicle, which is applied to a right turn working condition of the commercial vehicle. The method comprises the following steps:
step S1000: judging whether the using condition of the commercial vehicle meets the preset condition after the vehicle is electrified, if so, jumping to the step S2000, and if not, jumping to the step S8000;
the meeting of the preconditions includes meeting all of the following conditions simultaneously, including:
the first condition, the commercial vehicle gear is not in a reverse gear state;
The speed of the commercial vehicle reaches 10km/h under the second condition;
the right turning radius of the commercial vehicle is smaller than 50m, wherein the right turning radius can be obtained by judging according to the standard ISO 17387;
step S2000: judging whether a target object exists in the lane change auxiliary area, if so, jumping to the step S3000, and if not, jumping to the step S4000;
step S3000: judging whether the environmental conditions between the commercial vehicle and the target object meet the first-level comprehensive alarm conditions, if so, jumping to the step S5000, and if not, jumping to the step S8000;
step S4000: judging whether the average transverse distance between the commercial vehicle and the target object is 0.6-4.5 m, if so, jumping to step S4100, and if not, jumping to step S8000;
step S4100: judging whether the environmental conditions between the commercial vehicle and the target object meet the comprehensive class B first-level alarm conditions, if so, jumping to the step S5000, and if not, jumping to the step S8000;
step S5000: a blind spot monitoring and lane changing auxiliary system in the blind spot monitoring system starts a primary warning;
step S6000: judging whether the commercial vehicle turns on a steering lamp, if so, jumping to the step S7000, and if not, jumping to the step S8000;
Step S7000: a blind spot monitoring and lane changing auxiliary system in the blind spot monitoring system starts a secondary warning to prompt the alarm module to work;
step S8000: and (5) finishing the monitoring and reminding process of the visual field blind area under the condition of right turning of the commercial vehicle.
Specifically, in step S3000, the determining whether the environmental condition between the commercial vehicle and the target object meets the first-level alarm condition of the comprehensive class a includes:
step S3100: judging whether the target object is in a vehicle blind spot monitoring area in the lane change auxiliary area, if so, jumping to the step S3110, and if not, jumping to the step S3120;
step S3110: judging whether the environmental conditions between the commercial vehicle and the target object meet the class F primary early warning conditions, if so, jumping to the step S5000, and if not, jumping to the step S8000;
step S3120: judging whether the environmental conditions between the commercial vehicle and the target object meet the G class primary early warning conditions, if so, jumping to the step S5000, and if not, jumping to the step S8000;
step S5000: a blind spot monitoring and lane changing auxiliary system in the blind spot monitoring system starts a primary warning;
step S6000: judging whether the commercial vehicle turns on a steering lamp, if so, jumping to the step S7000, and if not, jumping to the step S8000;
Step S7000: a blind spot monitoring and lane changing auxiliary system in the blind spot monitoring system starts a secondary warning to prompt the alarm module to work;
step S8000: and (5) finishing the monitoring and reminding process of the visual field blind area under the condition of right turning of the commercial vehicle.
Specifically, in step S4100, the determining whether the environmental condition between the commercial vehicle and the target object meets the comprehensive class b first-level alarm condition includes:
step S4110: judging whether the environmental conditions between the commercial vehicle and the target object meet the class H primary early warning conditions, if so, jumping to the step S5000, and if not, jumping to the step S8000;
step S4120: judging whether the environmental conditions between the commercial vehicle and the target object meet the class I primary early warning conditions, if so, jumping to the step S5000, and if not, jumping to the step S8000;
step S5000: a blind spot monitoring and lane changing auxiliary system in the blind spot monitoring system starts a primary warning;
step S6000: judging whether the commercial vehicle turns on a steering lamp, if so, jumping to the step S7000, and if not, jumping to the step S8000;
step S7000: a blind spot monitoring and lane changing auxiliary system in the blind spot monitoring system starts a secondary warning to prompt the alarm module to work;
step S8000: and (5) finishing the monitoring and reminding process of the visual field blind area under the condition of right turning of the commercial vehicle.
Specifically, the judging standard whether the class F primary early warning condition is met is that the commercial vehicle and the target object meet the following conditions at the same time, namely that:
the average transverse distance between the commercial vehicle and the target object meets 0-5 m;
and the longitudinal distance between the commercial vehicle and the target object is smaller than 5m.
Specifically, the judging standard whether the G class primary early warning condition is met is that any one of the following conditions are met between the commercial vehicle and the target object, namely, the condition is met:
the environmental condition between the commercial vehicle and the target meets the class F primary early warning condition;
the second condition and the commercial vehicle and the target simultaneously meet the following sub-conditions:
a) The average transverse distance between the commercial vehicle and the target object is 0 m-5 m;
b) The longitudinal distance between the commercial vehicle and the target object is not less than 5m;
c) The average relative speed between the commercial vehicle and the target object is less than 0km/h;
d) Whether the collision time between the commercial vehicle and the target object is less than 2.0s;
specifically, the judging standard whether the first-level early warning condition of the class H is met is that the commercial vehicle and the target object meet the following conditions at the same time, namely, the following conditions are met:
the first condition is that the longitudinal distance between the commercial vehicle and the target object is smaller than 4m;
And the second condition is that the commercial vehicle and the target object are positioned at the same direction.
Specifically, the judging standard whether the first-level early warning condition of class I is met is that the commercial vehicle and the target object meet the following conditions at the same time, namely, the following conditions are met:
the first condition is that the longitudinal distance between the commercial vehicle and the target object is not less than 4m;
the longitudinal distance between the commercial vehicle and the target object is smaller than 20m;
the average relative speed between the commercial vehicle and the target object is less than 0km/h;
and the collision time between the commercial vehicle and the target object is less than 1.5s.
Example 5
The embodiment provides a mobile terminal, comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor runs the computer program to enable the mobile terminal to execute the monitoring and reminding method for the visual field blind area of the commercial vehicle,
example 6
The present embodiment provides a storage medium having a computer program stored thereon, wherein the program when executed by a processor implements the steps of the method for monitoring and reminding a blind spot in a field of view of a commercial vehicle described above.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the invention.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples.
It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application for the embodiment. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a visual field blind area monitoring and reminding method for a commercial vehicle, which is characterized by comprising the following steps:
step S100: building a visual field blind area monitoring framework of a commercial vehicle, respectively defining a lane changing auxiliary area and a door opening early warning monitoring area, respectively installing two microwave radars below the middle part of a carriage of the commercial vehicle, electrically connecting the microwave radars with a blind area monitoring system of the commercial vehicle, electrically connecting the blind area monitoring system with an entire vehicle electronic control module, and electrically connecting the entire vehicle electronic control module with a prompt alarm module;
step S200: the commercial vehicle is electrified, and the blind area monitoring system starts to operate;
step S300: judging whether the commercial vehicle is stationary, if so, jumping to the step S400, and if not, jumping to the step S500;
step S400: executing a door opening early warning judging process, completing the door opening early warning judging process and executing a reminding action;
step S500: executing and completing the blind spot monitoring and lane changing auxiliary judging process, completing the blind spot monitoring and lane changing auxiliary judging process and executing the reminding action;
Step S600: and (5) finishing the monitoring and reminding process of the visual field blind area of the commercial vehicle.
2. The method for monitoring and reminding the blind area of the visual field of the commercial vehicle according to claim 1, wherein the step S400 of executing the door opening early warning judging process, completing the door opening early warning judging process and executing the reminding action, comprises the following steps:
step S410: judging whether a target object exists in the door opening pre-alarm monitoring area, if so, jumping to the step S420, and if not, jumping to the step S430;
step S420: judging whether the environmental conditions between the commercial vehicle and the target object meet the class A primary early warning conditions, if so, jumping to the step S440, and if not, jumping to the step S470;
step S430: judging whether the environmental conditions between the commercial vehicle and the target object meet the class B primary early warning conditions, if so, jumping to the step S440, and if not, jumping to the step S470;
step S440: judging whether the commercial vehicle door is opened or not, if not, jumping to the step S450, and if yes, jumping to the step S460;
step S450: a door opening early warning system in the blind area monitoring system starts a primary warning;
step S460: a door opening early warning system in the blind area monitoring system starts a secondary warning to prompt the alarm module to work;
Step S470: and (5) ending the door opening early warning judging process.
3. The method for monitoring and reminding the blind area of the visual field of the commercial vehicle according to claim 1, wherein the step S500 is performed and completed with the blind spot monitoring and lane changing auxiliary judging process, and the step S is performed and reminding is performed, and the method specifically comprises the following steps:
step S510: judging whether the speed of the commercial vehicle meets the limiting condition that the speed is greater than the preset calibration speed, if so, jumping to the step S520, and if not, jumping to the step S590;
step S520: judging whether the turning radius of the commercial vehicle meets the standard requirement according to the vehicle standard, if so, jumping to the step S530, and if not, jumping to the step S590;
step S530: judging whether the lane change auxiliary area has a target object, if so, jumping to the step S540, and if not, jumping to the step S550;
step S540: judging whether the target object is in a vehicle blind spot monitoring area in the lane change auxiliary area, if so, jumping to the step S5410, and if not, jumping to the step S5420;
step S5410: judging whether the environmental conditions between the commercial vehicle and the target object meet the class C primary early warning conditions, if so, jumping to the step S560, and if not, jumping to the step S590;
Step S5420: judging whether the average transverse distance between the commercial vehicle and the target object meets a first preset A value, if so, jumping to a step S5421, and if not, jumping to a step S590;
step S5421: judging whether the longitudinal distance between the commercial vehicle and the target object is not greater than a first preset B value, if so, jumping to the step S560, and if not, jumping to the step S5422;
step S5422: if the average relative vehicle speed between the commercial vehicle and the target object is less than 0km/h, if yes, jumping to step S5423, if not, jumping to step S590, wherein the average relative vehicle speed = commercial vehicle speed-target object speed;
step S5423: judging whether the average relative speed and the collision time between the commercial vehicle and the target object reach the class D primary early warning condition or not according to the average relative speed and the collision time between the commercial vehicle and the target object, if so, jumping to the step S560, and if not, jumping to the step S590;
step S550: judging whether the average transverse distance between the commercial vehicle and the target object meets a second preset A value, if so, jumping to a step S5510, and if not, jumping to a step S590;
step S5510: judging whether the longitudinal distance between the commercial vehicle and the target object is not greater than a second preset B value, if so, jumping to the step S5520, and if not, jumping to the step S5530;
Step S5520: judging whether the commercial vehicle and the target object are in the same direction, if so, jumping to the step S5521, and if not, jumping to the step S590;
step S5521: judging whether the speed of the commercial vehicle does not exceed the speed of the target object by 15km/h, if so, jumping to the step S560, and if not, jumping to the step S590;
step S5530: if the average relative speed between the commercial vehicle and the target object is less than 0km/h, if yes, jumping to the step S5531, and if not, jumping to the step S590;
step S5531, judging whether the E class first-level early warning condition is achieved between the commercial vehicle and the target object according to the average relative vehicle speed and the collision time between the commercial vehicle and the target object, if so, jumping to step S560, and if not, jumping to step S590;
step S560: a blind spot monitoring and lane changing auxiliary system in the blind spot monitoring system starts a primary warning;
step S570: judging whether the commercial vehicle turns on a steering lamp, if so, jumping to a step S580, and if not, jumping to a step S590;
step S580: a blind spot monitoring and lane changing auxiliary system in the blind spot monitoring system starts a secondary warning to prompt the alarm module to work;
step S590: and (5) ending the blind spot monitoring and lane change auxiliary judging process.
4. The method for monitoring and reminding the blind area of the commercial vehicle according to claim 2, wherein the judging criterion in step S420 whether the first class a pre-warning condition is met is that the following conditions are met between the commercial vehicle and the target object at the same time:
the average transverse distance between the commercial vehicle and the target object meets 0.05 m-2.5 m, wherein the average transverse distance is the transverse distance between the commercial vehicle and the target object when the commercial vehicle is parallel;
whether an average relative vehicle speed between the commercial vehicle and the target object meets less than 0km/h, wherein the average relative vehicle speed = commercial vehicle speed-target object speed;
the longitudinal distance between the commercial vehicle and the target object is smaller than 21m;
the collision time between the commercial vehicle and the target object is less than 2.7s, wherein the collision time is longitudinal distance/average relative vehicle speed.
5. The method for monitoring and reminding the blind area of the commercial vehicle according to claim 2, wherein the judging criterion of whether the first class B early warning condition is met in step S430 is that the following conditions are met between the commercial vehicle and the target object at the same time:
the average transverse distance between the commercial vehicle and the target object meets 0.55 m-1.75 m;
Whether the average relative speed between the commercial vehicle and the target object is smaller than-5 km/h or not is met;
the longitudinal distance between the commercial vehicle and the target object is smaller than 20m;
and the collision time between the commercial vehicle and the target object is less than 1.7s.
6. The method for monitoring and reminding the blind area of the commercial vehicle according to claim 3, wherein in step S5410, the criterion whether the first-level warning condition of class C is met is that the following conditions are met between the commercial vehicle and the target object at the same time:
the average transverse distance between the commercial vehicle and the target object meets 0.05 m-4.25 m;
and the longitudinal distance between the commercial vehicle and the target object is not more than 12m.
7. The method for monitoring and reminding the blind area in the visual field of the commercial vehicle according to claim 3, wherein in step S5423, according to the average relative vehicle speed and the collision time between the commercial vehicle and the target object, the judgment condition for judging whether the class D primary warning condition is reached between the commercial vehicle and the target object is any one of the following conditions:
the first condition is that when the average relative speed between the commercial vehicle and the target object is greater than 72km/h, the collision time between the commercial vehicle and the target object is less than 4.5s;
The second condition is that when the average relative speed between the commercial vehicle and the target object is not more than 72km/h, the collision time between the commercial vehicle and the target object is less than 4.5s;
thirdly, when the average relative speed between the commercial vehicle and the target object is not more than-54 km/h, the collision time between the commercial vehicle and the target object is less than 4s;
and fourthly, when the average relative speed between the commercial vehicle and the target object is not more than-36 km/h, the collision time between the commercial vehicle and the target object is less than 3.5s.
8. The method for monitoring and reminding the blind spot in the visual field of the commercial vehicle according to claim 3, wherein in the step S5531, according to the average relative vehicle speed and the collision time between the commercial vehicle and the target object, the judgment condition for judging whether the first class E early warning condition is reached between the commercial vehicle and the target object is any one of the following conditions:
the first condition is that when the average relative speed between the commercial vehicle and the target object is greater than 72km/h, the collision time between the commercial vehicle and the target object is less than 3.5s;
the second condition is that when the average relative speed between the commercial vehicle and the target object is not more than 72km/h, the collision time between the commercial vehicle and the target object is less than 3.5s;
thirdly, when the average relative speed between the commercial vehicle and the target object is not more than-54 km/h, the collision time between the commercial vehicle and the target object is less than 3s;
And fourthly, when the average relative speed between the commercial vehicle and the target object is not more than-36 km/h, the collision time between the commercial vehicle and the target object is less than 2.5s.
9. A mobile terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor runs the computer program to cause the mobile terminal to perform the commercial vehicle vision blind area monitoring reminding method according to any one of claims 1 to 8.
10. A storage medium having stored thereon a computer program, wherein the program when executed by a processor implements the steps of the commercial vehicle vision blind area monitoring reminding method according to any one of claims 1 to 8.
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Application publication date: 20230502 |