CN116540234A - Microwave radar blind spot monitoring system - Google Patents
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 238000012545 processing Methods 0.000 claims abstract description 38
- 238000012937 correction Methods 0.000 claims description 12
- 238000007373 indentation Methods 0.000 claims description 2
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- 239000008186 active pharmaceutical agent Substances 0.000 description 6
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- 238000006243 chemical reaction Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9315—Monitoring blind spots
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The invention relates to the technical field of radar monitoring, in particular to a microwave radar blind spot monitoring system, which comprises a detection unit, a modeling unit, a data processing unit and a driving unit, wherein the detection unit is used for detecting the blind spot of a microwave radar: the driving unit is used for driving the running state of the vehicle and the steering wheel to deviate; the detection unit is used for detecting the running road condition of the vehicle and generating road condition information; the modeling unit determines road condition categories according to the road condition information; the data processing unit generates corresponding road condition indexes for the detection information according to different road condition categories, and correspondingly generates prompt information or early warning information, so that the occurrence probability of driving safety accidents caused by visual blind areas in driving can be reduced, and the driving safety is improved.
Description
Technical Field
The invention relates to the technical field of radar monitoring, in particular to a microwave radar blind spot monitoring system.
Background
The microwave radar measures the distance between the wave-blocking object according to the round trip time between the electromagnetic wave and the wave-blocking object. The microwave radar system is widely applied to the field of automobile detection, namely radar probes are arranged on a front bumper and a rear bumper of a vehicle, the range around a vehicle body and an obstacle and road condition information are monitored by utilizing information reflected by emitted microwaves, a driver is helped to eliminate vision blind areas, and driving safety is improved.
In the related art, the function of the microwave radar system is only used for monitoring information of objects around a vehicle body, the monitored information is not analyzed, prompt and early warning cannot be made on different road conditions in time, and the driving safety of a driver in a vision blind area is possibly reduced.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a microwave radar blind spot monitoring system, which can effectively solve the problem of low driving safety caused by the fact that prompt and early warning cannot be timely carried out on different road conditions in a driving vision blind area in the prior art.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the invention provides a microwave radar blind spot monitoring system which comprises a measuring unit, a modeling unit, a data processing unit and a driving unit, wherein the measuring unit is used for measuring the blind spot of a microwave radar;
the driving unit is used for driving the running state of the vehicle and the steering wheel to deviate;
the detection unit is used for detecting the running road condition of the vehicle and generating road condition information;
the modeling unit determines road condition categories according to the road condition information;
when the modeling unit determines that the road condition category is a first road condition, the detection unit is used for detecting position information and running speed of vehicles in front and behind, the data processing unit generates a first index for judging that overtaking conditions are met according to detection data, judges whether the first index exceeds a first preset threshold, if not, generates first prompt information meeting overtaking conditions, if so, generates first early warning information, and the first early warning information is used for warning a driver that overtaking is not needed;
when the modeling unit determines that the road condition category is a second road condition, the detection unit detects and calculates the volume of the obstacle, the data processing unit generates a second index for meeting the straight-going traffic condition according to the detection information, judges whether the second index exceeds a second preset threshold, if so, generates second early warning information, and the second early warning information is used for warning a driver that the driver does not go straight;
when the modeling unit determines that the road condition is a third road condition, the detection unit calculates the width and the maximum depth of the indentations, the data processing unit generates a third index for meeting the straight-through condition according to the detection information, judges whether the third index exceeds a third preset threshold, if so, generates third early warning information for warning a driver that the driver does not go straight.
Further, the detection unit comprises a microwave radar sensor module;
when the modeling unit determines that the road condition category is a first road condition, the microwave radar sensor module is used for acquiring front and rear vehicle position information and running speed;
the data processing unit determines a front vehicle safety distance S1 and a rear vehicle safety distance S2 according to the position information of the front vehicle and the rear vehicle and the current vehicle position information, obtains a front vehicle speed V1 and a rear vehicle speed V2, and generates a first index LMS after correlation, wherein the first index LMS is obtained by a formula:;
wherein, gamma is more than or equal to 0 and less than or equal to 1, theta is more than or equal to 0 and less than or equal to 1, gamma and theta are weights, C is a first constant correction coefficient, and the specific value of the coefficient can be adjusted and set by a user according to the influence degree of the running state on running;
and if the value of the first index LMS does not exceed the first preset threshold, generating first prompt information.
Further, the detection unit further comprises an obstacle detection module;
when the modeling unit determines that the road condition category is a second road condition, the obstacle detection module scans along the vehicle advancing direction and measures the height and width of the obstacle;
the data processing unit obtains the height H1 of the chassis of the vehicle, the width D1 of the vehicle, the height H2 of the obstacle and the width D2 of the obstacle are related to generate a second index LMO, and the first index LMO is obtained by a formula:;
wherein the method comprises the steps ofThe road surface humidity factor Af,obstacle factor As, < >>Gradient factor Ad @>；
And if the value of the second index LMO exceeds the second preset threshold, generating second warning information, and if the value of the second index LMO does not exceed the second preset threshold, generating prompt information capable of passing through in a straight way.
Further, the microwave radar blind spot monitoring system further comprises a driving unit, wherein the driving unit is based on the deflection angleDriving a steering wheel of the vehicle to perform angle rotation;
after the second early warning information is generated, the data processing unit acquires the safety distance S3 between the vehicle and the obstacle, and the current speed V of the vehicle is correlated to generate a deflection angleSaid angle of deflection ∈>The equation yields:;
wherein ,e is a second constant correction coefficient, and the specific value of E can be adjusted and set by a user according to the influence degree of the running state on running;
the drive unit is based on the deflection angleDriving a steering wheel of a vehicle to perform angular rotationThe driver is assisted in turning the steering wheel around the obstacle.
Further, after the second early warning information is generated, the data processing unit acquires the maximum distance D3 from the edge of the obstacle to the edge of the road, judges whether D3 is larger than D1, and if not, generates the traffic prohibition information.
Further, the detecting unit further comprises a hollow detecting module, and when the modeling unit determines that the road condition is the third road condition, the hollow detecting module scans along the advancing direction of the vehicle and measures the maximum width and the maximum depth of the hollow;
the data processing unit obtains the height H3 and the width D4 of the front tire, the maximum width Dmax and the maximum depth Hmax of the measuring pothole are related to generate a third index LMK, and the third index LMK is obtained by the formula:;
wherein the pothole coefficient，/>；
If the value of the third index LMK exceeds the third preset threshold, generating third warning information, and if the value of the third index LMK does not exceed the third preset threshold, generating prompt information capable of passing through in a straight way.
Further, after the third early warning information is generated, the data processing unit obtains a safe distance S4 between the vehicle and the hollow, and the current speed V of the vehicle is correlated to generate a deflection angle α, where the deflection angle α is obtained by a formula:;
wherein ,k is a third constant correction coefficient, the specific value of which can be determined according to the driving stateThe degree of influence, the setting is adjusted by the user;
the driving unit drives the steering wheel of the vehicle to rotate angularly based on the deflection angle alpha to bypass the hollow.
Further, when the modeling unit determines that the road condition is the second road condition and/or the third road condition, the detection unit detects the safety distance of the rear vehicle, the data processing unit judges that the safety distance is smaller than a fourth preset threshold, and the driving unit drives the vehicle to accelerate.
Further, when the road condition information includes the second road condition and the third road condition, the modeling unit preferentially determines the second road condition as the current driving road condition.
Further, when the modeling unit switches the driving road condition, the driving unit drives the vehicle to perform deceleration driving.
Compared with the known public technology, the technical scheme provided by the invention has the following beneficial effects:
according to the microwave radar blind spot monitoring system provided by the invention, the modeling unit determines the road condition category according to the road condition information monitored by the detection unit, the data processing unit analyzes and calculates the data according to different road conditions, and provides timely early warning or prompt information for a driver, so that the probability of occurrence of driving safety accidents caused by visual field blind areas in driving is reduced, and the driving safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a block diagram of a microwave radar blind spot monitoring system according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is further described below with reference to examples.
In some embodiments, fig. 1 is a block diagram of a microwave radar blind spot monitoring system according to the present invention, and as shown in fig. 1, the block diagram includes a detection unit, a modeling unit, a data processing unit, and a driving unit.
The detection unit may be a unit constituted by a microwave radar probe and other monitoring devices mounted at a front end position and a rear end position of the vehicle, and may include a microwave radar sensor module, an obstacle detection module, and a pothole detection module, wherein the microwave radar sensor module may be constituted by a transmitter, a transmitting antenna, a receiver, a receiving antenna, and a radar processing chip. In the running process of the vehicle, the detection unit detects road conditions in front of the running of the vehicle to generate road condition information, wherein the road condition information can comprise the gradient of a road, the width of the road, the road humidity, whether an obstacle exists or not and whether a hollow road section exists, and the road condition information can be generated by combining a road information database, wherein the road information database can contain the length, the width, the gradient and the like of the current road section and sends the road condition information to the modeling unit; the modeling unit stores distance threshold values, the specific threshold values comprise a calibrated distance threshold value interval BS, a bumpy distance threshold value interval DS and a hollow distance threshold value interval KS, the current road condition information of the vehicle can be acquired according to the microwave radar probes arranged in the detection unit and positioned at the front end and the rear end of the vehicle, and the time interval between the detection of the microwave radar probes for two adjacent times is 1s;
the modeling unit determines road condition categories according to road condition information, and specifically, the modeling unit further comprises a judging method for evaluating the road condition categories of the areas where the vehicles are located, and the judging method comprises the following steps:
step one: at a certain moment, the microwave radar probe at the front end detects that the distance between the microwave radar probe and the road surface is QS1, meanwhile, the microwave radar probe at the rear end detects that the distance between the microwave radar probe and the road surface is QS2, and in a period of time (the period of time can be 2 s), the detected QS1 and the detected QS2 are both in the range of a distance threshold value interval BS, and then the modeling unit judges that the current road condition is a flat road and records the current road condition as a first road condition;
step two: at a certain moment, when QS1 is in a bump distance threshold interval DS, QS2 is in a distance threshold interval BS, and when the next microwave radar probe is detected, QS1 is in a calibrated distance threshold interval BS, and QS2 is in the bump distance threshold interval DS, the modeling unit further judges that the current road condition is a flat road and marks the flat road as a first road condition (which can be regarded as a bump road section including a short distance in the flat road);
step three: at a certain moment, when QS1 is in a bump distance threshold interval DS, QS2 is in a distance threshold interval BS, if the next time of detection by the microwave radar probe, QS1 is still in the bump distance threshold interval DS, and QS2 is also in the bump distance threshold interval DS, the modeling unit judges that the current road condition is a bump road section and marks the current road condition as a second road condition;
step four: in the values of QS1 or QS2 detected by the microwave radar probe three times continuously, when the QS1 or QS2 is in a pothole distance threshold interval KS twice, the modeling unit judges that the current road condition is a pothole road section and marks the current road condition as a third road condition;
in addition, under the condition that no obstacle or pothole road is detected on the current driving road, the road gradient is less than 6%, the modeling unit can determine the driving road as a flat road, and the road condition is marked as a first road condition;
the modeling unit can store road condition information, can update the road condition information periodically, and can quickly acquire the information such as the width, gradient and the like of the road when the road passes through the road again, so that the time for generating early warning or prompting information is saved, more timely driving assistance advice is provided for a driver, and the safety risk of the driver in blind area driving in the visual field is reduced;
when the modeling unit determines that the road condition type is a first road condition, the detection unit detects position information and running speed of vehicles in front and behind, the data processing unit generates a first index for judging that overtaking conditions are met according to the detection data, judges whether the first index exceeds a first preset threshold, generates first prompt information meeting overtaking conditions if not, and generates first early warning information if so, wherein the first early warning information is used for warning a driver that overtaking is not needed;
when the modeling unit determines that the road condition category is a second road condition, the detection unit detects and calculates the volume of the obstacle, the data processing unit generates a second index for meeting the straight-going traffic condition according to the detection information, judges whether the second index exceeds a second preset threshold, if so, generates second early warning information, and the second early warning information is used for warning a driver that the driver does not go straight;
when the modeling unit determines that the road condition is a third road condition, the detection unit calculates the width and the maximum depth of the pits, the data processing unit generates a third index for meeting the straight-through condition according to the detection information, judges whether the third index exceeds a third preset threshold, if so, generates third early warning information for warning the driver that the driver does not go straight.
In summary, the modeling unit in the embodiment of the application determines the road condition category according to the road condition information monitored by the detection unit, the data processing unit analyzes and calculates the data according to different road conditions, and generates timely early warning or prompt information, so that the probability of occurrence of driving safety accidents caused by visual blind areas in driving is reduced, and the driving safety is improved.
In some embodiments, when the modeling unit determines that the road condition category is the first road condition, the microwave radar sensor module of the monitoring unit 11 acquires the front-rear vehicle position information and the driving speed;
the data processing unit determines a front vehicle safety distance S1 and a rear vehicle safety distance S2 according to the position information of the front vehicle and the rear vehicle and the current vehicle position information, and acquiresThe front vehicle speed V1 and the rear vehicle speed V2 are correlated to generate a first index LMS, which is obtained by the formula:;
wherein, gamma is more than or equal to 0 and less than or equal to 1, theta is more than or equal to 0 and less than or equal to 1, gamma and theta are weights, C is a first constant correction coefficient, and the specific value of the coefficient can be adjusted and set by a user according to the influence degree of the running state on running;
if the value of the first index LMS exceeds a first preset threshold, generating first warning information to warn the driver of no overtaking, and if the value of the first index LMS does not exceed the first preset threshold, generating first prompting information to prompt the driver of overtaking.
In summary, when the modeling unit determines that the road condition category is the first road condition, the microwave radar blind spot monitoring system receives an overtaking trigger signal, and it should be noted that the overtaking trigger signal may be sent by the vehicle control unit, and the overtaking trigger signal is generated by meeting a specific condition: first, a detection unit detects that a road detection section of a traveling road does not have an intersection; secondly, the detection unit detects that a vehicle runs in front of the running; thirdly, the automobile steering lamp control module is started, the first index LMS is obtained according to the steps, whether the overtaking condition is met or not is judged, early warning or prompt information is timely given to a driver, and driving safety is improved.
In some embodiments, when the modeling unit determines that the road condition category is the second road condition, the obstacle detection module scans along the vehicle advancing direction, measures the height and the width of the obstacle, the data processing unit obtains the vehicle chassis height H1, the vehicle width D1, the height H2 and the width D2 of the obstacle, and generates the second index LMO after the correlation, where the first index LMO is obtained by the formula:;
wherein, the road surface humidity factor Af,obstacle factor As, < >>Gradient factor Ad @>；
If the value of the second index LMO exceeds a second preset threshold, generating second warning information to warn the driver that the vehicle does not pass through in a straight line, and if the value of the second index LMO does not exceed the second preset threshold, generating prompt information capable of passing through in a straight line, wherein the second preset threshold is a maximum second index threshold of the vehicle allowing the vehicle to pass through the obstacle in the straight line.
In sum, whether the vehicle can directly pass through the current obstacle or not is judged according to the value of the second index LMO, so that the chassis of the vehicle is effectively prevented from being damaged, and the driving safety is improved.
Preferably, the microwave radar blind spot monitoring system further comprises a driving unit, and the driving unit is based on the deflection angleAfter the early warning that the vehicle cannot move straight through the obstacle is generated, the data processing unit acquires the safety distance S3 between the vehicle and the obstacle, and the current speed V of the vehicle is correlated to generate a deflection angle +.>Deflection angle->The equation yields: />;
wherein ,e is a second constant correction coefficient, the specific value of which can be set by the user according to the influence degree of the driving state on the driving, and the driving unit is based on the deflection angle +.>The steering wheel of the vehicle is driven to rotate in an angle to assist the driver in rotating the steering wheel to bypass the obstacle.
In conclusion, the driving unit drives the steering wheel of the vehicle to rotate angularly by driving the deflection angle, so that the driver is assisted in rotating the steering wheel, the obstacle can be accurately bypassed, and the driving safety is improved.
Preferably, after the second early warning information is generated, the data processing unit acquires the maximum distance D3 from the edge of the obstacle to the edge of the road, determines whether D3 is greater than D1, if not, generates the traffic prohibition information, and if so, can generate the deflection angle in a correlated mannerThe drive unit is based on the deflection angle +>The steering wheel of the vehicle is driven to rotate in an angle, so that the driver is assisted in rotating the steering wheel to bypass the obstacle, and the driving safety is further improved.
In some embodiments, when the modeling unit determines that the road condition is the third road condition, the pothole detection module scans along the vehicle advancing direction to measure the maximum width and the maximum depth of the potholes, where it should be noted that the number of potholes may be one or more, and the maximum width and the maximum depth of the potholes may be the maximum value of all pothole widths and the maximum value of all pothole depths;
the data processing unit obtains the height H3 and the width D4 of the front tire of the vehicle, measures the maximum width Dmax and the maximum depth Hmax of the pothole, generates a third index LMK after correlation, and the third index LMK is obtained by a formula:
;
wherein the pothole coefficient，/>；
If the value of the third index LMK exceeds a third preset threshold, generating third warning information, warning that the vehicle does not pass through in a straight line, and if the value of the third index LMK does not exceed the third preset threshold, generating prompt information capable of passing through in a straight line, wherein the third preset threshold is a third index threshold corresponding to a maximum width value and a maximum depth value of a pit through which the vehicle can pass through in the straight line.
In conclusion, whether the vehicle can directly pass through the current obstacle or not is judged according to the value of the third index LMK, so that the situation that the vehicle tire is not sunk into a pit can be effectively ensured, and the driving safety is improved.
Preferably, after the third warning information is generated, the data processing unit acquires the safety distance S4 between the vehicle and the pit, and the current speed V of the vehicle is correlated to generate a deflection angle α, where the deflection angle α is obtained by a formula:
;
wherein ,k is a third constant correction coefficient, and the specific value of the third constant correction coefficient can be adjusted and set by a user according to the influence degree of the running state on running;
the driving unit drives the steering wheel of the vehicle to rotate angularly based on the deflection angle alpha to bypass the hollow.
In conclusion, the driving unit drives the steering wheel of the vehicle to rotate in an angle through driving the deflection angle, so that the driver is assisted in rotating the steering wheel, the hollow can be accurately bypassed, and the driving safety is improved.
In some embodiments, when the modeling unit determines that the road condition is the second road condition and/or the third road condition, the detecting unit detects the safety distance of the rear vehicle, the data processing unit judges that the safety distance is smaller than a fourth preset threshold, and the driving unit drives the vehicle to accelerate, so that the driving safety distance is ensured, and the driving safety is improved.
In some embodiments, the modeling unit preferentially determines the second road condition as the current driving road condition when the second road condition and the third road condition are included in the road condition information. When the driving road condition comprises obstacles and a hollow road section, the second road condition is preferentially set as the current driving road condition, and the second road condition is provided for a driver according to the generated early warning or prompting information, so that the safety risk of vehicle driving is reduced.
In some embodiments, when the modeling unit switches the driving road condition, the driving unit drives the vehicle to perform deceleration driving, so as to increase reaction buffering time for the driver and improve driving safety.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; these modifications or substitutions do not depart from the essence of the corresponding technical solutions from the protection scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A microwave radar blind spot monitoring system is characterized in that: the system comprises a detection unit, a modeling unit, a data processing unit and a driving unit;
the driving unit is used for driving the running state of the vehicle and the steering wheel to deviate;
the detection unit is used for detecting the running road condition of the vehicle and generating road condition information;
the modeling unit determines road condition categories according to the road condition information;
when the modeling unit determines that the road condition category is a first road condition, the detection unit is used for detecting position information and running speed of vehicles in front and behind, the data processing unit generates a first index for judging that overtaking conditions are met according to detection data, judges whether the first index exceeds a first preset threshold, if not, generates first prompt information meeting overtaking conditions, if so, generates first early warning information, and the first early warning information is used for warning a driver that overtaking is not needed;
when the modeling unit determines that the road condition category is a second road condition, the detection unit detects and calculates the volume of the obstacle, the data processing unit generates a second index for meeting the straight-going traffic condition according to the detection information, judges whether the second index exceeds a second preset threshold, if so, generates second early warning information, and the second early warning information is used for warning a driver that the driver does not go straight;
when the modeling unit determines that the road condition is a third road condition, the detection unit calculates the width and the maximum depth of the indentations, the data processing unit generates a third index for meeting the straight-through condition according to the detection information, judges whether the third index exceeds a third preset threshold, if so, generates third early warning information for warning a driver that the driver does not go straight.
2. The microwave radar blind spot monitoring system of claim 1 wherein the detection unit comprises a microwave radar sensor module;
when the modeling unit determines that the road condition category is a first road condition, the microwave radar sensor module is used for acquiring front and rear vehicle position information and running speed;
the data processing unit determines a front vehicle safety distance S1 and a rear vehicle safety distance S2 according to the position information of the front vehicle and the rear vehicle and the current vehicle position information, obtains a front vehicle speed V1 and a rear vehicle speed V2, and generates a first index LMS after correlation, wherein the first index LMS is obtained by a formula:；
wherein, gamma is more than or equal to 0 and less than or equal to 1, theta is more than or equal to 0 and less than or equal to 1, gamma and theta are weights, C is a first constant correction coefficient, and the specific value of the coefficient can be adjusted and set by a user according to the influence degree of the running state on running;
and if the value of the first index LMS does not exceed the first preset threshold, generating first prompt information.
3. The microwave radar blind spot monitoring system of claim 1 wherein the detection unit further comprises an obstacle detection module;
when the modeling unit determines that the road condition category is a second road condition, the obstacle detection module scans along the vehicle advancing direction and measures the height and width of the obstacle;
the data processing unit obtains the height H1 of the chassis of the vehicle, the width D1 of the vehicle, the height H2 of the obstacle and the width D2 of the obstacle are related to generate a second index LMO, and the first index LMO is obtained by a formula:；
wherein, the road surface humidity factor Af,obstacle factor As, < >>The gradient factor Ad is used to determine,；
and if the value of the second index LMO exceeds the second preset threshold, generating second warning information, and if the value of the second index LMO does not exceed the second preset threshold, generating prompt information capable of passing through in a straight way.
4. A microwave radar blind spot monitoring system according to claim 3, further comprising a drive unit, the drive unit being based on the angle of deflectionDriving a steering wheel of the vehicle to perform angle rotation;
after the second early warning information is generated, the data processing unit acquires the vehicle and the obstacleSafety distance S3, current vehicle speed V, and associated deflection angleSaid angle of deflection ∈>The equation yields:；
wherein ,e is a second constant correction coefficient, and the specific value of the second constant correction coefficient can be adjusted and set by a user according to the influence degree of the running state on running;
the drive unit is based on the deflection angleThe steering wheel of the vehicle is driven to rotate in an angle to assist the driver in rotating the steering wheel to bypass the obstacle.
5. The microwave radar blind spot monitoring system according to claim 3 or 4, wherein after the second pre-warning information is generated, the data processing unit obtains a maximum distance D3 from the edge of the obstacle to the edge of the road, determines whether D3 is greater than D1, and if not, generates the traffic prohibition information.
6. The microwave radar blind spot monitoring system according to claim 1, wherein the detecting unit further comprises a pothole detecting module, and the pothole detecting module scans along a vehicle advancing direction to measure a maximum width and a maximum depth of a pothole when the modeling unit determines that the road condition is a third road condition;
the data processing unit obtains the height H3 and the width D4 of the front tire, the maximum width Dmax and the maximum depth Hmax of the measuring pothole are related to generate a third index LMK, and the third index LMK is formed byThe formula yields:；
wherein the pothole coefficient，/>；
If the value of the third index LMK exceeds the third preset threshold, generating third warning information, and if the value of the third index LMK does not exceed the third preset threshold, generating prompt information capable of passing through in a straight way.
7. The microwave radar blind spot monitoring system according to claim 6, wherein after the third warning information is generated, the data processing unit obtains a safe distance S4 between the vehicle and the pit, and correlates a current vehicle speed V to generate a deflection angle α, where the deflection angle α is obtained by a formula:；
wherein ,k is a third constant correction coefficient, and the specific value of the third constant correction coefficient can be adjusted and set by a user according to the influence degree of the running state on running;
the driving unit drives the steering wheel of the vehicle to rotate angularly based on the deflection angle alpha to bypass the hollow.
8. The microwave radar blind spot monitoring system according to claim 1, wherein the detection unit detects a safety distance of the rear vehicle when the modeling unit determines that the road condition is the second road condition and/or the third road condition, the data processing unit determines that the safety distance is smaller than a fourth preset threshold, and the driving unit drives the vehicle to accelerate.
9. The microwave radar blind spot monitoring system according to claim 1, wherein the modeling unit preferentially determines the second road condition as the current traveling road condition when the second road condition and the third road condition are included in the road condition information.
10. The microwave radar blind spot monitoring system according to claim 1, wherein the driving unit drives the vehicle to perform a deceleration traveling when the modeling unit switches traveling road conditions.
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