TWI797997B - Warning method and system for vehicle turning - Google Patents

Abstract

A warning method for vehicle turning and a system thereof are adapted for solving an imprecise warning problem generated by conventional way while a vehicle is turning. The present invention comprises a computation control unit is configured to calculate an instant turning circle center, a first turning radius and a second turning radius; calculate an obstacle radius defined by a distance between an obstacle and the instant turning circle center; and determine whether the obstacle radius is or not between a warning radius and the second radius. In a situation that the obstacle radius is not smaller than the warning radius and is not larger than the second turning radius, a warning signal is generated.

Description

Vehicle turning warning method and system

The invention relates to a vehicle turning warning method, in particular to a warning method and system capable of judging whether there is a risk on the turning path of a large vehicle when turning.

In the conventional technology, when the vehicle is turning, as long as the vehicle sensor detects the signal of the vehicle turning, or when the signal of the obstacle is detected simultaneously during the turning of the vehicle, the corresponding processor will The alarm is controlled by the siren, so it is impossible to accurately determine whether the obstacle overlaps with the turning path of the vehicle, resulting in excessive and unnecessary alarms, which will make the driver or other passers-by tired of the alarm and ignore the alarm , causing a danger to driving safety.

In view of this, the conventional vehicle turning warning method really still needs to be improved.

In order to solve the above problems, the object of the present invention is to provide a vehicle turning warning method, by calculating the warning area of the vehicle during the turning process, and calculating the radius of the obstacle position through the instantaneous turning center, to accurately determine whether the obstacle is located in the warning area area.

The second object of the present invention is to provide a vehicle turning warning method, through the method of calculating the instantaneous turning center, and calculate the radius of the obstacle position and the relative radius of the vehicle turning according to the instantaneous turning center, which can be compared directly and simply The size of the value to judge whether the obstacle is Within the defined warning range, the computing time of the computer can be greatly simplified, the speed of the computer/processor in data computing and processing can be improved, and more real-time computing and judgment can be achieved.

Another object of the present invention is to provide a vehicle turning warning system for implementing the above method.

Directionality or similar terms used throughout the present invention, such as "front", "rear", "left", "right", "upper (top)", "lower (bottom)", "inner", "outer" , "side", etc., mainly refer to the directions of the attached drawings, and each direction or its approximate terms are only used to assist in explaining and understanding the various embodiments of the present invention, and are not intended to limit the present invention.

The elements and components described throughout the present invention use the quantifier "a" or "an" only for convenience and to provide the usual meaning of the scope of the present invention; in the present invention, it should be interpreted as including one or at least one, and singular The notion of also includes the plural unless it is obvious that it means otherwise.

The term "coupling" mentioned throughout the present invention includes electrical and/or signal direct or indirect connection, which can be selected by those skilled in the art according to usage requirements.

The "Computer" mentioned throughout the present invention refers to various data processing devices with specific functions and implemented by hardware or hardware and software, especially with a processor to process and analyze information and/or generate correspondence Control information, such as electronic controllers, servers, virtual machines, desktop computers, notebook computers, tablet computers or smart phones, etc., can be understood by those with ordinary knowledge in the technical field to which the present invention belongs.

The vehicle turning warning method of the present invention is executed in a turning state of a vehicle, comprising: detecting an obstacle from a turning side of a main vehicle body of the vehicle, so as to obtain the relative position of the obstacle relative to the main vehicle body A relative position of a reference point; wherein, the relative position is defined as an obstacle position information; obtaining a first turning information and receiving a vehicle body information, the first turning information is a turning of the main vehicle body Angle information, the car body information system is between multiple preset positions of the main car body According to the vehicle body information and the first turning information, a calculation control unit calculates a second turning information of the main vehicle body, the second turning information includes an instantaneous turning center, a first turning radius and a The second turning radius; according to the vehicle body information, the obstacle position information and the second turning information, calculate an obstacle position radius between the obstacle and the instantaneous turning center distance through the calculation control unit; through the calculation control unit Judging whether the obstacle position radius is between a warning turning radius and the second turning radius, and sending a warning signal when the obstacle position radius is not smaller than the warning turning radius and not greater than the second turning radius ; wherein, the warning turning radius is related to the first turning radius, and the first turning radius is smaller than the second turning radius; and wherein, the first turning information includes a relationship between a steering angle of a steering wheel and a corner reduction ratio, And/or the first turning information includes a rotational speed of a rear wheel closer to a turning side and another rotational speed of another rear wheel farther away from the turning side.

The vehicle turning warning system of the present invention includes: a vehicle having a main vehicle body; an obstacle detection module installed at least on the main vehicle body to detect an obstacle and acquire the information of the obstacle A relative position relative to a reference point of the main vehicle body; a turning information module, used to obtain a first turning information when the vehicle is turning; a pre-established database having a vehicle body information; a warning unit, used to generate a predetermined warning signal in a specific state; and a computing control unit, coupled with the obstacle detection module, the turning information module, the pre-established database and the warning unit, And execute the above-mentioned vehicle turn warning method.

Accordingly, the vehicle turning warning method and system of the present invention can convert the vehicle body information and the first turning information to calculate the first turning radius and the second turning radius when the vehicle is turning, and define the instantaneous turning center , and then calculate the radius of the obstacle position based on the instantaneous turning center, and can directly and simply compare the size of these radius values to judge whether the obstacle is within a defined warning range, which can greatly simplify computer calculations Time, improve the speed of data calculation and processing, and achieve more real-time calculation and judgment. In this way, through the determination of the warning range, the vehicle can be avoided Colliding with obstacles when turning has the effect of improving driving safety; by directly and simply comparing the values of the radii, the computer can increase the speed of data calculation and processing, and has the effect of simplifying and accelerating computer calculation.

Wherein, the first obstacle horizontal distance and the first obstacle longitudinal distance of the obstacle relative to the obstacle detection module can be calculated through the obstacle position information; a compensation in the obstacle position information can be used Coordinate transformation of the information, so as to convert the first obstacle horizontal distance and the first obstacle longitudinal distance into the second obstacle horizontal distance and the second obstacle longitudinal distance of the obstacle to the instantaneous turning center; Calculate the obstacle position radius between the obstacle and the instantaneous turning center according to the second obstacle lateral distance and the second obstacle longitudinal distance. In this way, through the use of coordinate conversion and compensation information, the relative distance between the obstacle and the instantaneous turning center can be obtained, which has the effect of accurately and quickly judging whether the obstacle is located in a warning area.

其中，R1表示該第一轉彎半徑，用以界定該主車體的一轉彎側後輪與該瞬時轉彎圓心的一距離；L表示該第一縱向軸距，用以界定該主車體的一前輪軸與一第一後輪軸間的一垂直距離；φ表示該方向盤的該轉向角度；N表示該轉角減速比；Dt表示該後輪間距；Wt表示該後輪寬。 Wherein, the vehicle body information may include a rear wheel spacing, a rear wheel width, a first longitudinal wheelbase, and a first length; wherein, the first turning information includes the steering angle of the steering wheel and the corner reduction ratio In the case of the relationship, the first turning radius is calculated by the following formula:

Wherein, R1 represents the first turning radius, which is used to define a distance between a turning rear wheel of the main body and the instantaneous turning center; L represents the first longitudinal wheelbase, which is used to define a distance of the main body. A vertical distance between the front wheel shaft and a first rear wheel shaft; φ represents the steering angle of the steering wheel; N represents the corner reduction ratio; Dt represents the rear wheel spacing; Wt represents the rear wheel width.

其中，Vi表示較靠近該轉彎側的該後輪的該轉速；Vo表示較遠離該轉彎側 的該另一後輪的該另一轉速。 Wherein, when the first turning information includes the rotational speed of the rear wheel closer to the turning side and the other rotational speed of the other rear wheel farther from the turning side, the first turning radius is obtained by the following another formula calculate:

Wherein, Vi represents the rotation speed of the rear wheel closer to the turning side; Vo represents the other rotation speed of the other rear wheel farther from the turning side.

其中，Lc表示該第一長度，用以界定該主車體的一前端到該第一後輪軸的一垂直距離。 Wherein, the second turning radius is calculated by the following formula:

Wherein, Lc represents the first length, which is used to define a vertical distance from a front end of the main vehicle body to the first rear axle.

Wherein, the instantaneous turning center is defined as a position along a direction of the first rear axle extending outward from the turning side to the first turning radius.

In this way, through the calculation of the above formula, the first turning radius, the second turning radius and the instantaneous turning center can be obtained, so as to calculate and obtain the warning area, and then judge whether the obstacle is located in the warning area, which can improve driving safety effect.

其中，R_CP表示該樞接點轉彎半徑，用以界定該樞軸與該瞬時轉彎圓心的一距離；W1代表該第一寬度，用以界定該主車體的一最大輪廓寬度；m表示該樞軸到該第一後輪軸的一垂直長度。 Wherein, the vehicle further has an accompanying vehicle body, which is pivotally connected to the main vehicle system through a pivot, and the vehicle body information further includes a second longitudinal wheelbase, a first width, a second Width, a third longitudinal wheelbase, the second turning information also has a pivot point turning radius and a third turning radius, the pivot point turning radius is calculated by the following formula:

Wherein, R _CP represents the turning radius of the pivot point, which is used to define a distance between the pivot axis and the instantaneous turning circle center; W1 represents the first width, which is used to define a maximum profile width of the main vehicle body; m represents the Pivot to a vertical length of the first rear wheel axle.

其中，R3表示該第三轉彎半徑，用以界定該附隨車體與該瞬時轉彎圓心Oc的一最短距離；L_T代表該樞接點到一第二後輪軸的一垂直長度；W2代表該第二寬度，用以界定該附隨車體的一最大輪廓寬度。 The third turning radius is calculated by the following formula:

Wherein, R3 represents the third turning radius, which is used to define a shortest distance between the accompanying vehicle body and the instantaneous turning center Oc; L _T represents a vertical length from the pivot point to a second rear axle; W2 represents the The second width is used to define a maximum outline width of the attached vehicle body.

In this way, through the calculation of the above formula, the third turning radius of the accompanying vehicle body can be obtained, which can be used to more accurately define the warning turning radius of the vehicle with the accompanying vehicle body, and can more accurately determine whether the obstacle is Being located in the warning zone prevents the vehicle from colliding with obstacles when turning, and has the effect of improving driving safety.

其中，h表示該第一障礙物橫向距離；dr表示該障礙物與該雷達感測器的一距離；γ表示一安裝夾角，該安裝夾角γ為該第一向量方向與該轉動側之間的一夾角；β表示該障礙物與該第一向量方向之間的一夾角；g表示該第二障礙物橫向距離，Cv2表示該補償資訊中的一第二補償值；e表示該第一障礙物縱向距離；f表示該第二障礙物縱向距離，Cv1該補償資訊中的一第一補償值；R_OBJ表示該障礙物位置半徑。如此，透過上述公式計算，可快速且精確獲得該雷達感測器所感測該障礙物與該瞬時轉彎圓心之間的最短距離所定義的該障礙物位置半徑，並藉此判斷該障礙物是否位在該警戒區中，避免該車輛於轉彎時與障礙物碰撞，具有提升行車安全的功效。 Wherein, in the case where the obstacle detection module is a radar sensor, the radar sensor defines a first vector direction and a second vector direction perpendicular to the first vector direction, and the obstacle position radius is The calculation formula can be calculated by the following formula: h = dr‧sin ( γ + β ); g = R 1-( h - Cv 2); e =- dr‧cos ( γ + β ); f =( Lc - Cv 1) -e ;

Wherein, h represents the lateral distance of the first obstacle; dr represents a distance between the obstacle and the radar sensor; γ represents an installation angle, and the installation angle γ is the distance between the first vector direction and the rotation side An included angle; β indicates an included angle between the obstacle and the first vector direction; g indicates the lateral distance of the second obstacle, Cv2 indicates a second compensation value in the compensation information; e indicates the first obstacle Longitudinal distance; f represents the longitudinal distance of the second obstacle, Cv1 is a first compensation value in the compensation information; R _OBJ represents the obstacle position radius. In this way, through the calculation of the above formula, the obstacle position radius defined by the shortest distance between the obstacle sensed by the radar sensor and the instantaneous turning center can be quickly and accurately obtained, so as to determine whether the obstacle is located In the warning zone, the vehicle is prevented from colliding with obstacles when turning, which has the effect of improving driving safety.

，

； g=R1-(h-Cv2)；

其中，h表示該第一障礙物橫向距離；G表示該二超音波感測器間的一安裝間距，d1表示該障礙物與該二超音波感測器中之一者的一距離，d2表示該障礙物與該二超音波感測器中之另一者的另一距離，S表示該距離、該另一距離及該安裝間距的一總合除以二；g表示該第二障礙物橫向距離，Cv2表示該補償資訊中的一第二補償值；e表示該第一障礙物縱向距離；f表示該第二障礙物縱向距離，Lc表示該第一長度，用以界定該主車體的一前端到該第一後輪軸的一垂直距離，Cv1該補償資訊中的一第一補償值，α表示該障礙物的到該二超音波感測器中之一者的該距離所形成的一線段與該第一障礙物縱向距離所形成的一線段之間的一夾角；R_OBJ表示該障礙物位置半徑。如此，透過上述公式計算，可快速且精確獲得該二超音波感測器所感測該障礙物與該瞬時轉彎圓心之間的最短距離所定義的該障礙物位置半徑，並藉此判斷該障礙物是否位在該警戒區中，避免該車輛於轉彎時與障礙物碰撞，具有提升行車安全的功效。 Wherein, in the case where the obstacle detection module is two ultrasonic sensors, the formula for calculating the radius of the obstacle position can be calculated by the following formula:

,

; g = R1- ( h - Cv2 );

Wherein, h represents the lateral distance of the first obstacle; G represents an installation distance between the two ultrasonic sensors, d1 represents a distance between the obstacle and one of the two ultrasonic sensors, and d2 represents Another distance between the obstacle and the other of the two ultrasonic sensors, S represents the sum of the distance, the other distance and the installation spacing divided by two; g represents the lateral direction of the second obstacle Cv2 represents a second compensation value in the compensation information; e represents the longitudinal distance of the first obstacle; f represents the longitudinal distance of the second obstacle, and Lc represents the first length, which is used to define the distance of the main vehicle body A vertical distance from a front end to the first rear wheel axle, Cv1 a first compensation value in the compensation information, α represents a line formed by the distance from the obstacle to one of the two ultrasonic sensors R _OBJ represents the radius of the obstacle position. In this way, through the calculation of the above formula, the obstacle position radius defined by the shortest distance between the obstacle sensed by the two ultrasonic sensors and the instantaneous turning center can be obtained quickly and accurately, and the obstacle can be judged accordingly. Whether the vehicle is located in the warning area prevents the vehicle from colliding with obstacles when turning, which has the effect of improving driving safety.

Wherein, the warning turning radius is equal to the first turning radius. In this way, the warning turning radius is defined as the shortest distance between the instantaneous turning center and the main vehicle body, and thereby it is judged whether the obstacle is located in the warning area, so as to prevent the vehicle from colliding with the obstacle when turning. Improve driving safety.

Wherein, in the case where the third radius is not smaller than the first turning radius, the warning turning radius is equal to the first turning radius; in the case where the third radius is smaller than the first turning radius, The warning turning radius is equal to the third turning radius. In this way, the warning turning radius of the vehicle with the accompanying vehicle body can be defined more accurately, and whether the obstacle is located in the warning area can be more accurately judged, so that the vehicle can be prevented from colliding with the obstacle when turning, and has the function of improving driving. Safe efficacy.

Wherein, a first adjustment value may be subtracted from the warning turning radius and/or a second adjustment value may be added to the second turning radius, and the first adjustment value and the second adjustment value are values greater than zero. In this way, the first adjustment value and/or the second adjustment value can be added according to the needs to properly adjust the warning area, which can more effectively prevent the vehicle from colliding with obstacles when turning, and improve driving safety. effect.

1: vehicle

10: Main body

10': with bodywork

10a: Turning side

10b: the other side

10f: front side

10r: Rear side

11: Front wheel

11a: Front wheel on the turning side

11b: Front wheel on the other side

12: rear wheel

12a: Rear wheel on the turning side

12b: The other rear wheel

2: Obstacle detection module

21:Radar sensor

22: Ultrasonic sensor

3: Turn information module

4: Pre-built database

5: Warning unit

6: Operation control unit

A10: First longitudinal axis

A10': second longitudinal axis

A10a: Auxiliary longitudinal axis

A11: Front axle

A12: The first rear axle

A12’: second rear axle

Aw: Warn turning area

ad1: the first adjustment value

ad2: second adjustment value

Cv1: first compensation value

Cv2: second compensation value

Dt: distance between rear wheels

D _H : Lateral distance

D _V : longitudinal distance

d1,d2,dr: distance

e: Longitudinal distance of the first obstacle

f: Longitudinal distance of the second obstacle

G: Installation distance

g: Lateral distance of the second obstacle

h: lateral distance of the first obstacle

L: first longitudinal wheelbase

Lc: first length

L _T : third longitudinal wheelbase

m: second longitudinal wheelbase

O: Obstacle

Oc: Instantaneous turning center

Wt: rear wheel width

Pr: reference point

R1: first turning radius

R2: second turning radius

R3: third turning radius

R _CP : pivot point turning radius

R _OBJ : obstacle position radius

RW: warning turning radius

:第一向量方向

: first vector direction

:第二向量方向

: second vector direction

W1: first width

W2: second width

α, β: included angle

γ: installation angle

λ: steering angle

[Fig. 1] A schematic diagram of the system architecture of a preferred embodiment of the present invention.

[Fig. 2] A schematic top view of a vehicle having a main body in a preferred embodiment of the present invention.

[Fig. 3] A schematic top view of the radar sensor used in Fig. 2.

[Fig. 4] A partial enlarged schematic diagram as shown in Fig. 3.

[Fig. 5] A schematic top view of the ultrasonic sensor used in Fig. 2.

[Fig. 6] The vehicle shown in Fig. 2 also has a schematic top view of an accompanying vehicle body.

[Fig. 7] A schematic diagram of the warning area of the present invention.

In order to make the above-mentioned and other objects, features and advantages of the present invention more obvious and understandable, the preferred embodiments of the present invention are specifically cited below, and are described in detail in conjunction with the accompanying drawings; in addition, the same symbols are marked in different drawings are considered the same, and their descriptions will be omitted.

Please refer to Figure 1, which is a schematic diagram of the system architecture of a preferred embodiment of the vehicle turning warning system of the present invention. It has a vehicle 1, and the vehicle 1 includes an obstacle detection module 2 and a turning information module 3. , a pre-established database 4, a warning unit 5 and an operation control unit 6, the operation control unit 6 and the obstacle detection module 2, the turning information module 3, the pre-established database 4, the warning The unit 5 is coupled to calculate and judge whether an obstacle O is in a warning range A _W according to the relevant information in the obstacle detection module 2, the turning information module 3, and the pre-established database 4 (As shown in Figure 7).

Please refer to Fig. 2, which is a first aspect of the vehicle 1 of the present invention. The vehicle 1 has a main body 10 with a front end 10f, a turning side 10a, and the other side 10b is opposite to the turning side 10a, A set of front wheels 11 and a set of rear wheels 12, the main vehicle body 10 has a first longitudinal axis (longitudinal axis) A10. Specifically, the main vehicle body 10 has a rear end 10r opposite to the front end 10f, and the ends of the turning side 10a and the other side 10b are respectively connected with the front end 10f and the rear end 10r to form the main vehicle An outline of the body, the outline is preferably used to indicate the rectangle of the maximum size boundary of the main vehicle body 10, and is not used to limit various changes in the shape of the vehicle 1 of the present invention. Preferably, the set of front wheels 11 is associated with a steering wheel (not shown), so that when the steering wheel is turned, a corresponding steering/turning angle is generated, so that the main vehicle body 10 can move toward the direction of the turning side 10a when traveling. turn. Preferably, the first longitudinal axis A10 passes through the geometric center of the main vehicle body 10 , and the set of front wheels 11 and the set of rear wheels 12 respectively have an even number of wheels arranged symmetrically to the first longitudinal axis A10 . In one example, the set of front wheels 11 is two, the set of front wheels 11 has a turning side front wheel 11a and the other side front wheel 11b; the set of rear wheels 12 is two, and the set of rear wheels 12 has a turning side rear wheel 12a and the other side rear wheel 12b. It should be noted that the numbers of the above wheels are only used to help explain and understand the various embodiments of the present invention, and are not intended to limit the present invention.

Specifically, the main vehicle body 10 includes the following configuration: a front wheel axle A11 is defined between the front wheels 11 , especially between the centers of the two front wheels 11a, 11b. Between the rear wheels 12, especially between the centers of the two rear wheels 12a, 12b, a first rear axle A12 is defined; a length between the rear wheels 12, In particular, a length between the centers of the two rear wheels 12a, 12b defines a rear wheel spacing Dt; each of the rear wheels 12, such as each of the rear wheels 12a, 12b, has a rear wheel width Wt. The front end 10f of the main vehicle body 10, especially at the junction of the turning side 10a and the front end 10f, defines a first length Lc from the vertical distance to the first rear axle A12; preferably, the first length Lc can be a maximum vertical distance from the first rear axle A12 to the front end 10f. The vertical distance between the front axle A11 and the first rear axle A12 is defined as a first longitudinal wheelbase L. Wherein, the directions of the "maximum vertical distance" and the "vertical distance" are directions parallel to the first longitudinal axis A10.

As shown in Figure 2, the obstacle detection module 2 is installed on the main vehicle body 10, especially at least on the turning side 10a, to detect at least one obstacle O (the obstacle O can be moving or a stationary object), obtain a relative position of the obstacle O relative to a reference point Pr of the main vehicle body 10, and the relative position is defined as obstacle position information. Preferably, the obstacle detection module 2 is installed at least on the two sides 10a, 10b of the main vehicle body 10, so as to detect the obstacle O when the vehicle 1 turns on any side, but it is convenient in the present invention Note that only one side (the turning side 10 a ) is taken as an example, which is not intended to limit the present invention.

與一第二向量方向

垂直該第一向量方向

，該雷達感測器21感應的方向係朝該第二向量方向

擴展一感應範圍。在該雷達感測器21安裝該轉彎側10a的狀態下，該第二向量方向

係朝遠離該另一側10b的方向設置，且該第一向量方向

係朝遠離該後端10r的方向設置，並與一輔助縱向軸線A10a定義一安裝夾角γ，該輔助縱向軸線A10a平行該第一縱向軸線A10；換言之，該安裝夾角γ可為該第一向量方向

與該轉動側10a之間的一夾角；該安裝夾角γ較佳是一銳角；藉此，該雷達感測器21可偵測該障礙物O與該雷達感測器21的一距離dr及該障礙物O與該第一向量方向

之間的一夾角β。另， 該雷達感測器21安裝於該主車體10的一相對位置係被記錄，該相對位置的資訊可包含以該主車體10的一位置作為基準的一參考點Pr，並根據該雷達感測器21與該參考點Pr之間的位置差設立一補償資訊，該補償資訊可為一長度與一角度的組合或可為具有互相垂直方向的二補償值；較佳地，該補償資訊是一第一補償值Cv1與一第二補償值Cv2，其中，以第4圖為例，該第一補償值Cv1與第二補償值Cv2可以是該雷達感測器21相對該參考點Pr的一縱向距離D_V與一橫向距離D_H。其中，該障礙物位置資訊即包含該距離dr與該夾角β，較佳另包含該參考點Pr、該第一補償值Cv1(例如是該縱向距離D_V)及該第二補償值Cv2(例如是該橫向距離D_H)，藉以更精確獲取該障礙物O相對該車體的一位置。 Preferably, as shown in FIG. 3, the obstacle detection module 2 may be composed of at least one radar sensor 21, and the at least one radar sensor 21 defines a first vector direction

with a second vector direction

perpendicular to the first vector direction

, the direction sensed by the radar sensor 21 is toward the second vector direction

Extend a sensing range. In the state where the radar sensor 21 is installed on the turning side 10a, the second vector direction

is set towards the direction away from the other side 10b, and the first vector direction

It is arranged in a direction away from the rear end 10r, and defines an installation angle γ with an auxiliary longitudinal axis A10a, and the auxiliary longitudinal axis A10a is parallel to the first longitudinal axis A10; in other words, the installation angle γ can be the direction of the first vector

An included angle between the rotating side 10a; the installation included angle γ is preferably an acute angle; thereby, the radar sensor 21 can detect a distance dr between the obstacle O and the radar sensor 21 and the Obstacle O and the direction of the first vector

An angle β between them. In addition, a relative position of the radar sensor 21 installed on the main vehicle body 10 is recorded, and the information of the relative position may include a reference point Pr based on a position of the main vehicle body 10, and according to the The position difference between the radar sensor 21 and the reference point Pr sets up a compensation information, which can be a combination of a length and an angle or can be two compensation values with mutually perpendicular directions; preferably, the compensation The information is a first compensation value Cv1 and a second compensation value Cv2, wherein, taking FIG. 4 as an example, the first compensation value Cv1 and the second compensation value Cv2 can be the ratio of the radar sensor 21 to the reference point Pr There is a longitudinal distance _DV and a transverse distance D _H . Wherein, the obstacle position information includes the distance dr and the angle β, and preferably further includes the reference point Pr, the first compensation value Cv1 (such as the longitudinal distance D _V ) and the second compensation value Cv2 (such as is the lateral distance D _H ), so as to obtain a position of the obstacle O relative to the vehicle body more accurately.

Preferably, as shown in FIG. 5, the obstacle detection module 2 may be composed of at least two ultrasonic sensors 22, and there is an installation distance G between the at least two ultrasonic sensors 22, Thereby, one distance d1 and another distance d2 between the obstacle O and the at least two ultrasonic sensors 22 can be detected; in detail, the distance d1 can be between the obstacle O and the distance closer to the front end 10f The distance of the sensor, the distance d2 may be the distance between the obstacle O and the sensor farther away from the front end 10f. If the obstacle detection module 2 has more than three ultrasonic sensors 22 , the installation distance G between two adjacent sensors can be different. In addition, the relative position of at least one of the at least two ultrasonic sensors 22 installed on the main vehicle body 10 is recorded, such as the reference point Pr of the aforementioned radar sensor 21, the first compensation value Cv1 (for example, the longitudinal distance _DV ) and the second compensation value Cv2 (for example, the lateral distance D _H ), so as to more accurately obtain a position of the obstacle O relative to the vehicle body; wherein, the first 5 as an example, since the lateral distance D _H is zero, it is not shown.

It should be noted that the sensor of the obstacle detection module 2 may also be composed of the radar sensor 21 and the ultrasonic sensor 22, or the radar sensor 21 or the ultrasonic sensor may not be used. Detector 22 is limited. In addition, the sensor of the obstacle detection module 2 is installed on a side of the main vehicle body 10 The relative position is recorded so that the sensed position of the obstacle O relative to the sensor can be converted to the host vehicle through the compensation information (such as the first compensation value Cv1 and the second compensation value Cv2). A relative position of the body 10 or an instantaneous turning center Oc; wherein, the obstacle position information includes the compensation information.

The turning information module 3 is installed on the main vehicle body 10, and is used to obtain a first turning information when the vehicle 1 is turning. The first turning information is a turning angle of the main vehicle body 10. information, including the steering angle of the steering wheel or the wheel speed between the rear wheels. The first turning information can be a steering angle of the steering wheel or a wheel speed of the set of rear wheels 12 of the vehicle 1 . In an example where the first turning information is a steering angle of the steering wheel, the turning information module 3 may have a steering wheel angle sensor (not shown) for sensing a steering angle φ of the steering wheel; therefore, the first The turning information may include the steering angle φ of the steering wheel and the relationship N of the steering angle reduction ratio, and the ratio of the steering angle φ to the relationship N of the steering angle reduction ratio is a steering angle λ of the steering-side front wheel 11a (as shown in FIG. 2 , the steering angle λ is an included angle between a direction from the center of the steering-side front wheel 11a to the instantaneous turning center Oc and a direction extending from the center of the steering-side front wheel 11a parallel to the first longitudinal axis A10). In an example where the first turning information is the wheel speed of the set of rear wheels 12, each of the two rear wheels in the set of rear wheels 12 has a wheel speed sensor (not shown) to obtain the wheel speed closer to the turning side 10a. A rotation speed Vi of a rear wheel on the turning side 10a, and another rotation speed Vo of the other rear wheel farther away from the turning side 10a; in this example, the turning side rear wheel 12a has the rotation speed Vi, and the other side rear wheel 12b It has this rotational speed Vo.

The pre-established database 4 can be a component with functions such as data reception, storage, transmission, etc., and has a piece of vehicle body information, which is a plurality of preset positions of the main vehicle body 10 (such as a specific position, The dimensions between specific components or specific structural features) (including dimension information such as length and angle) are used to calculate an instantaneous turning center Oc and a first turning radius of the main vehicle body 10 with the first turning information R1 and a second turning radius R2. The vehicle body information includes the rear wheel spacing Dt, the rear wheel width Wt, the first longitudinal wheelbase L and the first length Lc. Optionally, the above sensing The relevant information detected or recorded by the sensor module 2 and the turn information module 3 can also be integrated and stored in the pre-established database 4.

The warning unit 5 is used to generate a perceivable preset warning signal in a specific state to remind the driver. The predetermined warning signal can be at least one of a predetermined sound, a predetermined light, and a predetermined vibration, and can also, for example, display a message and/or an image through a display. In addition, the warning unit 5 can be installed on the main vehicle body 10, worn on the user (such as the driver), or any form of a portable device; the warning unit 5 is in the form of a portable device Among them, the warning unit 5 can be, for example, a wireless earphone and can emit a predetermined sound, or can be, for example, a smart phone, and can emit at least one of a predetermined sound, a predetermined light, and a predetermined vibration.

The computing control unit 6 can be an element with functions such as data processing, signal generation, drive control, and data storage, and the computing control unit 6 can also be a microcontroller (Micro Control Unit, MCU); preferably, the computing The control unit 6 can be regarded as a computer or a processor in a computer. The calculation control unit 6 is coupled with the obstacle detection module 2 , the turn information module 3 , the pre-established database 4 and the warning unit 5 , whereby the calculation control unit 6 performs the following steps.

Step S1: As shown in Figures 1 and 2, in a state where the vehicle 1 is turning, the calculation control unit 6 uses the vehicle body information of the pre-established database 4 and the turning information module 3 The first turning information calculates a second turning information of the main vehicle body 10 , the second turning information has a first turning radius R1 and a second turning radius R2 and defines an instantaneous turning center Oc.

其中，公式(1-1A)對應該第一轉彎資訊為該方向盤的該轉向角度的情形，公式(1-1B)對應該第一轉彎資訊為該車輛1的該組後輪12的該輪速的情形。其中，該第一轉彎半徑R1係用以界定該主車體10的一輪廓相對該瞬時轉彎圓心Oc的一最小距離；較佳地，在本範例中，該第一轉彎半徑R1界定該主車體10的該轉彎側後輪12a與該瞬時轉彎圓心Oc的一距離。 As shown in FIG. 2, according to the aspect of the first turning information, the calculation formula of the first turning radius R1 is the following formula (1-1A) or (1-1B):

Wherein, the formula (1-1A) corresponds to the situation where the first turning information is the steering angle of the steering wheel, and the formula (1-1B) corresponds to the first turning information being the wheel speed of the group of rear wheels 12 of the vehicle 1 situation. Wherein, the first turning radius R1 is used to define a minimum distance between a contour of the main vehicle body 10 and the instantaneous turning center Oc; preferably, in this example, the first turning radius R1 defines the main vehicle body 10 A distance between the turning side rear wheel 12a of the body 10 and the instantaneous turning center Oc.

其中，該第二轉彎半徑R2係用以界定該主車體10於該轉彎側10a的一輪廓相對該瞬時轉彎圓心Oc的一最大距離。 As shown in Figure 2, the calculation formula of the second turning radius R2 is the following formula (1-2):

Wherein, the second turning radius R2 is used to define a maximum distance between a contour of the main vehicle body 10 on the turning side 10 a and the instantaneous turning center Oc.

As shown in FIG. 2 , the instantaneous turning center Oc is defined as a position along a direction of the first rear wheel axis A12 extending outward from the turning side 10 a with the first turning radius R1 .

Step S2: The computing control unit 6 calculates a distance between the obstacle O and the instantaneous turning center Oc according to the vehicle body information, the obstacle position information and the second turning information, and defines it as an obstacle position radius R _OBJ . According to the aspect of the sensor in the obstacle detection module 2 , the calculation formula of the obstacle position radius R _OBJ is described as follows.

其中，h表示該障礙物O與該雷達感測器21的一第一障礙物橫向距離；在該第一向量方向

係朝遠離該另一側10b的方向設置的狀態下，該安裝夾角γ為正值；在該第一向量方向

係朝接近該另一側10b的方向設置的狀態下，該安裝夾角γ為負值；g表示透過該第二補償值Cv2以獲得該障礙物O與該瞬時轉彎圓心Oc間的一第二障礙物橫向距離，其中，該第二補償值Cv2在本範例中為該橫向距離D_H；e表示該障礙物O與該雷達感測器21的一第一障礙物縱向距離；f表示透過該第一補償值Cv1以獲得該障礙物O與該瞬時轉彎圓心Oc間的一第二障礙物縱向距離，其中，該第一補償值Cv1在本範例中為該縱向距離D_V。詳言之，上述「縱向距離」係平行該第一縱向軸線A10的方向，上述「橫向距離」係垂直該第一縱向軸線A10的方向。 As shown in Figures 3-4, in the case where the obstacle detection module 2 is a radar sensor 21, the calculation formula of the obstacle position radius R _OBJ can be obtained from the following formula (2-1A)~(2- 5A) Calculation: h = dr‧sin ( γ + β ), (2-1A) g = R 1-( h - Cv 2), (2-2A) e =- dr‧cos ( γ + β ), ( 2-3A) f = ( Lc - Cv 1) - e , (2-4A)

Wherein, h represents a first obstacle lateral distance between the obstacle O and the radar sensor 21; in the first vector direction

When the system is set in a direction away from the other side 10b, the installation angle γ is a positive value; in the direction of the first vector

When the system is set in a direction close to the other side 10b, the installation angle γ is a negative value; g represents a second obstacle obtained between the obstacle O and the instantaneous turning center Oc through the second compensation value Cv2 Object horizontal distance, wherein, the second compensation value Cv2 is the horizontal distance D _H in this example; e represents a first obstacle longitudinal distance between the obstacle O and the radar sensor 21; f represents the vertical distance through the first obstacle O A compensation value Cv1 is used to obtain a second obstacle longitudinal distance between the obstacle O and the instantaneous turning center Oc, wherein the first compensation value Cv1 is the longitudinal distance _DV in this example. In detail, the above "longitudinal distance" is a direction parallel to the first longitudinal axis A10, and the above "transverse distance" is a direction perpendicular to the first longitudinal axis A10.

g=R1-(h-Cv2)， (2-2B)

其中，h表示該障礙物O與該超音波感測器22的一第一障礙物橫向距離；g表示透過該第二補償值Cv2以獲得該障礙物O與該瞬時轉彎圓心Oc間的一第二障礙物橫向距離，其中，該第二補償值Cv2在本範例中為該橫向距離D_H；e表示該障礙物O與該超音波感測器22的一第一障礙物縱向距離；f表示透過該第一補償值Cv1以獲得該障礙物O與該瞬時轉彎圓心Oc間的一第二障礙物縱向距離，其中，該第一補償值Cv1在本範例中為該縱向距離D_V；α表示該障礙物O的到該二超音波感測器22中之一者的該距離d1所形成的一線段與該第一障礙物縱向距離e所形成的一線段之間的一夾角。詳言之，上述「縱向距離」係平行該第一縱向軸線A10的方向，上述「橫向距離」係垂直該第一縱向軸線A10的方向。 As shown in Figure 5, in the case where the obstacle detection module 2 is an ultrasonic sensor 22, the calculation formula of the obstacle position radius R _OBJ can be obtained by the following formula (2-1B)~(2-5B )calculate:

g = R1- ( h - Cv2 ), (2-2B)

Wherein, h represents a first obstacle lateral distance between the obstacle O and the ultrasonic sensor 22; g represents a first distance between the obstacle O and the instantaneous turning center Oc obtained through the second compensation value Cv2 Two obstacle horizontal distances, wherein, the second compensation value Cv2 is the horizontal distance D _H in this example; e represents a first obstacle longitudinal distance between the obstacle O and the ultrasonic sensor 22; f represents A second obstacle longitudinal distance between the obstacle O and the instantaneous turning center Oc is obtained through the first compensation value Cv1, wherein the first compensation value Cv1 is the longitudinal distance D _V in this example; α represents An included angle between a line segment formed by the distance d1 from the obstacle O to one of the two ultrasonic sensors 22 and a line segment formed by the first obstacle longitudinal distance e. In detail, the above "longitudinal distance" is a direction parallel to the first longitudinal axis A10, and the above "transverse distance" is a direction perpendicular to the first longitudinal axis A10.

Step S3: As shown in Figure 2, the calculation control unit 6 judges whether the obstacle position radius R _OBJ is between a warning turning radius RW and the second turning radius R2, and the corresponding judging conditions can be expressed as follows:

Where RW= R 1 (3-2) Wherein, in the state where the obstacle position radius R _OBJ is between the warning turning radius RW and the second turning radius R2, the calculation control unit 6 controls the warning unit 5 issue the default warning signal.

It should be noted that the pre-established database 4, the warning unit 5 and the operation control unit 6 can be separate or integrated software or hardware components, for example, they can be integrated in one computer hardware or separately built on different computer hardware body; preferably, for example, when integrated in a computer, the computer can A vehicle computer is located on the main vehicle body 10, or the computer can be remotely coupled.

Please refer to Figure 6, which is a second aspect of the vehicle 1 of the present invention. The main difference between this aspect and the above-mentioned first aspect is that in this aspect, the vehicle 1 has an accompanying vehicle The body 10 ′ is, for example, a vehicle body driven by the main vehicle body 10 . The accompanying vehicle body 10' has a second longitudinal axis A10' and a second rear axle A12', and the accompanying vehicle body 10' is pivotally connected to the main vehicle body 10 through a pivot shaft 13; preferably, The second longitudinal axis A10' passes through the geometric center of the accompanying vehicle body 10', and the pivot 13 is disposed at an intersection of the first longitudinal axis A10 and the second longitudinal axis A10'. The vehicle body information further includes a second longitudinal wheelbase m, a first width W1, a second width W2, and a third longitudinal wheelbase _LT ; the second longitudinal wheelbase m is from the pivot 13 to the A vertical length between the first rear axles A12; the first width W1 is a profile width of the main vehicle body 10 in the direction perpendicular to the first longitudinal axis A10, preferably a maximum profile width; the second width W2 is a profile width of the accompanying vehicle body 10' in the direction perpendicular to the second longitudinal axis A10', preferably a maximum profile width; the third longitudinal axis distance L _T is the pivot point 13 to A vertical length of a second rear axle A12'.

According to the second aspect of the vehicle 1 of the present invention, the second turning information in step S1 of the calculation control unit 6 includes the first turning radius R1, the second turning radius R2, the instantaneous turning center Oc, and There is a pivot point turning radius R _CP and a third turning radius R3.

該第三轉彎半徑R3界定該附隨車體10’與該瞬時轉彎圓心Oc的一最短距離，該第三轉彎半徑R3的計算公式為下列公式(1-4)：

The pivot point turning radius R _CP defines a distance between the pivot axis and the instantaneous turning circle center, and the calculation formula of the pivot point turning radius R _CP is the following formula (1-3):

The third turning radius R3 defines a shortest distance between the accompanying vehicle body 10' and the instantaneous turning center Oc, and the calculation formula of the third turning radius R3 is the following formula (1-4):

In the calculation formula of the calculation control unit 6 in step S2, the second aspect of the vehicle 1 of the present invention is consistent with the first aspect.

In the judgment condition of the operation control unit 6 in step S3, in the second aspect of the vehicle 1 of the present invention, it is also judged whether the obstacle position radius R _OBJ is between a warning turning radius RW and the second turning radius R2 The corresponding judgment conditions can be expressed as follows:

Where RW= R 3 (3-2') Wherein, in the state where the obstacle position radius R _OBJ is between the warning turning radius RW and the second turning radius R2, the calculation control unit 6 controls the warning unit 5 Send out the preset warning signal.

Please refer to Fig. 7, therefore, no matter in the situation of the first aspect of vehicle 1 of the present invention (with this main body 10), or in the second aspect of vehicle 1 of the present invention (with this main body 10 and the accompanying vehicle body 10'), it is possible to determine whether the obstacle position radius R _OBJ is between the warning turning radius RW and the second turning radius R2 through the calculation control unit 6 in step S3 Meanwhile, if the judgment result is yes, the calculation control unit 6 controls the warning unit 5 to send out the preset warning signal, thereby reminding the driver to pay attention to an obstacle O detected in a warning area Aw, so as to improve driving safety. Wherein, the warning area Aw is the range defined by the warning turning radius RW and the second turning radius R2. Preferably, the range of the warning area Aw can be appropriately expanded to enhance safety, for example, the warning turning radius RW can be subtracted by a first adjustment value ad1 and/or the second turning radius R2 can be added with a second adjustment The value ad2, the first adjustment value ad1 and the second adjustment value ad2 are values greater than zero.

According to the aforementioned system, in the state where the vehicle 1 is turning, the present invention can implement a turning warning method for the vehicle 1, which includes the following process:

Process P1: As shown in FIG. 2, an obstacle O is detected from the turning side 10a of the main body 10 of the vehicle 1, and the reference point Pr of the obstacle O relative to the main body 10 is obtained. A relative position; wherein, the relative position is defined as obstacle position information. Specifically, the obstacle position information is detected by the obstacle detection module 2; preferably, the obstacle detection module 2 can be the at least one radar sensor 21 (such as the third As shown in the figure) or the at least two ultrasonic sensors 22 (as shown in Figure 4).

Process P2: Obtaining the first turning information and receiving the vehicle body information, the first turning information is a turning angle information of the main vehicle body 10; the vehicle body information is a plurality of presets of the main vehicle body 10 The dimensions between the positions are used to calculate the instantaneous turning center Oc, the first turning radius R1 and the second turning radius R2 of the main vehicle body 10 with the first turning information. Specifically, the first turn information is obtained by the turn information module 3; preferably, the turn information module 3 can be a steering wheel angle sensor for detecting a steering angle of a steering wheel , or a wheel speed sensor for detecting two rear wheels in the group of rear wheels 12 or each rear wheel's respective rotating speed. The vehicle body information is pre-established or input and stored in the pre-established database 4 .

Process P3: Execute the following steps through an operation control unit 6:

Step S1: Calculate the second turning information of the main vehicle body according to the vehicle body information and the first turning information, the second turning information includes the instantaneous turning center Oc, the first turning radius R1 and the second turning Radius R2; wherein, the first turning radius R1 is smaller than the second turning radius R2. Specifically, according to the aspect of the turning information module 3, the first turning radius R1 can be calculated according to the above formula (1-1A) or (1-1B); the first turning radius R1 can be calculated according to the above formula (1-2). Two turning radius R2; a position of the first turning radius R1 can be extended outward from the turning side 10a along a direction of the first rear axle A12 to define the instantaneous turning center Oc. Wherein, when the vehicle 1 has a main vehicle body 10 and an accompanying vehicle body 10', the pivot point turning radius R _CP can be calculated according to the above formula (1-3), and can be calculated according to the above formula (1-4) This third turning radius R3 is calculated.

Step S2: Calculate an obstacle position radius R _OBJ between the obstacle O and the instantaneous turning center Oc according to the vehicle body information, the obstacle position information and the second turning information. Specifically, when the obstacle detection module 2 is a radar sensor 21, the obstacle position radius R _OBJ can be calculated by the above formulas (2-1A)~(2-5A); when the obstacle detection When the module 2 is the ultrasonic sensor 22, the obstacle position radius R _OBJ can be calculated by the above formulas (2-1B)~(2-5B).

In detail, the step S2 includes the following sub-steps S21-S23.

In the sub-step S21, the first obstacle horizontal distance h and the first obstacle vertical distance e of the obstacle O relative to the obstacle detection module 2 are calculated through the obstacle position information, for example, the corresponding formula (2-1A), (2-1B), (2-3A), (2-3B).

In the sub-step S22, coordinate conversion is performed, using the compensation information in the obstacle position information, for example, the second compensation value Cv2 and the first compensation value Cv1, the first obstacle lateral distance h and the The vertical distance e of the first obstacle is converted into the horizontal distance g of the second obstacle and the longitudinal distance f of the second obstacle to the instantaneous turning center Oc of the obstacle O respectively, such as corresponding formulas (2-2A), (2- 2B), (2-4A), (2-4B).

In the sub-step S23, the obstacle position radius R _OBJ between the obstacle O and the instantaneous turning center Oc can be calculated according to the second obstacle lateral distance g and the second obstacle longitudinal distance f, for example corresponding to Formulas (2-5A), (2-5B).

Step S3: Determine whether the obstacle position radius R _OBJ is between the warning turning radius RW and the second turning radius R2, and the obstacle position radius R _OBJ is not smaller than the warning turning radius RW and not larger than the second turning radius R2 In the case of the turning radius R2, a warning signal is issued; wherein, the warning turning radius is related to the first turning radius (such as the above formula (3-2) or (3-2')). Specifically, the judgment conditions used are defined as the combination of the above formulas (3-1) and (3-2) or the combination of the above formulas (3-1) and (3-2'); wherein, when the vehicle 1 When there is only a single vehicle body (such as the main vehicle body 10), it is preferable to use the above formula (3-2) to define the warning turning radius RW; when the vehicle 1 has a main vehicle body 10 and an accompanying vehicle body 10' , it is better to use the above formula (3-2') to define the warning turning radius RW, but in this state it does not exclude the use of the above formula (3-2) to define the warning turning radius RW. Preferably, as shown in FIG. 7, a first adjustment value ad1 can be subtracted from the warning turning radius RW and/or a second adjustment value ad2 can be added to the second turning radius R2.

To sum up, the vehicle turning warning system and method of the present invention can detect obstacles on the turning side in real time and dynamically when the vehicle is turning, and combine the vehicle body information with the first turning information through the calculation control module Convert and calculate the first turning radius and the second turning radius, and define the instantaneous turning center, and then calculate and convert the detected and sensed obstacle position information into an imaginary obstacle position radius based on the instantaneous turning center, and use the obstacle The radius of the object position and the value of the defined warning turning radius and the second turning radius can be directly and simply compared to these values to determine whether the obstacle is in the defined warning area, which greatly simplifies the computing time of the computer and improves the The computer/processor achieves more real-time calculation and judgment at the speed of data calculation and processing. In this way, the vehicle turning warning system and method of the present invention not only have the effect of improving the safety of the driving vehicle, but also have the effect of increasing the computer's data processing speed.

Although the present invention has been disclosed by using the above-mentioned preferred embodiments, it is not intended to limit the present invention. It is still within the scope of this invention for anyone skilled in the art to make various changes and modifications relative to the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall include all changes within the meaning and equivalent scope described in the appended scope of application. In addition, when the above-mentioned several embodiments or aspects can be combined, the present invention includes any combination of implementation aspects.

1: vehicle

10: Main body

10a: Turning side

10b: the other side

10f: front side

10r: Rear side

11: Front wheel

11a: Front wheel on the turning side

11b: Front wheel on the other side

12: rear wheel

12a: Rear wheel on the turning side

12b: The other rear wheel

2: Obstacle detection module

3: Turn information module

A10: First longitudinal axis

A11: Front axle

A12: Rear axle

Dt: distance between rear wheels

L: first longitudinal wheelbase

Lc: first length

O: Obstacle

Oc: Instantaneous turning center

Wt: rear wheel width

R1: first turning radius

R2: second turning radius

R _OBJ : obstacle position radius

RW: warning turning radius

λ: steering angle

Claims (10)

A vehicle turning warning method is executed in a turning state of a vehicle, comprising: detecting an obstacle from a turning side of a main body of the vehicle, so as to obtain a position of the obstacle relative to the main body A relative position of a reference point; wherein, the relative position is defined as an obstacle position information; obtaining a first turning information and receiving a vehicle body information, the first turning information is a turning angle information of the main vehicle body , the vehicle body information is the size between a plurality of preset positions of the main vehicle body; according to the vehicle body information and the first turning information, a calculation control unit is used to calculate a second turning information of the main vehicle body, The second turning information includes an instantaneous turning center, a first turning radius and a second turning radius; according to the vehicle body information, the obstacle position information and the second turning information, the calculation control unit calculates the obstacle An obstacle position radius at the distance from the instantaneous turning center; and judging whether the obstacle position radius is between a warning turning radius and the second turning radius through the calculation control unit, and the obstacle position radius is not less than the When the warning turning radius is not greater than the second turning radius, a warning signal is issued; wherein, the warning turning radius is related to the first turning radius, and the first turning radius is smaller than the second turning radius; and, the The first turning information includes a relationship between a steering angle of a steering wheel and a corner reduction ratio, and/or the first turning information includes a rotational speed of a rear wheel closer to a turning side and another rear wheel farther away from the turning side another rotational speed. The vehicle turning warning method according to claim 1, wherein, through the obstacle position information, the first obstacle lateral distance and the first obstacle longitudinal distance of the obstacle relative to the obstacle detection module are calculated; using the Coordinate conversion is carried out on a compensation information in the obstacle position information, so as to convert the horizontal distance of the first obstacle and the vertical distance of the first obstacle into The second obstacle lateral distance and the second obstacle longitudinal distance of the instantaneous turning center; according to the second obstacle lateral distance and the second obstacle longitudinal distance, calculate the obstacle and the instantaneous turning center of the obstacle location radius. Such as the vehicle turning warning method of claim 1 or 2, wherein the vehicle body information includes a rear wheel spacing, a rear wheel width, a first longitudinal wheelbase and a first length; wherein, the first turning information includes In the case of the relationship between the steering angle of the steering wheel and the corner reduction ratio, the first turning radius is calculated by the following formula:

Wherein, R1 represents the first turning radius, which is used to define a distance between a turning rear wheel of the main body and the instantaneous turning center; L represents the first longitudinal wheelbase, which is used to define a distance of the main body. A vertical distance between the front wheel shaft and a first rear wheel shaft; φ represents the steering angle of the steering wheel; N represents the corner reduction ratio; Dt represents the rear wheel spacing; Wt represents the rear wheel width; wherein, in the first The turning information includes the rotational speed of the rear wheel closer to the turning side and the other rotational speed of the other rear wheel farther from the turning side, and the first turning radius is calculated by another formula as follows:

Wherein, Vi represents the rotational speed of the rear wheel closer to the turning side; Vo represents the other rotational speed of the other rear wheel farther away from the turning side; wherein, the second turning radius is calculated by the following formula:

Wherein, Lc represents the first length, which is used to define a vertical distance from a front end of the main vehicle body to the first rear wheel axle; wherein, the instantaneous turning center is defined as a direction along the first rear wheel axle from the The turning side extends outwardly for a position of the first turning radius. The vehicle turning warning method according to claim 3, wherein the vehicle further has an accompanying vehicle body, the accompanying vehicle body is pivotally connected to the main vehicle system through a pivot, and the vehicle body information further includes a second longitudinal axis Distance, a first width, a second width, a third longitudinal wheelbase, the second turning information also has a pivot point turning radius and a third turning radius, the pivot point turning radius is passed through the following formula calculate:

Wherein, R _CP represents the turning radius of the pivot point, which is used to define a distance between the pivot axis and the instantaneous turning circle center; W1 represents the first width, which is used to define a maximum profile width of the main vehicle body; m represents the a vertical length from the pivot to the first rear axle; the third turning radius is calculated by the following formula:

Wherein, R3 represents the third turning radius, which is used to define a shortest distance between the accompanying vehicle body and the instantaneous turning center Oc; L _T represents a vertical length from the pivot point to a second rear axle; W2 represents the The second width is used to define a maximum outline width of the attached vehicle body. The vehicle turning warning method according to claim 2, wherein, in the case where the obstacle detection module is a radar sensor, the radar sensor defines a first vector direction and a second vector direction perpendicular to the first vector direction A vector direction, the calculation formula of the obstacle position radius can be calculated by the following formula: h = dr‧sin ( γ + β ); g = R 1-( h - Cv 2); e =- dr‧cos ( γ + β ); f = ( Lc - Cv 1) - e ;

Wherein, h represents the lateral distance of the first obstacle; dr represents a distance between the obstacle and the radar sensor; γ represents an installation angle, and the installation angle γ is the distance between the first vector direction and the rotation side An included angle; β indicates an included angle between the obstacle and the first vector direction; g indicates the lateral distance of the second obstacle, Cv2 indicates a second compensation value in the compensation information; e indicates the first obstacle Longitudinal distance; f represents the longitudinal distance of the second obstacle, Cv1 is a first compensation value in the compensation information; R _OBJ represents the obstacle position radius. The vehicle turning warning method according to claim 2, wherein, in the case where the obstacle detection module is two ultrasonic sensors, the calculation formula for the radius of the obstacle position can be calculated by the following formula:

,

; g = R1- ( h - Cv2 );

Wherein, h represents the lateral distance of the first obstacle; G represents an installation distance between the two ultrasonic sensors, d1 represents a distance between the obstacle and one of the two ultrasonic sensors, and d2 represents Another distance between the obstacle and the other of the two ultrasonic sensors, S represents the sum of the distance, the other distance and the installation spacing divided by two; g represents the lateral direction of the second obstacle Cv2 represents a second compensation value in the compensation information; e represents the longitudinal distance of the first obstacle; f represents the longitudinal distance of the second obstacle, and Lc represents the first length, which is used to define the distance of the main vehicle body A vertical distance from a front end to the first rear wheel axle, Cv1 a first compensation value in the compensation information, α represents a line formed by the distance from the obstacle to one of the two ultrasonic sensors R _OBJ represents the radius of the obstacle position. The vehicle turning warning method according to any one of claims 1, 2, 5 and 6, wherein the warning turning radius is equal to the first turning radius. The vehicle turning warning method according to claim 4, wherein the warning turning radius is equal to the third turning radius. The vehicle turning warning method according to any one of claims 1, 2, 5 and 6, wherein the warning turning radius can be subtracted from a first adjustment value and/or the second turning radius can be added to a second adjustment value , the first adjustment value and the second adjustment value are values greater than zero. A vehicle turn warning system, comprising: a vehicle, the vehicle has a main body; an obstacle detection module, installed on the main body, used to detect an obstacle, obtain the relative position of the obstacle relative to the main body A relative position of a reference point of the vehicle body; a turning information module, used to obtain a first turning information when the vehicle is turning; a pre-established database with information on the vehicle body; a warning unit , used to generate a predetermined warning signal in a specific state; and an arithmetic control unit, coupled with the obstacle detection module, the turning information module, the pre-established database and the warning unit, and execute the following steps: The vehicle turning warning method according to any one of claims 1 to 9.

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