WO2023051239A1

WO2023051239A1 - Vehicle visual blind area early warning system and method, and vehicle

Info

Publication number: WO2023051239A1
Application number: PCT/CN2022/118625
Authority: WO
Inventors: 樊小毛; 林中山; 周青
Original assignee: 深圳市塞防科技有限公司
Priority date: 2021-09-29
Filing date: 2022-09-14
Publication date: 2023-04-06
Also published as: CN113879297A

Abstract

A vehicle visual blind area early warning system (100), comprising a controller (1), and a radar assembly (2), an early warning assembly (4) and an early warning decision module (3) respectively connected to the controller (1). The radar assembly (2) is configured to collect motion information of an obstacle (200) within a preset range of a side surface of a vehicle (300). The early warning decision module (3) is configured to obtain travel information of the vehicle (300), acquire a first motion trajectory of the vehicle according to the travel information, acquire a second motion trajectory of the obstacle (200) according to the motion information collected by the radar assembly (2), obtain an early warning condition according to the first motion trajectory and the second motion trajectory, and send the early warning condition to the controller (1). The controller (1) is configured to send an alarm instruction of a corresponding level to the early warning assembly (4) according to the early warning condition, such that the early warning assembly (4) performs early warning of different strength levels. The vehicle visual blind area early warning system (100) improves the degree of intelligence of the early warning system, reduces the rate of accidents occurring in the vehicle blind area, and reduces the driving burden of a driver. Further provided are a vehicle visual blind area early warning method and a vehicle using the method.

Description

Blind spot early warning system, method and vehicle of a vehicle

This application claims the priority of a Chinese patent application filed with the China Patent Office on September 29, 2021, with application number 202111154290.1, and application title "A Blind Spot Warning System, Method, and Vehicle for Vehicles", the entire contents of which are incorporated by reference in this application.

technical field

The invention relates to the technical field of vehicle early warning systems, in particular to a vehicle blind spot early warning system, method and vehicle.

Background technique

The main reason for road safety accidents of heavy trucks is that there is a blind spot in the side vision, and the driver fails to detect pedestrians and vehicles, causing accidents; the secondary reason is that there is a difference between the inner and outer wheels of heavy trucks, and the driver fails to accurately predict the trajectory of the truck. Accidents, or accidents caused by pedestrians and surrounding vehicles accidentally entering the track of the truck due to the lack of consideration of the difference between the inner and outer wheels of the truck. These traffic accidents involving heavy trucks are not uncommon, causing irreparable losses to the safety of people's lives and property.

At present, in the prior art, drivers mainly rely on the traditional mirrors on both sides to observe, and the range of observation of this mirror is limited; some vehicles are adding additional warning devices, which will emit sounds and lights to remind pedestrians when turning Dodging, or warning the driver by detecting obstacles around the vehicle, or realizing panoramic observation through the camera; these methods have certain limitations: reminding pedestrians to avoid the situation that pedestrians do not avoid in time or even do not avoid, the actual effect Poor, it may even cause the resentment of surrounding pedestrians or vehicles; warn the driver, the distance of the obstacle cannot be obtained directly, and the driver can only make frequent observation and deceleration, but cannot respond reasonably according to the risk of collision; panorama Observation requires the driver to stare at the screen and observe all the time. At this time, the driver needs to take care of other situations at the same time, which is easy to be distracted.

Contents of the invention

The main technical problem to be solved by the embodiments of the present invention is to provide corresponding early warning prompts according to the risk level of possible collisions with obstacles in the blind area, reminding the driver of the time when the vehicle will collide with obstacles, so as to decelerate or rush brake.

In order to solve the above-mentioned technical problems, a technical solution adopted in the embodiment of the present invention is to provide an early warning system for vehicle blind spots, including a controller, a radar component, an early warning component, and an early warning decision-making module respectively connected to the controller; The radar component is used to collect movement information of obstacles within a preset range on the side of the vehicle; the early warning decision-making module is used to: obtain the driving information of the vehicle; obtain the first movement track of the vehicle according to the driving information; according to the The motion information collected by the radar component acquires a second motion trajectory of the obstacle; obtains an early warning condition according to the first motion trajectory and the second motion trajectory, and sends the early warning condition to the controller; the The controller is used for sending an alarm command of a corresponding level to the early warning component according to the early warning condition, so that the early warning component performs early warning of different levels.

In some embodiments, the early warning decision-making module is integrated in the radar component; or integrated in the controller.

In some embodiments, the vehicle blind spot early warning system further includes a camera component, and the camera component is used to collect images within a preset range.

In some embodiments, the vehicle blind spot early warning system further includes a display panel, the display panel is arranged in the cab, and the display panel is used to display the images captured by the camera assembly.

In some embodiments, the display board is further used to display the first motion track and the second motion track.

In some embodiments, the early warning decision-making module is connected to the CAN interface of the vehicle, and obtains the driving information of the vehicle through the CAN interface.

In some embodiments, the vehicle blind spot early warning system further includes a rotational speed sensor and an angle sensor, the rotational speed sensor is electrically connected to the controller, and is used to detect the rotational speed of the wheels of the vehicle; the angle sensor is connected to the controller The device is electrically connected and used to detect the rotation angle of the steering wheel of the vehicle.

In some embodiments, the vehicle blind spot early warning system further includes a braking module, the braking module is electrically connected to the controller and configured to send a braking command to the vehicle.

In some embodiments, the vehicle blind spot early warning system further includes a self-inspection module, the self-inspection module is electrically connected to the controller, and is used to detect whether the vehicle blind spot early warning system is in a fault state or a limited state .

In some embodiments, the warning component is provided with a system status indicator, and the system status indicator is used to indicate whether the vehicle blind spot warning system is in a failure state or a restricted state.

In order to solve the above-mentioned technical problems, another technical solution adopted by the embodiments of the present invention is to provide a vehicle, which is provided with the above-mentioned vehicle blind spot warning system.

In order to solve the above-mentioned technical problems, another technical solution adopted in the embodiment of the present invention is to provide a vehicle blind spot early warning method, the method is applied to the vehicle blind spot early warning system as described above, and the method includes: acquiring vehicle driving Acquiring the first movement trajectory of the vehicle according to the driving information; acquiring the movement information of the obstacle within the preset range on the side of the vehicle; obtaining the second movement trajectory of the obstacle according to the movement information; according to the first The first motion trace and the second motion trace acquire early warning conditions; and the early warning components are controlled to perform early warnings of corresponding levels according to the early warning conditions.

In some embodiments, the obtaining the warning condition according to the first motion trajectory and the second motion trajectory includes: both the first motion trajectory and the second motion trajectory are functions including time variables; Set interference frame lines around the track points of the first trajectory and the second trajectory; import the first trajectory and the second trajectory into the horizontal coordinate system, and use the enumeration method to calculate the The time when the interference frame line of the first movement trajectory and the second movement trajectory interfere and the coordinates of the trajectory points, the value interval of the enumeration method is less than or equal to 0.1s.

Different from the state of the related art, the vehicle vision blind zone warning system, method and vehicle of the embodiment of the present invention can collect the movement information of the obstacle in the blind zone on the side of the vehicle, and predict its trajectory, and then combine the vehicle Its own driving information predicts possible collisions, converts the predicted information into early warning conditions, and triggers corresponding levels of early warnings based on early warning conditions. This multi-level early warning method can prompt the driver to respond to possible collisions, avoid frequent invalid warnings from affecting the driver's attention, and avoid causing the driver to relax and mentally exhausted; Strong collision warning, reminding the driver to pay attention to deceleration and avoidance in time, fully improving the intelligence of the warning system, reducing the accident rate of accidents caused by vehicle blind spots, reducing the driving burden of the driver, and improving the safety of the car.

Description of drawings

One or more embodiments are exemplified by the corresponding drawings, and these exemplifications are not construed as limiting the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified Note that the drawings in the drawings are not limited to scale.

Fig. 1 is a structural schematic diagram of a vehicle vision blind spot early warning system according to an embodiment of the present invention;

Fig. 2 is a structural schematic diagram of a vehicle vision blind spot early warning system according to another embodiment of the present invention;

Fig. 3 is a schematic diagram of the instruction level of the embodiment of the present invention:

Fig. 4 is a schematic diagram of the status of the early warning component system normal, system failure and system limitation in the embodiment of the present invention;

5 is a structural block diagram of a method for early warning of blind spots in the vehicle field of view according to an embodiment of the present invention;

Fig. 6 is a schematic diagram of trajectory prediction of the vehicle blind spot early warning system according to the embodiment of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

It should be noted that, if there is no conflict, various features in the embodiments of the present invention can be combined with each other, and all of them are within the protection scope of the present invention. In addition, although the functional modules are divided into the schematic diagram of the device, and the logical order is shown in the flowchart, in some cases, the division of modules in the schematic diagram of the device, or the sequence in the flowchart may be executed. steps shown or described.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terminology used in the description of the present invention is only for the purpose of describing specific embodiments, and is not used to limit the present invention. The term "and/or" used in this specification includes any and all combinations of one or more of the associated listed items.

Referring to Fig. 1 and Fig. 2, a kind of early warning system 100 of blind spot of vehicle field of vision is provided, and early warning system 100 of blind spot of vehicle field of vision of the present invention comprises: controller 1 and the radar assembly 2 that is respectively connected with described controller 1, early warning decision-making module 3. Early warning component 4 , camera component 5 , display panel 6 , brake module 7 , self-check module 8 , rotational speed sensor 9 and angle sensor 10 .

The radar component 2 is used to collect movement information of the obstacle 200 within a preset range on the side of the vehicle 300; the early warning decision-making module 3 is used to process the movement information of the obstacle 200 collected by the radar component 2, Generate the first motion trajectory and the first motion trajectory, and determine the warning condition for collision with the obstacle 200; the controller 1 is used to send an alarm command of a corresponding level to the Early warning assembly 4; said early warning assembly 4 is used to carry out early warnings of different levels of intensity according to said early warning conditions, to prompt the driver to slow down and avoid, thereby realizing the early warning of the blind spot of the vehicle 300 field of view; the camera assembly 5 is used for shooting Images within a preset range; the display panel 6 is used to display the captured image, the first motion track and the second motion track, so that the driver can visually view the moving track of the vehicle 300 and the obstacle 200, thereby making it easier to avoid possible collisions; the braking module 7 is used to send emergency braking information to the vehicle 300, so as to take emergency braking measures when there is a high-risk collision, and avoid accidents due to the untimely response of the driver; The self-inspection module 8 is used to detect the working state of the vehicle blind spot early warning system 100, and sends the detection result to the early warning component 4 for indication; the rotational speed sensor 9 and the angle sensor 10 are used to collect the rotational speed of the wheels and the rotation angle of the steering wheel, and send the speed and angle information to the early warning decision-making module 3.

The vehicle vision blind spot early warning system 100, method and vehicle 300 of the embodiment of the present invention can collect the movement information of the obstacle 200 in the blind spot on the side of the vehicle 300, and predict its trajectory, combined with the vehicle 300's own Driving information predicts possible collisions, converts the predicted information into early warning conditions, and triggers corresponding levels of early warnings based on early warning conditions. This multi-level early warning method can prompt the driver to respond to possible collisions, avoid frequent invalid warnings from affecting the driver's attention, and avoid causing the driver to relax and mentally exhausted; Strong collision warning, timely reminding the driver to pay attention to deceleration and avoidance. Fully enhance the intelligence of the early warning system, reduce the accident rate of accidents caused by 300 blind spots of vehicles, reduce the driver's driving burden, improve the safety of driving, and have strong practicability.

For the above-mentioned controller 1, the controller 1 is arranged in the cockpit of the vehicle 300 and is integrated with the display panel 6. The controller 1 is used to send an alarm command of a corresponding level to the The early warning component 4 is provided so that the early warning component 4 can perform early warnings of different intensity levels.

In one embodiment, please refer to FIG. 3 , the levels of the alarm commands of the controller 1 are divided into four levels according to the collision time, and those with a collision time greater than T1 are four-level commands, which trigger a visual warning, and the yellow light is always on. , the target is detected by radar, but cannot be observed by camera; the collision time between T1 and T2 is a third-level instruction, and a visual warning is triggered at this time, the yellow light flashes, and the driver can observe through the screen displayed on the display board 6 to the obstacle 200, and can adjust the driving direction of the vehicle 300 to avoid it; the collision time between T2 and T3 is a secondary instruction, which triggers visual and sound warnings, the yellow light flashes and the warning component 4 emits an alarm sound, The driver needs to adjust the driving direction and slow down in time; if the collision time is less than T3, it is a first-level instruction, which triggers visual and sound warnings and emergency braking, and the vehicle 300 is forced to brake. where T1>T2>T3.

In one embodiment, the controller 1 is directly connected to the radar assembly 2, the early warning assembly 4, the camera assembly 5, the display panel 6, the rotational speed sensor 9 and the angle sensor 10, The braking module 7 and the self-checking module 8 are built in the controller 1 .

The above radar assembly 2 includes at least two side radars, the side radars have a very wide field of view, and can simultaneously detect targets in front of and behind the vehicle 300 . The at least two side radars are installed on the left and right sides of the vehicle 300, and the side radars can detect the movement information of the obstacle 200 within the preset range on the side of the vehicle 300, and send the data to the early warning Decision Module 3. The obstacles 200 include vehicles 300 and pedestrians, and the radar assembly 2 can detect dynamic weak targets and static weak targets.

In a specific embodiment, the side-facing radar adopts a high-performance radar with 180°FOV, and two of the side-facing radars are installed on the outer side of the vehicle 300 at a height of 70-80 cm from the ground. The specific signal is: ASR100, V1.0, the working frequency band is 77GHz, when installed on the side of the vehicle 300, the farthest detection distance in front of the vehicle 300 and behind the vehicle 300 is 80m, and it has excellent resolution and measurement accuracy, and can stabilize The position of the target is detected.

In one embodiment, a plurality of small-range radars may be used instead of the above-mentioned lateral radar, which can reduce imaging distortion.

In a specific embodiment, the radar component 2 is a millimeter wave radar or an ultrasonic radar.

In one embodiment, the radar assembly 2 further includes a reversing radar and/or a forward radar, the reversing radar is arranged behind the vehicle 300, and the forward radar is arranged in front of the vehicle 300, which can enrich the vehicle's blind spot The function of the early warning system 100 enables it not only to detect the blind spots on the side of the vehicle 300, but also to detect the blind spots behind the car and in front of the vehicle 300, which is convenient for the vehicle 300 to reverse and drive on narrow roads.

The embodiment of the present invention is provided with the radar assembly 2, which can detect the obstacles 200 in the blind area at the front and rear sides of the vehicle 300, so as to realize the early warning function of the blind area, and the radar detection is not affected by light and weather, and the detection effect is good.

For the above-mentioned early warning decision-making module 3, please refer to Fig. 1 and shown in Fig. 2, the described early warning decision-making module 3 is integrated in the described controller 1 or integrated in the described radar assembly 2, and integrated in the described controller 1, exchange data with the radar component 2, the CAN interface, the rotational speed sensor 9 and the angle sensor 10 through the controller 1; when integrated in the radar component 2, through the The radar component 2 directly exchanges data with the rotational speed sensor 9 and the angle sensor 10 , and exchanges data with the CAN interface through the controller 1 . The decision-making information obtained by the police decision-making module must be sent to the controller 1 for final execution.

The early warning decision-making module 3 obtains the traveling information of the vehicle 300 through the CAN interface; or obtains the traveling information of the vehicle 300 through the speed sensor and the angle sensor 10, and the traveling information includes the traveling speed and the turning of the vehicle 300 Angle, where the turning angle can be converted by detecting the angle of the steering wheel.

In one embodiment, the early warning decision-making module 3 obtains the driving information of the vehicle 300, and only when the turning angle of the vehicle 300 is greater than A ₁ °, the calculation and prediction of the trajectory will be performed to save unnecessary computing power and ensure The early warning system 100 for vehicle vision blind spots can work stably for a long time, and can also reduce power consumption. The radar component 2 can detect dynamic weak targets and static weak targets, and when the turning angle of the vehicle 300 is less than A ₁ °, the early warning decision-making module 3 controls the radar component 2 to only detect dynamic weak targets.

The early warning decision-making module 3 obtains the first motion trajectory of the vehicle 300 according to the driving information, and calculates the first motion trajectory of the vehicle 300 on the ground according to the driving speed of the vehicle 300 and the turning angle of the vehicle 300. The first motion track is a point set of functions X ₁ (t) and Y ₁ (t) including time t in two-dimensional coordinates.

The early warning decision-making module 3 obtains the second movement track of the obstacle 200 according to the movement information collected by the radar component 2, and according to the movement information of the obstacle 200 within the preset range collected by the radar component 2, including obstacle The moving direction and speed of the object 200 are calculated to calculate the second moving track of the obstacle 200 moving on the ground, and the second moving track is also the function X ₂ (t) and Y ₂ (t) including the time t in the two-dimensional coordinates point set in .

It should be noted that the first movement trajectory and the second movement trajectory here are updated in real time, and will be adjusted according to changes in the movement direction and speed of the vehicle 300 and the obstacle 200; and the early warning decision-making module 3 The working condition of the vehicle is preferably set to the speed of the vehicle 300 less than 30km/h. If the speed is too fast, the error of the calculation result will be too large, which will affect the normal driving.

The early warning decision-making module 3 obtains the early warning condition according to the first motion trajectory and the second motion trajectory, specifically: bringing the functions of the first motion trajectory and the second motion trajectory into the plane coordinates, And make X ₁ (t)=X ₂ (t), Y ₁ (t)=Y ₂ (t), calculate t ₁ , then subtract the current time t ₀ , you can get the predicted collision time T=t ₁ -t ₀ , which is an early warning condition, and sends the early warning condition to the controller 1 .

It is conceivable that, in the actual working process, there may be multiple obstacles 200, and the warning condition at this time is the one with the highest warning level or the shortest collision time.

The embodiment of the present invention is provided with the early warning decision-making module 3, which can analyze the data detected by the radar component 2, and output early warning conditions, thereby realizing hierarchical early warning; by setting the early warning decision-making module 3 to the radar component 2 It can reduce the number of data transmissions and improve the efficiency of data analysis; the early warning decision-making module 3 can also be set in the controller 1, which can reduce the number of the early warning decision-making modules 3 and save costs.

For the above-mentioned rotation speed sensor 9 and the above-mentioned angle sensor 10, the rotation speed sensor 9 is electrically connected to the controller 1 for detecting the rotation speed of the wheels of the vehicle 300 and sending the speed information to the early warning decision-making module 3, the rotation speed Sensor 9 adopts the Hall-type wheel speed sensor, preferably set to four, and is respectively installed at two front steering wheel hubs and other two wheel hubs of vehicle 300; connected, used to detect the rotation angle of the steering wheel of the vehicle 300 and send the angle information to the early warning decision-making module 3, the angle sensor 10 is installed on the steering wheel column of the vehicle 300, thereby detecting the rotation angle of the steering wheel, and then through conversion The turning angle of the vehicle 300 can be derived.

For the above-mentioned early warning component 4, please refer to FIG. 4, the yellow warning light is provided on the early warning component 4, which can be constantly on or flashing, and a speaker or a buzzer is also provided, which can emit an alarm sound. The warning component 4 is also provided with a system status indicator light, which is used to indicate whether the vehicle blind spot warning system 100 is in a failure state or a restricted state. At least two of the early warning components 4 are installed on the left and right sides of the cab, and are arranged on the A-pillar of the vehicle 300. The size of the early warning components 4 does not exceed 80×200×50mm, so as to avoid occupying too much space in the cab and to avoid obstructing the driver's view.

The alarms of the early warning component 4 are divided into three levels: target detection, visual early warning, visual and sound early warning, which correspond to the fourth-level instructions, third-level instructions and second-level instructions of the controller 1 respectively.

Target detection: the yellow light is always on;

Visual warning: flashing yellow light;

Visual and sound warning: the yellow light flashes and the warning component 4 sounds an alarm.

The warning component 4 is also provided with a system status indicator light, which is used to indicate whether the vehicle vision blind zone warning system 100 is in a fault state and a restricted state, and the restricted state refers to a temporary failure of the system. . The system status indicators include:

Power-on and system normal work lights, indicating that the system is working normally, and the system is in the power-on working state, which can be indicated by a green power-on light;

System fault status light, indicating that there is a fault in the system that makes the system unusable, which can be indicated by a red light with an icon;

Temporary system failure status light means that the system is temporarily unavailable due to radar or camera blocking, etc. When the status is released, the system will automatically return to normal, which can be indicated by a white light with an icon.

The appearance design of the warning component 4 is not limited to that shown in Fig. 4, and various appearance designs can be adopted. The color and shape of the warning light and the system status indicator light can be changed according to requirements, and some other state function indications can also be added. lamp. The warning component 4 can also be integrated in the A-pillar of the vehicle 300 or at the door of the bus.

In the embodiment of the present invention, by providing the warning component 4, different levels of sound and light warnings can be issued to remind the driver to pay attention to the collision risk of the obstacle 200 in the blind area of the vehicle 300, so that the driver can respond according to the level of the collision risk , improve driving safety, without the need for drivers to always pay attention to the risk of blind spots, and reduce driving intensity.

For the above-mentioned camera assembly 5, at least two camera assemblies 5 are arranged on the left and right sides outside the vehicle 300, and the camera assembly 5 is used to collect images within a preset range on both sides of the vehicle 300, so as to cooperate with the radar assembly 2, depth Integrating detection functions, reducing the impact of weather and night, and providing drivers with reliable and straight-line early warning.

In one embodiment, the detection range of the radar component 2 is greater than the preset range collected by the camera component 5 , so as to provide a wide range of target detection before the obstacle 200 enters the image captured by the camera component 5 .

In one embodiment, the camera assembly 5 adopts an infrared high-definition waterproof camera, which can ensure better shooting effects in severe weather such as heavy rain and at night.

For the above-mentioned display panel 6, the display panel 6 is arranged in the cab, and the display panel 6 is used to display the picture taken by the camera assembly 5, and the display panel 6 can also display the first movement track of the vehicle 300 The second motion track of the obstacle 200 and the obstacle 200 facilitates the driver to intuitively see the movement of the vehicle 300 and the obstacle 200 , and facilitates adjustment of the driving direction of the vehicle 300 .

In one embodiment, a plurality of obstacles 200 may be displayed on the display panel 6, trajectory lines of different colors may be set according to the risk of collision between the obstacles 200 and the vehicle 300, the higher risk is set to red, and the risk is lower. High settings are yellow, low risk settings are blue, and low risk settings are green.

In one embodiment, the display panel 6 is integrated with the controller 1 and installed in the middle of the front of the driver's cab, and the display panel 6 adopts a liquid crystal display.

In the embodiment of the present invention, by being provided with a camera assembly 5 and a display panel 6, images within a preset range can be photographed and displayed on the display panel 6, together with a predicted motion track, which is convenient for the driver to view intuitively, thereby Make appropriate coping strategies.

For the braking module 7 described above, the braking module 7 is electrically connected to the controller 1 for receiving instructions from the controller 1 and sending a braking instruction to the vehicle 300 to make the vehicle 300 emergency brake, Avoid collisions.

In the embodiment of the present invention, by providing the brake module 7 , the vehicle 300 can be braked in an emergency to avoid accidents caused by the driver's untimely response.

For the self-inspection module 8, the self-inspection module 8 is electrically connected to the controller 1, and is used to detect whether the vehicle vision blind spot early warning system 100 is in a fault state and a limited state, and the detection result is sent to the The early warning component 4 is used to indicate, and common faults and restricted states are shown in Table 1 below.

Table 1: List of system faults and failure states

The self-inspection module 8 can detect in real time whether the vehicle blind spot early warning system 100 is in a fault state or a limited state, and sends the detection result to the early warning component 4, thereby prompting the driver that the vehicle blind spot early warning system 100 Whether it can work normally, so as to avoid accidents caused by the failure of the vehicle blind spot warning system 100 to work normally.

The embodiment of the present invention also provides a vehicle 300, the vehicle 300 is provided with the vehicle blind spot early warning system 100 as described above, which can predict possible collisions during driving and convert the predicted information into early warning conditions , according to the warning conditions trigger the corresponding level of warning. This multi-level early warning method can prompt the driver to respond to possible collisions, avoid frequent invalid warnings from affecting the driver's attention, and avoid causing the driver to relax and mentally exhausted; Strong collision warning, prompting the driver to pay attention to deceleration and avoidance in time, fully improving the intelligence of the warning system, reducing the accident rate of accidents caused by 300 blind spots of the vehicle, reducing the driving burden of the driver, and improving the safety of the car.

Please refer to FIG. 5 , an embodiment of the present invention also provides a vehicle blind spot early warning method, the method is applied to the vehicle blind spot early warning system 100 as described above, and the method includes:

S1. Obtain the driving information of the vehicle 300: obtain the wheel speed and steering wheel rotation angle of the vehicle 300 through the CAN interface of the car or the speed sensor 9 and the angle sensor 10, and convert it into the speed and turning of the vehicle 300 angle;

S2. Obtain the first motion trajectory of the vehicle 300 according to the driving information: establish a plane coordinate system, take its own current position as the coordinate origin, bring the driving speed and turning angle into the coordinate system, and obtain the first motion of the vehicle 300 trajectory( _X1 (t), _Y1 (t));

S3. Acquiring the movement information of the obstacle 200 within the preset range on the side of the vehicle 300: acquiring the position, movement direction and speed of the obstacle 200 through the radar unit 2;

S4. Acquiring the second motion track of the obstacle 200 according to the motion information: Substituting the position, motion direction and speed of the above-mentioned obstacle 200 into the above-mentioned plane coordinate system to obtain the second motion track of the obstacle 200 (X ₂ (t) , Y ₂ (t));

S5. Obtain the early warning condition according to the first motion track and the second motion track: let the above X ₁ (t)=X ₂ (t), Y ₁ (t)=Y ₂ (t), then it can be calculated Calculate the collision time t ₁ and subtract the current time t ₀ to obtain the predicted collision time interval t ₂ =t ₁ -t ₀ ;

S6. Control the early warning component 4 to perform early warning of the corresponding level according to the early warning condition: send the obtained collision time T to the controller 1, and the controller 1 sends an early warning instruction to the early warning component according to the collision time T 4. The early warning component 4 sends out sound and/or light alarms according to the early warning instructions.

Please refer to Fig. 6, the first motion trajectory and the second motion trajectory are functions f ₁ (X ₁ (t), Y ₁ (t)) containing time variables, f ₂ (X ₂ (t ), Y ₂ (t)); in practical applications, both the vehicle 300 and the obstacle 200 are larger objects, so in the calculation process, if the track points are added with the shape of the adapted vehicle 300 and the obstacle 200 The frame line with the size can greatly improve the accuracy of prediction; the interference frame line is set around the track points of the first motion track and the second motion track, and the interference frame line is the vehicle 300 and the obstacle 200 The outline of the outline, setting the interference frame line can more accurately calculate the warning condition, the interference frame line generally adopts a rectangular frame line; import the first motion track and the second motion track into the horizontal coordinate system , and use the enumeration method to calculate the time when the interference frame lines of the first motion track and the second motion track interfere and the coordinates of the track points, such as when the time t= _t3 , the interference frame line does not occur interference, but interference occurs when t ₄ =t ₃ +T, then the collision time is t ₄ , the collision time interval is t ₅ =t ₄ -t ₀ , and the coordinates of the track point are A(X ₁ (t ₄ ), Y ₁ (t ₄ )), B(X ₂ (t ₄ ), Y ₂ (t ₄ )). Using the enumeration method can roughly but quickly calculate the predicted warning conditions. If the value interval of the enumeration method is too small, it will affect the efficiency of the calculation, and if it is too large, it will affect the accuracy of the prediction results. Considering the driver's reaction time, Therefore, the value interval T is 0.01~0.1s.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, The steps may be performed in any order, and there are many other variations of the different aspects of the invention as described above, which have not been presented in detail for the sake of brevity; although the invention has been described in detail with reference to the preceding examples, those of ordinary skill in the art The skilled person should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the implementation of the present application. The scope of technical solutions.

Claims

An early warning system for vehicle blind spots, characterized in that it includes a controller and a radar component, an early warning component, and an early warning decision-making module respectively connected to the controller;

The radar component is used to collect movement information of obstacles within a preset range on the side of the vehicle;

The early warning decision-making module is used for:

Obtain the driving information of the vehicle;

Acquiring a first motion trajectory of the vehicle according to the driving information;

Acquiring a second movement track of the obstacle according to the movement information collected by the radar component;

Obtaining an early warning condition according to the first motion trajectory and the second motion trajectory, and sending the early warning condition to the controller;

The controller is configured to send an alarm command of a corresponding level to the early warning component according to the early warning condition, so that the early warning component performs early warning of different levels.
The early warning system for vehicle blind spots according to claim 1, wherein the early warning decision-making module is integrated in the radar component; or integrated in the controller.
The early warning system for blind spots of vehicle vision according to claim 1, characterized in that, the early warning system for blind spots of vehicle vision further comprises a camera assembly, and the camera assembly is used to collect images within a preset range.
The vehicle blind spot warning system according to claim 3, characterized in that, the vehicle blind spot warning system further comprises a display board, the display board is arranged in the cab, and the display board is used to display the images taken by the camera assembly. screen.
The early warning system for vehicle blind spots according to claim 4, wherein the display panel is also used to display the first motion track and the second motion track.
The early warning system for vehicle blind spots according to any one of claims 1 to 5, wherein the early warning decision-making module is connected to a CAN interface of the vehicle, and obtains the driving information of the vehicle through the CAN interface.
According to the vehicle blind spot early warning system according to any one of claims 1 to 5, it is characterized in that, the vehicle blind spot early warning system also includes a rotational speed sensor and an angle sensor, and the rotational speed sensor is electrically connected to the controller and used The angle sensor is used to detect the rotational speed of the wheels of the vehicle; the angle sensor is electrically connected to the controller and used to detect the rotation angle of the steering wheel of the vehicle.
The early warning system for blind areas of vehicle vision according to claim 7, wherein the early warning system for blind areas of vehicle vision further comprises a braking module, the braking module is electrically connected to the controller, and is used to send a braking signal to the vehicle. instruction.
The early warning system for blind spots of vehicle vision according to claim 7, characterized in that, the early warning system for blind spots of vehicle vision further comprises a self-inspection module, the self-inspection module is electrically connected with the controller, and is used to detect the vehicle vision Whether the blind spot warning system is in fault state and restricted state.
According to claim 9, the early warning system for blind spots of vehicles, characterized in that, said early warning component is provided with a system status indicator, said system status indicator is used to indicate whether the early warning system for blind spots of vehicles is in a fault state and Restricted state.
A vehicle, characterized in that it is provided with the early warning system for blind spots of the vehicle according to any one of claims 1-10.
A vehicle blind spot early warning method, characterized in that the method is applied to the vehicle blind spot early warning system according to any one of claims 1 to 10, the method comprising:

Obtain the driving information of the vehicle;

Acquiring a first motion trajectory of the vehicle according to the driving information;

Acquire movement information of obstacles within a preset range on the side of the vehicle;

Obtaining a second movement track of the obstacle according to the movement information;

Obtaining an early warning condition according to the first motion trajectory and the second motion trajectory;

The early warning component is controlled to perform a corresponding level of early warning according to the early warning condition.
The early warning method for blind spots in vehicle vision according to claim 12, wherein said obtaining early warning conditions according to said first motion trajectory and said second motion trajectory comprises:

Both the first motion trajectory and the second motion trajectory are functions including a time variable;

setting interference frame lines around the trajectory points of the first motion trajectory and the second motion trajectory;

Import the first motion trajectory and the second motion trajectory into the horizontal coordinate system, and use the enumeration method to calculate the time when the interference frame line of the first motion trajectory and the second motion trajectory interfere and the time The coordinates of the track points, the value interval of the enumeration method is less than or equal to 0.1s.