CN217864101U

CN217864101U - Safety control system for lateral blind area of tractor

Info

Publication number: CN217864101U
Application number: CN202220396769.XU
Authority: CN
Inventors: 马旭红; 周兵兵; 杨军杰; 杨航; 夏佳能
Original assignee: Shaanxi Heavy Duty Automobile Co Ltd
Current assignee: Shaanxi Heavy Duty Automobile Co Ltd
Priority date: 2022-02-25
Filing date: 2022-02-25
Publication date: 2022-11-22
Anticipated expiration: 2032-02-25

Abstract

The utility model relates to a safety control system and a method for lateral blind areas of a tractor, which comprises a radar sensor, an alarm module, a system controller and a vehicle running execution module; the radar sensors are respectively arranged on two sides of the vehicle, and the alarm modules are arranged on the A columns on two sides in the cab; the system controller comprises a blind area safety calculation module; the system controller is electrically connected with the alarm module and the execution module; the radar sensor is electrically connected with the system controller, is suitable for safety monitoring of lateral blind areas of a tractor with trailer running and a non-tractor, can avoid interference on system alarm when a trailer is pulled to enter a radar monitoring area when the trailer is pulled, and can dynamically monitor the range of the blind areas in a fixed distance at the side of the trailer according to the hinge angle of the main trailer; the utility model discloses not only can realize the alarming function under the collision risk, when the dangerous degree increases, can further carry out the limit and turn round and brake the operation, strengthened the security ability of blind area control.

Description

Safety control system for lateral blind area of tractor

Technical Field

The utility model relates to an automobile control spare technical field especially relates to a tractor side direction blind area safety control system.

Background

The two sides of the vehicle have blind areas which cannot be seen by the rearview mirrors when the vehicle runs, so that scraping or collision accidents are easily caused when the vehicle turns or changes lanes, particularly the areas of the blind areas on the two sides of the tractor are increased when the tractor turns, the visual field is limited, the difference of the inner wheels in the turning caused by the bending state formed by the tractor and the trailer is larger, and the collision risk is increased.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a tractor side direction blind area safety control system to prior art not enough, thereby having solved prior art tractor both sides blind area when the turn and having increased, the field of vision is limited, and the problem that the collision risk increases is poor bigger in the turn that causes with the state of bending of trailer formation.

The utility model discloses an adopt following technical scheme to realize:

a safety control system for lateral blind areas of a tractor comprises a radar sensor, an alarm module, a system controller and a vehicle running execution module; the radar sensors are respectively arranged on two sides of the vehicle, and the alarm modules are arranged on the A columns on two sides in the cab; the system controller comprises a blind area safety calculation module; the system controller is electrically connected with the alarm module and the execution module; the radar sensor is electrically connected with the system controller.

A control method of a safety control system for lateral blind areas of a tractor,

the radar sensor monitors blind areas on two sides of the vehicle, identifies and tracks a dynamic target object, identifies the shape, position and physical size of the trailer through a characteristic identification algorithm, and calculates the size of an articulated angle between the towing main vehicle and the trailer in real time according to trailer position information;

the system comprises a radar sensor, a system controller and an alarm module, wherein the radar sensor is used for providing dynamic obstacle target position information and a hinge angle to judge whether a target enters a specified blind area range, and when the target obstacle enters the specified blind area range on one side, the system controller sends a signal to the alarm module to remind a driver of paying attention to the safety of the vehicle side.

After the alarm module prompts, a driver does not perform any operation, and a target barrier is further close to the range of a vehicle entering a blind area, the collision risk is judged, and the system controller sends a signal to the execution module to limit the torsion and slightly brake the vehicle, so that the collision is prevented.

Preferably, the dead zone safety calculation module takes the midpoint of the foremost end of the vehicle head as the origin of coordinates, sets the current target position as (x, y), judges that the target object is positioned in the vehicle side dead zone range of the tractor main vehicle or the non-tractor when the (x, y) meets the formula (1), and performs K when calculating the tractor main vehicle ₄ ＝0：

When (x, y) satisfies formula (2) or (3), it is determined that the target object is within the range of the trailer-side blind zone (fig. 3):

when the alpha is not equal to 0, the reaction solution is mixed,

when the alpha is =0, the light source is switched on,

wherein, alpha is the main trailer central line contained angle that radar sensor detected, and m is the distance that main trailer pin joint reaches the trailer foremost, and n is the distance of pin joint to the main tractor tail end of traction, and L11 is the locomotive width, and L21 is the rear of a vehicle width, and L12 is the pin joint distance that the locomotive arrived, and L22 is the rear of a vehicle to the pin joint distance.

Compared with the prior art, the utility model discloses following profitable technological effect has:

the utility model has certain universality, is suitable for the safety monitoring of the lateral dead zone of the tractor with trailer running and the non-tractor, can avoid the interference to the system alarm when the trailer is towed to enter a radar monitoring area when being used for towing, and can dynamically monitor the dead zone range in the fixed distance of the trailer side according to the hinge angle of the main trailer; the utility model discloses not only can realize the alarming function under the collision risk, when dangerous degree increases, can further carry out the limit and turn round and brake the operation, strengthened the security ability of blind area control.

Drawings

The utility model is further described with the following figures:

FIG. 1 is a side dead zone safety control system diagram of the present invention;

FIG. 2 is a schematic diagram of the blind area range of the present invention;

fig. 3 is a schematic diagram of the calculation of the blind area range of the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict. In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.

The first embodiment is as follows:

as shown in fig. 1 to 3, a system and a method for controlling safety of lateral blind areas of a towing vehicle comprise a radar sensor, an alarm module, a system controller and a vehicle driving execution module; the radar sensors are respectively arranged on two sides of the vehicle, and the alarm modules are arranged on A columns on two sides in the cab; the system controller comprises a blind area safety calculation module; the system controller is electrically connected with the alarm module and the execution module; the radar sensor is electrically connected with the system controller.

The radar sensor monitors blind areas on two sides of the vehicle, identifies and tracks a dynamic target object, identifies the shape, position and physical size of the trailer through a characteristic identification algorithm, and calculates the size of a hinge angle between the towing main vehicle and the trailer in real time according to trailer position information;

the dynamic obstacle target position information and the hinge angle provided by the radar sensor judge whether the target enters a specified blind area range, and when the target obstacle enters the specified blind area range on one side, the system controller sends a signal to the alarm module to remind a driver of paying attention to the safety of the vehicle side.

The dead zone safety calculation module takes the midpoint of the foremost end of the vehicle head as the origin of coordinates, sets the current target position as (x, y), judges that the target object is positioned in the range of the vehicle side dead zone of the tractor main vehicle or the non-tractor when the (x, y) meets the formula (1), and K is used for calculating the tractor main vehicle when K is used ₄ ＝0：

When (x, y) satisfies the formula (2) or (3), it is judged that the target object is within the range of the trailer-side blind area (fig. 3):

when the alpha is not equal to 0, the reaction solution is mixed,

when the alpha is =0, the light source is switched on,

wherein alpha is the main trailer central line contained angle that radar sensor detected, and m is the distance that main trailer pin joint reaches the trailer foremost, and n is the distance that pin joint reaches the main trailer tail end of towing, and L11 is the locomotive width, and L21 is the rear of a vehicle width, and L12 is the pin joint distance that the locomotive arrived, and L22 is the rear of a vehicle to pin joint distance.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a tractor side direction blind area safety control system which characterized in that: the system comprises a radar sensor, an alarm module, a system controller and a vehicle running execution module; the radar sensors are respectively arranged on two sides of the vehicle, and the alarm modules are arranged on A columns on two sides in the cab; the system controller comprises a blind area safety calculation module; the system controller is electrically connected with the alarm module and the execution module; the radar sensor is electrically connected with the system controller.

2. The tractor lateral blind area safety control system of claim 1, wherein: the radar sensor monitors blind areas on two sides of the vehicle, identifies and tracks dynamic target objects, identifies the shape, position and physical size of the trailer through a characteristic identification algorithm, and calculates the size of an articulated angle between the towing main vehicle and the trailer in real time according to trailer position information.

3. The tractor lateral blind area safety control system of claim 2, wherein: the dynamic obstacle target position information and the hinge angle provided by the radar sensor judge whether the target enters a specified blind area range, and when the target obstacle enters the specified blind area range on one side, the system controller sends a signal to the alarm module to remind a driver of paying attention to the safety of the vehicle side.

4. The tractor lateral blind area safety control system of claim 3, wherein: after the alarm module prompts, a driver does not perform any operation, and a target barrier is further close to a vehicle to enter a blind area range, the collision risk is judged, and the system controller sends a signal to the execution module to limit the torsion and slightly brake the vehicle, so that the collision is prevented.