TWI749449B - Alarm system and method for vehicle - Google Patents

Abstract

An alarm system for a vehicle includes a first sensor for emitting first radar signals toward an outer of the vehicle and receiving first reflective signals; a second sensor for emitting second radar signals toward an inside and/or an outside of a door body and receiving second reflective signals; a circuit breaker for stopping present action of the door body under control; an alarm for generating an alarm signal under control; a signal processing module for receiving first reflective signals and second reflective signals, and then calculating corresponding frequency range information, and evaluating relative orientated position, relative distance, and relative movement of a target relative to the vehicle according to the frequency range information; and a control unit for deciding whether control the alarm to generate an alarm signal, and/or start the circuit breaker.

Description

Vehicle warning system and vehicle warning method

The present invention relates to a radar detection technology for vehicle warning, in particular to a warning system and a warning method for vehicles.

Most of the current vehicle warning systems are matched with blind spot detection systems. Generally, blind spot detection systems use sensors installed on the vehicle to detect whether there are objects around the vehicle body. If an object is close to the vehicle body, a warning is issued, especially Large vehicles, such as: buses, trucks, trucks, pallet trucks, or connected vehicles, etc. When these large vehicles turn, they are easily affected by the blind spot, which is generally called A pillar, and accidentally collide. Neighboring vehicles or pedestrians cause accidents. Therefore, the blind spot detection system is used to solve the blind spot of driving to ensure driving safety.

The main technology of the current blind spot detection system is roughly divided into the imaging method and the radar method. In the imaging method, the camera lens is installed under the rear mirror, and the camera lens obtains the image of the rear side of the car, and then uses the image recognition technology. To determine the distance and speed of the rear vehicle or locomotive, but when the weather is bad, such as dense fog, rain, sand and other weather with poor visibility, it is easy to make misjudgments or fail to detect. In addition, the radar method is to install the sensor in the left and right rearview mirror, or the left and right front lights, or the left and right rear lights, or the front bumper, the rear bumper, and use the frequency wave Doppler reflection The principle is to calculate the radar signal to determine the situation of externally moving targets (including vehicles and pedestrians).

Compared with the image method, the radar method is less affected by weather and night light, but due to cost considerations, although infrared radar or ultrasonic radar is cheaper, climatic factors such as temperature differences or strong winds will still affect the identification and judgment results. However, LiDAR, which has high recognition accuracy, is not disturbed, and responds quickly is expensive. Therefore, how to improve the accuracy of the radar detection method and to meet the cost considerations is almost the focus of the relevant industry's technology development.

In addition, in order to install a warning system with blind spot detection in large vehicles, the circuit connection in the vehicle must be modified. In the market, the warning system is often designed independently, and a set of control modules is added, which makes it difficult to save manufacturing costs. If large vehicles, especially buses, require an additional warning function of door anti-pinch, it is even more difficult to design this additional function into the vehicle control system. Therefore, there is still a lack of good design that can have both the blind spot detection function and the door anti-pinch function. Functional vehicle warning system.

In view of the above-mentioned problems and deficiencies, the purpose of the present invention is to provide a vehicle warning system that has both blind spot detection and door anti-pinch functions, and the control unit of the vehicle warning system can be shared with the control unit of the vehicle control system.

In addition, another object of the present invention is to provide a vehicle warning method. The blind spot detection function and the door anti-pinch function both use microwave radar detection technology, which is not affected by weather and night light, and the recognition accuracy is higher than infrared Radar or ultrasonic radar.

As mentioned above, the vehicle warning system provided by the present invention includes at least one first sensor, at least one second sensor, at least one power-off device, warning device, signal processing module, and control unit. The first sensor is arranged on the vehicle, and is used to transmit a plurality of first radar signals toward the outside of the vehicle and receive a plurality of first reflection signals after the first radar signals are reflected by at least one first target; the second sensor Device Set on the top door frame of the door of the vehicle, used to transmit multiple second radar signals toward the inside and/or outside of the door, and receive multiple second radar signals reflected by at least one second target Reflected signal; the power-off device is arranged on the door where the second sensor is located, and the door is controlled to stop the current action; the alarm is controlled to generate a warning message; the signal processing module receives the first reflected signal from the first sensor And the second reflection signal of the second sensor, calculate the corresponding frequency range information, and then calculate the relative position direction, relative distance and relative distance of the first target and/or the second target relative to the vehicle based on the frequency range information Movement situation: The control unit determines whether to control the alarm to send out warning messages and/or activate the power-off device according to the relative position, relative distance and relative movement of the first target and/or the second target with respect to the vehicle.

In addition, the vehicle warning method provided by the present invention includes detecting at least one first target in the external environment of the vehicle and receiving a plurality of first reflection signals reflected by the first target; detecting a door adjacent to the vehicle At least one second target object of the body receives a plurality of second reflection signals reflected by the second target object; corresponding at least one frequency range information is calculated from the first reflection signal and the second reflection signal; calculated according to the frequency range information The relative position direction, relative distance and relative movement of the first target or the second target relative to the vehicle; and according to the relative position, relative distance, and relative position of the first target and/or the second target relative to the vehicle The movement situation judges whether to send out a warning message and/or control the door to stop the current movement.

10: Vehicle warning system

400: warning device

101: The first sensor

500: Power-off device

102: second sensor

100H: height

11a: Left front light

100R: detection range

11b: Right front light

10A: Bus

12a: Rear left lights

10B: Minibus

12b: Right rear lights

10C: Truck

13: front door

140: top door frame

14: middle door

200: signal processing module

300: control unit

201: Step

202: step

203: Step

204: Step

205: Step

Fig. 1 is a functional block diagram showing a vehicle warning system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram showing the installation of a vehicle warning system according to an embodiment of the present invention.

3A is a schematic diagram showing the detection range scanned by the first sensor of a bus according to an embodiment of the present invention.

3B is a schematic diagram showing the detection range scanned by the second sensor of the bus according to an embodiment of the present invention.

3C is a schematic diagram showing the detection range scanned by the first sensor and the second sensor of the minibus according to an embodiment of the present invention.

3D is a schematic diagram showing the detection range scanned by the first sensor of the truck according to an embodiment of the present invention.

Fig. 4 is a flowchart showing the steps of a vehicle warning method according to an embodiment of the present invention.

In order to facilitate the description of the central idea of the present invention expressed in the column of the above-mentioned summary of the invention, specific embodiments are used to express it. The various objects in the embodiments are drawn according to the scale, size, deformation or displacement suitable for explanation, rather than drawn according to the actual component ratio.

The singular forms "一", "one" and "the" used in this article also include plural forms, unless the context clearly indicates otherwise. Furthermore, it should be understood that when used in this specification, the terms "including" and/or "including" designate the presence of the described features, elements, and/or components, but do not exclude the presence or addition of one or more other features, elements, and/ Or components. In addition, it should be understood that although the terms first, second, etc. may be used herein to describe various elements, components or regions, these terms should not limit the various elements, components or regions. These terms are only used to distinguish one element, component or area from another element, component or area, and are described first.

Please refer to Figure 1, Figure 2, Figure 3A, and Figure 3B at the same time. Figure 1 is a functional block diagram of the vehicle warning system according to an embodiment of the present invention, Figure 2 is a schematic diagram of the installation of the vehicle warning system, and Figure 3A is the first A schematic diagram of the detection range of the sensor scanning. FIG. 3B is a schematic diagram of the detection range of the second sensor scanning of a bus. The vehicle warning system 10 can be installed on vehicles such as cars, minibuses, buses, trucks, trucks, or connected cars to detect whether there are obstacles such as vehicles and people in a specific area, and send warning messages accordingly to avoid driving Traffic accidents occur due to negligence or blind angles of sight and other factors.

As shown in FIG. 1, the vehicle warning system 10 includes a first sensor 101, a second sensor 102, a signal processing module 200, a control unit 300, a warning device 400, and a power-off device 500, wherein the signal processing module The 200 is electrically connected to the first sensor 101, the second sensor 102, and the control unit 300, and the control unit 300 is electrically connected to the signal processing module 200, the alarm 400, and the power-off device 500, respectively. As shown in FIG. 2, the first sensor 101 can be arranged above or below the left front lamp 11a, right front lamp 11b, left rear lamp 12a and/or right rear lamp 12b of the vehicle; The sensor 102 can be arranged on the top door frame of the door body such as the front door 13, the middle door 14, and/or the rear door (not shown). The second sensor 102 is not limited to be arranged on the inside or outside of the top door frame of the door. A plurality of second sensors 102 are provided on the inside and outside of the top door frame of the door body at the same time, or only one second sensor 102 is provided on the inside or outside of the top door frame of the door body. In this configuration, as shown in FIG. 3A, taking the bus 10A as an example, the first sensor 101 of the left front lamp 11a and the right front lamp 11b of the bus 10A can be used to detect where the first sensor 101 is. The detection range of 100R, such as whether there is an obstacle within 0-5 meters, that is, if there is an obstacle in the detection range 100R of the first sensor 101 outside the bus 10A, the left front light 11a and the right front light 11b , Then this obstacle is defined as the first target. The first sensor 101 emits a plurality of first radar signals toward the outside of the bus. When the first radar signal reaches the first target object, according to the Doppler principle, it will be reflected by the first target object and return a plurality of first radar signals from the opposite direction. A reflection signal, received by the first sensor 101 and sent to the signal processing module 200, is calculated by the signal processing module 200, and the control unit 300 determines whether to control the warning device 400 according to the calculation result Warning message; therefore, the first sensor 101 has a blind spot detection function. When a first target appears within the detection range 100R, the warning device 400 can control to emit warning messages such as light warnings and/or voice messages.

It should be noted here that the obstacles may be fixed or mobile obstacles. The fixed obstacles may be islands, street lights, road trees, telephone poles, stop signs, or other types set on the road but not Mobile public equipment, and mobile obstacles can be moving vehicles or passers-by. For fixed obstacles, take the separated island as an example. When the first sensor 101 emits multiple first radar signals from the bus 10A, when the first radar signal is sent to the separated island, it will be separated according to the principle of Doppler. The island reflects and transmits the first reflection signal, and the first sensor 101 receives these first reflection signals. At this time, the first sensor 101 receives a plurality of first reflection signals and transmits them to the signal processing module 200 through The signal processing module 200 calculates, and the control unit 300 judges according to the calculation result. Since the island is fixed on the road and will not move, only the distance between the bus and the island will change with the movement of the bus. The control unit 300 can send a general signal to the warning device 400. At this time, the warning device 400 will carry out a warning stage, namely a green light warning, to remind the driver that there is a separation island on the road ahead, so that the bus 10A can maintain a safe distance from the separation island to avoid The distance was too close and the bus 10A collided with Separated Island.

In another embodiment, the mobile obstacle may be a vehicle or a passerby. Since the vehicle or passerby may be temporarily stopped or moving on the road, it is different from a separate island fixed on the road. Similarly, after the first sensor 101 emits multiple first radar signals from the bus 10A, when these first radar signals encounter obstacles such as moving pedestrians or moving vehicles during the transmission process, According to the Idupler principle, multiple first reflection signals are transmitted back to the first sensor 101 through the reflection of these passers-by or moving vehicles. At this time, the first sensor 101 receives multiple first reflection signals and It is sent to the signal processing module 200, calculated by the signal processing module 200, and issued a warning with the vehicle or passerby closest to the bus 10A. If the distance between the moving vehicle and the passerby and the bus 10A is greater than 0-5 meters (that is, the preset detection range of 100R in this case), the control unit 300 will send out a signal to control the warning device 400 to give the driver a first-stage prompt, that is, a green light will be issued to remind the driver. There are moving vehicles or passers-by in the front left (turn left) or front right (turn right); if the distance between the moving vehicle and the passerby and the bus 10A is within the detection range of 100R, that is, within 0-5 meters, And the driver turns left or right at the same time Turn the direction light signal, the control unit 300 converts the received signal into a second-stage warning signal, that is, a red light warning, and simultaneously sends out a voice message such as pay attention to the right side or pay attention to the left side, and use both the light signal and voice to remind the driver to Keep the bus 10A away from the vehicle or passersby at a safe distance. It should be noted here that because the distance between the moving vehicle or the passerby and the bus 10A is changing at any time, the control unit 300 may initially send the first stage signal to make the warning device 400 emit a green light, but if The bus 10A does not keep a distance from passersby or moving vehicles, making the distance between each other getting closer and closer, that is, within the detection range of 0-5 meters, 100R, and the driver turns left or right at the same time. Signal, the control unit 300 will start to send the second stage signal so that the warning device 400 will simultaneously emit a red light prompt and a voice announcement to remind the driver to keep a proper distance between the bus 10A and passers-by or a moving vehicle to avoid driving A collision or a traffic accident occurred because the blind spot (blind spot) of the A-pillar of the vehicle obscured the line of sight or did not maintain a proper distance.

In another embodiment, if the distance between the moving vehicle and the passerby and the bus 10A is within the detection range 100R, that is, within 0-5 meters, but the driver does not turn left or right turn signal, then The control unit 300 converts the received signal into a first-stage warning signal, that is, a green light warning, and only uses the light signal to remind the driver to keep the bus 10A at a safe distance from the vehicle or passerby.

In addition, in another embodiment, taking the bus 10A as an example, the passengers who usually use the front door 13 of the bus 10A to get on and off are more likely to be seen by the driver whether they have already got on or off the bus, and it is less likely to cause the door to pinch and hurt people. More cases of pinching people on the bus usually occur at the middle door 14 of the bus 10A. When passengers use the middle door 14 to get on and off the bus, it may block the driver’s sight because of the large number of people on the bus. Whether all passengers have boarded or got off the bus, or the driver did not pay attention, and a passenger suddenly rushed into or got off the bus, the middle door 14 of the bus 10A may be closed, and the passengers are about to get on and off. And was injured by the car door. Therefore, as shown in FIG. 3B, a second sensor 102 can be provided on the top door frame 140 of the front door 13 and/or the middle door 14 of the bus 10A for detecting the detection range in which the second sensor 102 is located 100R, for example, whether there is an obstacle within 0-5 meters, that is, when the second sensor 102 is installed on the outside of the top door frame 140 of the front door 13 and/or the middle door 14, the second sensor 102 responds to the front door 13 and / Or the outside of the middle door 14 Detect whether there is an obstacle within the detection range 100R; when the second sensor 102 is installed inside the top door frame 140 of the front door 13 and/or the middle door 14, the second sensor 102 is relatively sensitive to the front door 13 and/or the middle door The detection range 100R inside 14 detects whether there is an obstacle, and if there is an obstacle in the detection range 100R of the second sensor 102, the obstacle is defined as a second target. The second sensor 102 emits a plurality of second radar signals toward the outside and/or inside of the front door 13 and/or the middle door 14. When the second radar signal reaches the second target, the second radar signal will be removed by the Doppler principle. The target reflects and returns a plurality of second reflection signals from the opposite direction, and the second sensor 102 receives these second reflection signals and transmits them to the signal processing module 200, which is calculated by the signal processing module 200, and then controlled by the signal processing module 200. The unit 300 judges according to the calculation result whether to activate the power-off device 500 provided on the front door 13 and/or the middle door 14 where the second sensor 102 is located; the power-off device 500 can also be built in the vehicle control system, in which the present invention The setting of the power-off device 500 is not restricted. When a second target appears in the detection range 100R, the power-off device 500 can be controlled to stop the front door 13 and/or the middle door 14 from closing, so the second sensor 102 has a door anti-pinch function.

In another embodiment, taking the minibus 10B as an example, as shown in FIG. 3C, the minibus 10B can be installed above or below the right front lamp 11b and/or the right rear lamp 12b to have a blind spot detection function. The detection principle of the first sensor 101 is omitted here. Minibus 10B usually has only the middle door 14. Unlike bus 10A, the middle door 14 of minibus 10B opens inward when it is opened, in order to avoid collision with passengers when the middle door 14 is opened inwardly or caught when it is closed out. For passengers or articles, a second sensor 102 is provided on the inner side of the top door frame 140 of the middle door 14, and another second sensor 102 can be installed on the outer side of the top door frame 140 of the middle door 14 as required. The second sensor 102 can be used to detect the detection range 100R where the second sensor 102 is located, for example, whether there is an obstacle within 0-5 meters, that is, if it is in the detection range of the second sensor 102 If there is an obstacle in 100R, the obstacle is defined as the second target. The second sensor 102 emits a plurality of second radar signals toward the inner side of the middle door 14. When the second radar signal reaches the second target, it will be reflected by the second target according to the Doppler principle and transmitted back in the opposite direction. A plurality of second reflection signals are received by the second sensor 102 and transmitted to the signal processing module 200 through The signal processing module 200 calculates, and the control unit 300 determines whether to activate the power-off device 500 provided in the middle door 14 where the second sensor 102 is located according to the calculation result. When a second target appears in the detection range 100R, the power-off device 500 can be controlled to stop the middle door 14 from closing. Therefore, the second sensor 102 of the minibus 10B not only has the door anti-pinch function, but also prevents The door hit the passenger.

Take the middle door 14 of the bus 10A and the minibus 10B as an example. When the bus 10A and the minibus 10B stop temporarily, the second radar signal emitted by the second sensor 102 on the top door frame 140 of the middle door 14 will be When the detection area 100R is reflected by passengers or objects held by the passengers, such as umbrellas, purses or other objects, the second reflected signals are returned. After the second reflected signals are received by the second sensor 102, the second reflected signals are collected. The second reflection signal is sent to the signal processing module 200, and the second reflection signal is calculated by the signal processing module 200, and then the control unit 300 determines according to the calculation result if there are passengers or objects within the detection range 100R, then control The unit 300 will control the power-off device 500 so that the middle door 14 will not be closed, and at the same time control the warning device 400 to issue a light warning to remind the driver that there are passengers or objects in the detection range of the middle door 14 100R (ie 0-5 meters), and the control unit 300 can automatically control the power-off device 500 to start (ie cut off) or the driver can manually control the power-off device 500 to start so that the middle door 14 will not be closed, which can prevent the middle door 14 from closing. Nearby passengers or objects were caught by the middle door. If the middle door 14 malfunctions or accidentally pinches passengers or objects so that the middle door 14 cannot be closed, the driver can manually forcibly disconnect the power cut-off device 500 to close the middle door 14. The power-off device 500 and the vehicle control system are connected to each other. If the power-off device 500 is disconnected so that the middle door 14 cannot be closed, the vehicle control system stops driving at the same time.

It should be noted that the first sensor 101 and the second sensor 102 will always emit the first laser signal and the second radar signal when the bus 10A or the minibus 10B is driving or stopping at the station. In the above-mentioned embodiment, if a vehicle passes the front door 13 or the middle door 14 of the bus 10A, and if a vehicle passes the middle door 14 of the minibus 10B, the second sensor 102 will also receive the reflection from the vehicle. The second reflected signal, but because the power-off device 500 is in the pass state when the bus 10A or minibus 10B is running, it will not Because the second sensor 102 detects an obstacle in the detection range 100R and changes from the access state to the open state, it opens the front door 13 or the middle door 14 and only warns the driver with lights or voices, which can avoid When the bus is running, the front door 13 or the middle door 14 is automatically opened by the second sensor 102 receiving the second reflection signal, causing passengers to fall out of the bus 10A or the minibus 10B, resulting in a traffic accident.

In another embodiment of the present invention, the vehicle warning system 10 can also be installed in large vehicles such as trucks, trailers, and/or connected trucks. Here, a truck is used as an example. Please refer to FIG. 3D, which is a schematic diagram showing the detection range scanned by the first sensor of the truck. As shown in Figure 3D, the truck 10C, unlike the bus 10A, can be illuminated to the outside environment behind the vehicle through a rear mirror. In order to warn the driver of the presence of isolated islands, moving pedestrians or vehicles in the dangerous distance ahead or behind the driver, it has The first sensor 101 for the blind spot detection function can be installed above the left front lamp 11a and left rear lamp 12a of the truck 10C. A sensor 101. After the first sensor 101 emits a plurality of first radar signals from the truck 10C, when these first radar signals encounter obstacles such as separated islands, moving pedestrians or vehicles during the transmission process, Idub The Le principle returns multiple first reflection signals to the first sensor 101 through the reflection of these isolated islands, moving pedestrians or vehicles. At this time, the first sensor 101 receives and transmits multiple first reflection signals. To the signal processing module 200, it is calculated by the signal processing module 200, and the vehicle with the closest distance to the truck 10C or a passerby is used to issue a warning. If the distance between the moving vehicle and the passerby and the truck 10C is greater than 0 -5 meters (that is, the preset detection range of 100R in this case), the control unit 300 will send out a signal to control the warning device 400 to give the driver a first-stage prompt, that is, a green light will be issued to remind the driver. There are separate islands, moving vehicles or passers-by in the front (ie turn left) or front right (turn right), rear left or rear right; if the island, moving vehicles and the distance between passers-by and truck 10C are being detected Within the range of 100R, that is, 0-5 meters, and the driver simultaneously turns left or right turn signal, the control unit 300 will convert the received signal into a second-stage warning signal, that is, a red light warning, and at the same time Sending out a voice message, for example, pay attention to the right side, pay attention to the left side, or pay attention to the rear, and use both a light signal and voice to remind the driver to keep the truck 10C away from the vehicle or passers-by. It’s important to note that due to the separation The distance between the island, moving vehicles or passers-by and the truck 10C is changing at any time. Therefore, the control unit 300 may send the first stage signal at the beginning to cause the warning device 400 to emit a green light, but if the truck 10C and the passerby or The moving vehicles do not keep the distance and make the distance between each other getting closer and closer, that is, within the detection range of 0-5 meters 100R, and the driver turns left or right turn signal at the same time, the control unit 300 The second stage signal will be sent to cause the warning device 400 to emit a red light prompt and a voice announcement to remind the driver to keep the truck 10C from the separated island, the moving passers-by or the vehicle at a proper distance to avoid collisions caused by not keeping the proper distance. Or a traffic accident. Similarly, in another embodiment, if the distance between the moving vehicle and the passerby and the truck 10C is within the detection range 100R, that is, within 0-5 meters, but the driver does not turn on the left or right turn signal Signal, the control unit 300 converts the received signal into a first-stage warning signal, that is, a green light warning, and only uses the light signal to remind the driver to keep the truck 10C at a safe distance from the vehicle or passerby.

According to the specific embodiment of the present invention, the first radar signal and the second radar signal emitted by the first sensor 101 and the second sensor 102 are preferably microwave radar signals, and the frequency range is, for example, 10 GHz-25 GHz. In detail, the first sensor 101 and the second sensor 102 include a FM continuous wave transmitting antenna and a receiving antenna. The use of FM continuous wave for target detection is a technique familiar in the art, which is briefly described as follows , The transmitter uses the Sweep Controller to control the Local Oscillator to generate FM continuous wave signals or other extended types of FM continuous wave signals, which radiate to the detection range 100R through the transmitting antenna. After the receiving antenna receives the first reflected echo and the second reflected echo from the first target and the second target, the sine wave signal generated by the seismic oscillator is processed by a mixer and a low-pass filter. Get the Beat Frequency signal between the two. The beat frequency signal is then converted into a digital first reflection signal and a second reflection signal through an analog/digital converter, and then sent to the signal processing module 200 to calculate that the first target and the second target are relative to the first Information about the distance, moving speed, and angle of the sensor 101 and the second sensor 102.

According to a specific embodiment of the present invention, the signal processing module 200 includes a processor and a memory, and the memory stores program codes to instruct the processor to perform calculation and judgment principles. The processor first performs noise suppression filtering on the received first reflection signal and second reflection signal, uses the spectrum information to calculate the reasonable range of the enclosed interval to form the corresponding frequency range information, and then uses the probability density function model to perform the process based on the frequency range information Calculate to divide the lane recognition boundary, so it has the technical functions of signal range lock, accurate target identification, etc.; and then calculate the relative position, relative distance or relative movement of the first target and/or the second target relative to the vehicle situation. The relative position direction, relative distance or relative movement situation is defined with reference to the vector information of the coordinate space. The coordinate space is defined by the height 100H set by the first sensor 101 and the second sensor 102 to form the first axis, and the first axis is defined by the first sensor 101 and the second sensor 102. The detection range 100R of the sensor 101 and the second sensor 102 constitute a second axis, and the first axis and the second axis form vector information. The relative movement situation includes the movement distance, movement speed, movement angular velocity, and movement direction of the first target and the second target relative to the first sensor 101 and the second sensor 102, respectively.

According to a specific embodiment of the present invention, the warning device 400 can be combined with the dashboard in front of the driver's seat to display a red or green light warning in front of the driver, and a warning voice message is played on the horn of the driver's seat to make The driver can immediately detect the warning message. In addition, the control unit 300 can be shared with the vehicle control system of the vehicle, or can be independently designed and separated from the vehicle control system, depending on the manufacturing process and cost, and the present invention is not limited.

The above-mentioned operation mode of the vehicle warning system 10 can be summarized as a vehicle warning method. As shown in FIG.

Step 201: Detect at least one first target in the external environment of the vehicle and receive a plurality of first reflection signals reflected by the first target. This step consists of setting at least one of the left front lamp 11a, right front lamp 11b, left rear lamp 12a and/or right rear lamp 12b above or below the vehicle. Executed by the first sensor 101, it emits a plurality of first radar signals toward the outside of the vehicle, and receives a plurality of first reflection signals reflected by a first target incident on the first radar signal.

Step 202: Detect at least one second target adjacent to the door of the vehicle, and receive a plurality of second reflection signals reflected by the second target. This step is performed by the second sensor 102 arranged on the top door frame 140 of the front door 13, the middle door 14, and/or the rear door, which emits multiple sensors toward the inside and/or outside of the front door 13, the middle door 14, and/or the rear door A second radar signal, and a plurality of second reflection signals reflected by a second target incident by the second radar signal.

Step 203: Calculate corresponding at least one frequency range information from the first reflection signal and the second reflection signal. This step is executed by the signal processing module 200. The signal processing module 200 receives the first reflected signal from the first sensor 101 and the second reflected signal from the second sensor 102, and then performs noise suppression filtering to use the frequency spectrum. The information calculates the reasonable range of the closed interval to form the corresponding frequency range information.

Step 204: Calculate the relative position direction, relative distance, or relative movement of the first target or the second target relative to the vehicle based on the frequency range information. This step continues to be executed by the signal processing module 200, and calculates based on the frequency range information calculated in step 203 using the probability density function model to divide the lane identification boundary; and then calculates the first target and/or the second target The relative position, relative distance, or relative movement relative to the vehicle.

Step 205: Determine whether to issue a warning message and/or control the door to stop the current action according to the relative position, direction, relative distance, and relative movement of the first target and/or the second target with respect to the vehicle. This step is executed by the control unit 300. The control unit 300 receives the results calculated by the signal processing module 200, including the relative position, direction, relative distance, or relative movement of the first target and the second target relative to the vehicle, and judges Whether the first target and the second target fall into the warning condition, if the first target is in the warning condition, the warning device 400 is controlled to send a warning message, and if the second target is in the warning condition, the power-off device 500 is controlled to activate to make the first target The door under the second sensor 102 stops closing to prevent the second target from being caught.

In summary, by providing at least one first sensor 101 above or below the left front lamp 11a, right front lamp 11b, left rear lamp 12a, and/or right rear lamp 12b of the vehicle, Detect the first target in the blind spot area of driving that is concealed by the A-pillar of the vehicle; at least one second sensor 102 can detect whether there is a second target in the detection range 100R where the second sensor 102 is located According to the target object, the control unit 300 immediately controls the power-off device 500 of the door to start, so that the door stops closing, so as to prevent the second target object from being caught. Therefore, the vehicle warning system 10 of the present invention has both the blind spot detection function and the door anti-pinch function, which can reduce the installation complexity and production cost of the front-mounted market, is more suitable for the needs of the after-mounted market, and will effectively improve the use of large vehicles. The setting rate of the warning system.

10: Vehicle warning system

101: The first sensor

102: second sensor

200: signal processing module

300: control unit

400: warning device

500: Power-off device

Claims (9)

A vehicle warning system includes: at least one first sensor, which is arranged on the left front light, right front light, left rear light and/or right rear light of a vehicle, and is used to emit multiple lights toward the outside of the vehicle. A first radar signal, and a plurality of first reflected signals after receiving the first radar signals reflected by at least one first target; at least one second sensor is arranged on a top door frame of a door body of the vehicle , Used to transmit a plurality of second radar signals toward an outer side and/or an inner side of the door, and receive a plurality of second reflected signals after the second radar signals are reflected by at least one second target; at least one The power-off device is arranged on the door body where the second sensor is located, and the door body is controlled to stop a current action. If the door body is clamped to the second target, the power-off device is forced to present a circuit breaker State to manually close the door; a warning device to generate a warning message under control; a signal processing module to continuously receive the first reflection signals of the first sensor and the second sensor After some second reflection signals, the corresponding frequency range information is calculated, and the probability density function model is used for calculation to divide the lane identification boundary, and then the first target and/or the second target are calculated based on the frequency range information A relative position direction, a relative distance, and a relative movement situation relative to the vehicle, wherein the relative position direction, the relative distance or the relative movement situation is defined by reference to the vector information of the coordinate space, and the coordinate space is defined by the first A sensor and a height set by the second sensor constitute a first axis, a detection range of the first sensor and the second sensor constitute a second axis, and the The first axis and the second axis form the vector information; the relative movement situation includes the moving distance of the first target and the second target relative to one of the first sensor and the second sensor, and a Movement speed, a movement angular velocity and a movement direction; and A control unit determines whether to control the warning device to issue the warning message and/or according to the relative position direction, the relative distance, and the relative movement of the first target and/or the second target with respect to the vehicle Or the power-off device is activated, and when the vehicle is running, the power-off device is maintained in a path state. The vehicle warning system according to claim 1, wherein the warning message includes a light warning and/or a voice message. The vehicle warning system according to claim 1, wherein the frequency range of the first radar signals and the second radar signals is 10GHz-25GHz. The vehicle warning system according to claim 1, wherein the second sensor is disposed on the outer side and/or the inner side of the top door frame of the door body. A vehicle warning method includes: detecting at least one first target in an external environment of a vehicle and continuously receiving a plurality of first reflection signals reflected by the first target; and detecting a vehicle adjacent to the vehicle At least one second target of a door body continuously receives a plurality of second reflection signals reflected by the second target; the corresponding at least one frequency range is calculated from the first reflection signals and the second reflection signals Information; calculate based on the frequency range information with a probability density function model to divide the lane recognition boundary, and calculate a relative position direction, a relative distance, and a relative movement of the first target or the second target with respect to the vehicle A situation where the relative position direction, the relative distance or the relative movement situation is defined by reference to vector information in a coordinate space, and the coordinate space is constituted by a height set by the first sensor and the second sensor A first axis, a detection range of the first sensor and the second sensor constitute a second axis, and the first axis and the second axis form the vector information; the relative movement situation Including the first target and the second target respectively relative to the first sensing A moving distance, a moving speed, a moving angular velocity, and a moving direction; and according to the relative position direction of the first target and/or the second target with respect to the vehicle, the The relative distance and the relative movement situation determine whether to issue a warning message and/or control a power-off device to stop the current action of the door. If the door is clamped to the second target, force the power-off device to display In a disconnected state, the door can be manually closed; and when the vehicle is running, the power cut-off device is maintained in a connected state. The vehicle warning method according to claim 5, wherein the warning message is issued by a warning device, and the warning message includes a light warning and/or a voice message. The vehicle warning method according to claim 5, wherein the current action of the door body stopping the current action is executed by a power-off device, and the power-off device is provided on the door body. The vehicle warning method according to claim 5, wherein the step of detecting the first target in the external environment of the vehicle includes transmitting from at least one first sensor toward the outside of the vehicle with a frequency range of 10GHz~25GHz The multiple first radar signals. The vehicle warning method according to claim 5, wherein the step of detecting the second target adjacent to the door of the vehicle includes turning at least one second sensor toward an outer side of the door and/or The inner side transmits multiple second radar signals with a frequency range of 10GHz~25GHz.

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