WO2023051239A1 - Système et procédé d'avertissement précoce de zone aveugle visuelle de véhicule, et véhicule - Google Patents

Système et procédé d'avertissement précoce de zone aveugle visuelle de véhicule, et véhicule Download PDF

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Publication number
WO2023051239A1
WO2023051239A1 PCT/CN2022/118625 CN2022118625W WO2023051239A1 WO 2023051239 A1 WO2023051239 A1 WO 2023051239A1 CN 2022118625 W CN2022118625 W CN 2022118625W WO 2023051239 A1 WO2023051239 A1 WO 2023051239A1
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Prior art keywords
early warning
vehicle
warning system
motion trajectory
controller
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PCT/CN2022/118625
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English (en)
Chinese (zh)
Inventor
樊小毛
林中山
周青
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深圳市塞防科技有限公司
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Publication of WO2023051239A1 publication Critical patent/WO2023051239A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means

Definitions

  • 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.
  • 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.
  • 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.
  • the early warning decision-making module is integrated in the radar component; or integrated in the controller.
  • 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.
  • 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.
  • the display board is further used to display the first motion track and the second motion track.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • FIG. 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a plurality of small-range radars may be used instead of the above-mentioned lateral radar, which can reduce imaging distortion.
  • the radar component 2 is a millimeter wave radar or an ultrasonic radar.
  • 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.
  • 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.
  • 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 .
  • first movement trajectory and the second movement trajectory 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 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • the vehicle 300 can be braked in an emergency to avoid accidents caused by the driver's untimely response.
  • 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.
  • 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:
  • 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.
  • 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 value interval of the enumeration method is 0.01 ⁇ 0.1s.

Abstract

Système d'avertissement précoce de zone aveugle visuelle de véhicule (100) comprenant un contrôleur (1) et un ensemble radar (2), un ensemble d'avertissement précoce (4) et un module de décision d'avertissement précoce (3) respectivement connectés au contrôleur (1). L'ensemble radar (2) est configuré pour collecter des informations de mouvement d'un obstacle (200) à l'intérieur d'une plage prédéfinie d'une surface latérale d'un véhicule (300). Le module de décision d'avertissement précoce (3) est configuré pour obtenir des informations de déplacement du véhicule (300), acquérir une première trajectoire de mouvement du véhicule d'après les informations de déplacement, acquérir une seconde trajectoire de mouvement de l'obstacle (200) d'après les informations de mouvement collectées par l'ensemble radar (2), obtenir une condition d'avertissement précoce d'après la première trajectoire de mouvement et la seconde trajectoire de mouvement, et envoyer l'état d'alerte précoce au contrôleur (1). Le contrôleur (1) est configuré pour envoyer une instruction d'alarme d'un niveau correspondant à l'ensemble d'avertissement précoce (4) d'après l'état d'alerte précoce, de telle sorte que l'ensemble d'avertissement précoce (4) effectue un avertissement précoce de différents niveaux d'intensité. Le système d'avertissement précoce de zone aveugle visuelle de véhicule (100) améliore le degré d'intelligence du système d'avertissement précoce, réduit le taux d'accidents se produisant dans la zone aveugle de véhicule, et réduit la charge de conduite d'un conducteur. L'invention concerne en outre un procédé d'avertissement précoce de zone aveugle visuelle de véhicule et un véhicule utilisant le procédé.
PCT/CN2022/118625 2021-09-29 2022-09-14 Système et procédé d'avertissement précoce de zone aveugle visuelle de véhicule, et véhicule WO2023051239A1 (fr)

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Application Number Priority Date Filing Date Title
CN202111154290.1A CN113879297A (zh) 2021-09-29 2021-09-29 一种车辆视野盲区预警系统、方法及车辆
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