Electric vehicle driving warning system and method, millimeter wave radar system and electric vehicle

Abstract

The present invention provides an electric vehicle driving warning system and method, a millimeter-wave radar system, and an electric vehicle. The electric vehicle driving warning system includes: a millimeter-wave radar system configured with an interconnected personnel and vehicle status information tracking module and a front-end radio frequency module; a speed measurement module for measuring the running speed of the electric vehicle in real time; a steering module for detecting the steering angle and / or turn signal of the electric vehicle in real time; an alarm module for issuing an alarm based on the alarm information sent by the personnel and vehicle status information tracking module; and a communication module connected to the personnel and vehicle status information tracking module, the speed measurement module, the steering module, and the alarm module, respectively. The communication module analyzes the speed, position, and motion trajectory of the moving target relative to the electric vehicle, determines potentially dangerous targets, and feeds back the analyzed information to the driver during driving to warn the driver to pay attention to safety.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to an electric vehicle driving warning system and method, a millimeter wave radar system, and an electric vehicle. Background Art

[0002] In recent years, with growing environmental awareness and strong government advocacy, more and more people are choosing electric vehicles for transportation, making them an irreplaceable means of transportation. Consequently, many cities have begun to take note of and implement measures to address safety issues associated with electric vehicle use, such as requiring drivers to wear helmets and prohibiting the use of passengers on electric vehicles. While these measures can mitigate safety issues posed by electric vehicles to some extent, there remains a lack of reliable solutions for warning and protecting drivers during driving. For example, in inclement weather, such as rain or fog, visibility is poor, significantly interfering with driver judgment. In the dark, drivers of electric vehicles cannot immediately observe pedestrians behind them, making accidents more likely.

[0003] Currently, video computer vision, infrared, and Wi-Fi are commonly used to detect people and vehicles. While visual technology can provide some success in pedestrian and vehicle detection, it cannot effectively identify pedestrians and vehicles in inclement weather. Infrared detection has a short range and is expensive. Wi-Fi technology has poor directional positioning of objects and cannot accurately locate objects behind them. Therefore, a method that can accurately locate and detect pedestrians and vehicles even in extreme weather conditions is in high demand. Summary of the Invention

[0004] In response to the above problems, the present invention provides an electric vehicle driving warning system and method, a millimeter-wave radar system, and an electric vehicle, which effectively solve the technical problem that existing methods cannot accurately locate and detect pedestrians and vehicles.

[0005] The technical solutions provided by the present invention are as follows:

[0006] An electric vehicle driving warning system, comprising:

[0007] The millimeter-wave radar system is configured with an interconnected personnel and vehicle status information tracking module and a front-end radio frequency module, wherein the personnel and vehicle status information tracking module is used to process the received information and issue corresponding warnings, and the front-end radio frequency module is used to transmit and receive millimeter-wave signals toward the rear of the electric vehicle;

[0008] Speed measurement module, used to measure the running speed of electric vehicles in real time;

[0009] A steering module, used to detect the steering angle and / or turn signal of the electric vehicle in real time;

[0010] An alarm module, configured to issue an alarm based on the alarm information sent by the personnel and vehicle status information tracking module;

[0011] The communication module is connected to the personnel and vehicle status information tracking module, the speed measurement module, the steering module and the alarm module respectively, and is used to send the signals detected by the speed measurement module and the steering module to the personnel and vehicle status information tracking module for processing, and to send the alarm information generated by the personnel and vehicle status information tracking module to the alarm module.

[0012] Further preferably, the front-end RF module is also used to send and receive millimeter wave signals using an N-transmit and M-receive MIMO radar system, and mix the received millimeter wave signal with the transmitted millimeter wave signal, perform ADC sampling on the mixed signal, and then send it to the personnel and vehicle status information tracking module for processing.

[0013] Further preferably, the personnel and vehicle status information tracking module includes a radio frequency parameter adjustment module and a signal processing module, wherein:

[0014] The radio frequency parameter adjustment unit is used to configure the waveform parameters of the millimeter wave signal sent by the front-end radio frequency module;

[0015] The signal processing module is used to process the signals fed back by the front-end radio frequency module, the speed measurement module and the steering module to generate alarm information.

[0016] Further preferably, the signal processing module includes:

[0017] a calculation unit, configured to process the ADC sampling data sent by the front-end RF module to obtain the distance to the target object, the moving speed of the target object, and the angle and speed of the target object relative to the electric vehicle;

[0018] a comparison unit connected to the calculation unit, configured to compare the steering angle of the electric vehicle detected by the steering module with a preset angle threshold to determine whether the electric vehicle needs to turn; and to compare the calculated distance to the target object, the moving speed of the target object, and the angle and speed of the target object relative to the electric vehicle with corresponding preset thresholds to determine whether a turning condition is met;

[0019] a judgment unit, connected to the comparison unit and the calculation unit, respectively, for judging whether there is a dangerous target behind the electric vehicle based on the calculated distance to the target, the moving speed of the target, and the angle and speed of the target relative to the electric vehicle; and comparing the steering angle of the electric vehicle detected by the steering module with a preset angle threshold to judge whether the electric vehicle needs to turn;

[0020] The alarm information generating unit is used to generate corresponding alarm information according to the judgment result of the judgment unit.

[0021] The present invention also provides an electric vehicle driving warning method, which is applied to the above-mentioned electric vehicle driving warning system. The electric vehicle driving warning method includes:

[0022] Control the front-end RF module to transmit millimeter wave signals toward the rear of the electric vehicle and receive the returned millimeter wave signals;

[0023] The receiving front-end RF module mixes the received millimeter wave signal with the transmitted millimeter wave signal and performs ADC sampling on the signal;

[0024] The communication module receives the running speed of the electric vehicle measured in real time by the speed measurement module;

[0025] receiving, via the communication module, a steering angle and / or a turn signal of the electric vehicle detected in real time by the steering module;

[0026] The received information is processed and the warning information is sent to the alarm module through the communication module for warning.

[0027] Further preferably, the step of processing the received information and sending the warning information to the alarm module through the communication module for warning further includes:

[0028] Processing the ADC sampling data sent by the front-end radio frequency module to obtain the distance to the target object, the moving speed of the target object, and the angle and speed of the target object relative to the electric vehicle;

[0029] Comparing the steering angle of the electric vehicle detected by the steering module with a preset angle threshold to determine whether the electric vehicle needs to turn;

[0030] If yes, determine whether there is a dangerous target behind the electric vehicle based on the calculated distance to the target, the target's moving speed, and the angle and speed of the target relative to the electric vehicle;

[0031] If not, the calculated distance to the target object, the target object's moving speed, the target object's angle and speed relative to the electric vehicle are further compared with the preset corresponding thresholds to determine whether the turning condition is met;

[0032] A warning signal is generated according to the judgment result and sent to the alarm module through the communication module.

[0033] Further preferably, in the step of determining whether there is a dangerous target behind the electric vehicle based on the calculated distance to the target, the moving speed of the target, and the angle and speed of the target relative to the electric vehicle, the step of determining one of the targets includes:

[0034] Determining whether a target object has a collision risk with the electric vehicle based on its angle relative to the electric vehicle;

[0035] If so, the vehicle's safe collision avoidance time TTC (Time-To-Collision) is calculated based on the calculated distance to the target object and the speed of the target object relative to the electric vehicle:

[0036] TTC=ΔS / ΔV

[0037] Where ΔS is the distance between the electric vehicle and the target object, and ΔV is the speed of the target object relative to the electric vehicle;

[0038] The headway monitoring warning (HWM) time is calculated based on the calculated distance to the target and the target's speed.

[0039] HWM=ΔS / V1

[0040] Among them, V1 is the moving speed of the target;

[0041] Determine whether the calculated vehicle safety collision avoidance time TTC and vehicle distance warning time HWM are both not less than a preset vehicle safety collision avoidance time threshold and vehicle distance warning threshold;

[0042] It is determined that the target object is not a dangerous target object.

[0043] Further preferably, the generating of the warning signal according to the judgment result and sending it to the alarm module through the communication module includes:

[0044] When it is determined that there is no dangerous target behind, a warning signal is sent to the alarm module to prompt a green light;

[0045] When it is determined that the electric vehicle does not need to turn, but there is a dangerous target behind it, a warning signal is sent to the alarm module to indicate a yellow light;

[0046] When it is determined that the electric vehicle needs to turn and there is a dangerous target behind it, a warning signal is sent to the alarm module to issue a red light prompt.

[0047] The present invention also provides a millimeter-wave radar system, including a single-chip transmitting antenna array, a receiving antenna array, a front-end radio frequency, a signal processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed, the steps of the above-mentioned electric vehicle driving warning method are implemented.

[0048] The present invention also provides an electric vehicle, which is equipped with at least one millimeter-wave radar system as described above; when multiple millimeter-wave radar systems are configured, the multiple millimeter-wave radar systems are interconnected and each millimeter-wave radar fuses and processes the detection information of other millimeter-wave radars.

[0049] In the electric vehicle driving warning system and method, millimeter-wave radar system, and electric vehicle provided by the present invention, the speed measurement module obtains the running speed of the electric vehicle in real time and provides it to the personnel and vehicle status information tracking module in the millimeter-wave radar system for processing, thereby being able to obtain the relative speed of the target object more accurately and stably; the steering module can simulate or provide the steering intention of the electric vehicle, without interfering with the driving prompt under the condition of not changing lanes / turning. In addition, it can monitor and track the target objects (pedestrians, vehicles, animals, etc.) behind the electric vehicle in real time, and measure their relative speed, position, and motion trajectory relative to the electric vehicle. The speed, position, and motion trajectory of the moving target relative to the electric vehicle are analyzed to determine the target objects with potential dangers. In this way, the analysis information is fed back to the driver during driving to warn the driver to pay attention to safety, especially in poor visibility conditions. It provides a warning for safe driving for the driver. In particular, when changing lanes or turning, if there is a dangerous target behind, the driver is prompted to prohibit changing lanes, avoiding the driving risks caused by the driver looking back to observe the target objects such as oncoming vehicles and pedestrians when changing lanes, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The preferred implementation scheme will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above characteristics, technical features, advantages and their implementation methods.

[0051] Figure 1 This is a schematic diagram of the electric vehicle driving warning system of the present invention;

[0052] Figure 2 This is a schematic diagram of the communication interface protocol of the present invention;

[0053] Figure 3 This is a schematic diagram of an external alarm module of the present invention;

[0054] Figure 4 This is a flow chart of the electric vehicle driving warning method of the present invention;

[0055] Figure 5This is a schematic diagram of the integrated millimeter-wave radar system of the present invention;

[0056] Figure 6 Schematic diagram of the separated millimeter wave radar system of the present invention;

[0057] Figure 7 This is a schematic diagram of the installation of the electric vehicle millimeter wave radar system of the present invention.

[0058] Reference numerals:

[0059] 100 - Electric vehicle driving warning system, 110 - Millimeter wave radar system, 111 - Personnel and vehicle status information tracking module, 112 - Front-end radio frequency module, 120 - Speed measurement module, 130 - Steering module, 140 - Alarm module, 150 - Communication module. DETAILED DESCRIPTION

[0060] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive work.

[0061] One embodiment of the present invention, as Figure 1 As shown in the figure, an electric vehicle driving warning system 100 includes: a millimeter wave radar system 110, which is equipped with a personnel and vehicle status information tracking module 111 and a front-end radio frequency module 112 that are interconnected. The personnel and vehicle status information tracking module 111 is used to process the received information and issue corresponding warnings, and the front-end radio frequency module 112 is used to send and receive millimeter wave signals toward the rear of the electric vehicle; a speed measurement module 120 is used to measure the running speed of the electric vehicle in real time; a steering module 130 is used to detect the direction of the electric vehicle in real time. Steering angle and / or turn light signal; an alarm module 140, used to issue an alarm based on the alarm information sent by the personnel and vehicle status information tracking module 111; a communication module 150, respectively connected to the personnel and vehicle status information tracking module 111, the speed measurement module 120, the steering module 130 and the alarm module 140, for sending the signals detected by the speed measurement module 120 and the steering module 130 to the personnel and vehicle status information tracking module 111 for processing, and for sending the alarm information generated by the personnel and vehicle status information tracking module 111 to the alarm module 140.

[0062] The personnel and vehicle status information tracking module 111 includes a radio frequency parameter adjustment module and a signal processing module. The radio frequency parameter adjustment unit is used to configure the waveform parameters of the millimeter wave signal sent by the front-end radio frequency module 112; the signal processing module is used to process the signals fed back by the front-end radio frequency module 112, the speed measurement module 120, and the steering module 130 to generate alarm information. Specifically, after receiving the echo signal reflected by the detected target object, the personnel and vehicle status information tracking module 111 calculates the movement speed of the target object behind the electric vehicle and tracks its movement trajectory. It then determines whether there are dangerous targets (pedestrians, vehicles, etc. that may pose a threat to the driving safety of the electric vehicle) behind it. According to the hazard level classification, the relevant alarm information is sent to the alarm module 140 to promptly prompt the driver. In particular, when turning / changing lanes is required, if the hazard level is very high, the electric vehicle may even be slowed down and the driver may be warned not to change lanes or turn.

[0063] The front-end RF module 112 uses an N-transmit and M-receive MIMO radar system to send and receive millimeter wave signals. During the driving process of the electric vehicle, the front-end RF module 112 continuously transmits electromagnetic wave signals to the rear area and receives multiple target echo signals in the rear area. After receiving the echo signal, it is mixed with the transmitted electromagnetic wave signal and then converted to an intermediate frequency. After obtaining the intermediate frequency signal, it is further ADC sampled and the sampled value is sent to the personnel and vehicle status information tracking module 111 for processing. The ADC sampling module can be selected according to the actual required accuracy, which is not specifically limited here, such as sampling to obtain 16-bit precision sampling values of both I / Q channels.

[0064] like Figure 2 As shown, the communication module 150 (corresponding to the communication interface module in the figure) can exchange data through network protocols such as WiFi, Ethernet, CAN, ZigBee, and serial ports (RS232, RS485, RS422). The steering module 130 is set on the steering column of the electric vehicle, and uses a Hall sensor to detect the steering angle and / or turn signal of the electric vehicle in real time, and sends it to the millimeter wave radar system 110 through the communication module 150, providing real-time feedback on whether the electric vehicle changes lanes or turns. The speed measurement module 120 is set on the electric vehicle wheel and uses a speed measurement sensor to measure the running speed of the electric vehicle in real time.

[0065] The alarm module 140 is Figure 1 The built-in installation shown, in another embodiment, Figure 3As shown, the alarm module 140 can also be installed externally. The communication module transmits the heartbeat frequency and movement information to the external alarm module 140. The communication module 150 in the external alarm module 140 receives the signal and transmits it to the alarm module 140 to generate an alarm. In other words, the alarm module 140 has a built-in communication module for communicating with the millimeter-wave radar system 110, and is also equipped with a buzzer, red, green, and yellow lights.

[0066] More specifically, the signal processing module includes: a calculation unit, which is used to process the ADC sampling data sent by the front-end RF module to obtain the distance between the target object, the moving speed of the target object, and the angle and speed of the target object relative to the electric vehicle; a comparison unit, which is connected to the calculation unit, is used to compare the steering angle of the electric vehicle detected by the steering module with a preset angle threshold to determine whether the electric vehicle needs to turn; and is used to compare the calculated distance to the target object, the moving speed of the target object, the angle and speed of the target object relative to the electric vehicle with the preset corresponding thresholds to determine whether the turning conditions are met; a judgment unit, which is respectively connected to the comparison unit and the calculation unit, is used to determine whether there is a dangerous target behind based on the calculated distance to the target object, the moving speed of the target object, and the angle and speed of the target object relative to the electric vehicle; the steering angle of the electric vehicle detected by the steering module is compared with the preset angle threshold to determine whether the electric vehicle needs to turn; and an alarm information generation unit is used to generate corresponding alarm information according to the judgment result of the judgment unit.

[0067] In the calculation unit, the ADC sampling data sent by the front-end RF module is processed by algorithms in the distance dimension and Doppler dimension to extract information such as the target radial distance and radial velocity (a Gaussian plane coordinate system is established with the electric vehicle as the center during the calculation process. The target radial distance is the distance of the target object toward the electric vehicle, and the radial velocity is the speed of the target object relative to the electric vehicle). The algorithms include but are not limited to Fourier transform, maximum likelihood, least squares method, etc. After that, the data processed in the distance dimension and velocity dimension are processed by angle dimension algorithm to obtain the target azimuth information. The algorithms include but are not limited to Fourier transform, maximum likelihood method, subspace method, etc., so as to obtain the distance to the target object, the target object's movement speed, and the target object's angle and speed relative to the electric vehicle.

[0068] The judgment process includes comparing the electric vehicle's steering angle, as detected by the steering module, with a preset angle threshold to determine whether the electric vehicle needs to turn. When the steering angle is greater than the preset threshold θ1, it indicates that the electric vehicle has an intention to turn and change lanes. When the steering angle is less than the preset threshold θ1, it indicates that the electric vehicle has no intention to turn and change lanes. Subsequently, the system determines whether there is a dangerous target behind it based on the calculated distance to the target, the target's speed, and the target's angle and speed relative to the electric vehicle. If not, the calculated distance to the target, the target's speed, and the target's angle and speed relative to the electric vehicle are further compared with the corresponding preset thresholds to determine whether the turning conditions are met. Based on the judgment result, a warning signal is generated and sent to the alarm module via the communication module.

[0069] In determining whether there is a dangerous target behind the electric vehicle based on the calculated distance to the target, the target's speed, and the target's angle and speed relative to the electric vehicle, the determination step for one of the targets includes: determining whether there is a risk of collision with the electric vehicle based on the target's angle relative to the electric vehicle, determining whether the target is a vehicle coming from behind or from the side relative to the electric vehicle, and whether a collision with the electric vehicle will occur at that angle. If so, the vehicle's safe collision avoidance time TTC is calculated based on the calculated distance to the target and the target's speed relative to the electric vehicle, as shown in formula (1):

[0070] TTC=ΔS / ΔV (1)

[0071] Where ΔS is the distance between the electric vehicle and the target object, and ΔV is the speed of the target object relative to the electric vehicle;

[0072] The vehicle-to-vehicle warning time HWM is calculated based on the calculated distance to the target object and the target object's moving speed, as shown in formula (2):

[0073] HWM=ΔS / V1 (2)

[0074] Among them, V1 is the moving speed of the target;

[0075] The system determines whether the calculated vehicle collision avoidance time (TTC) and vehicle headway warning time (HWM) are both greater than or equal to the preset vehicle collision avoidance time threshold and vehicle headway warning threshold, and determines that the object is not a dangerous object. If the vehicle collision avoidance time (TTC) is less than the preset vehicle collision avoidance time threshold or the vehicle headway warning time (HWM) is less than the vehicle headway warning threshold, the object is determined to be a dangerous object and a collision risk exists.

[0076] Based on the calculation results, in the generated alarm information, when it is determined that there is no dangerous target behind, the warning signal is sent to the alarm module 140 for a green light prompt; when it is determined that the electric vehicle does not need to turn, but there is a dangerous target behind, the warning signal is sent to the alarm module 140 for a yellow light prompt; when it is determined that the electric vehicle needs to turn and there is a dangerous target behind, the warning signal is sent to the alarm module 140 for a red light prompt.

[0077] In other embodiments, the alarm information may be further classified according to the alarm levels in different states, as shown in Table 1:

[0078] Table 1: Classification results of alarm levels in different states

[0079] state Steering status Track the danger level of the target Warning light level Q1 have There is a target, high risk red light Q2 have There is a target, low risk Yellow light (high flashing frequency) Q3 none There is a target Yellow light (slow flashing frequency) Q4 none No target Green Light Q5 have No target Green Light

[0080] State Q1 means that the electric vehicle is making a steering action (turning or changing lanes) and detects that the target object behind it poses a high risk to the current lane change (there is a dangerous target object). At this time, an alarm signal should be sent to the alarm module, and the alarm module will turn on the red light to warn the electric vehicle that turning or changing lanes is prohibited.

[0081] State Q2 means that when the electric vehicle is turning, it detects a target object behind it, but the distance, relative speed and position of the target object will not pose a danger to turning or changing lanes. At this time, a high-frequency yellow light is on, indicating that a pedestrian or vehicle is detected behind it, but it is safe to change lanes or turn.

[0082] State Q3 means that the electric vehicle has no intention to turn, but there is a detected target object behind it. At this time, the low-frequency yellow light is on, indicating that no pedestrians or vehicles are detected behind it and it can continue to drive safely.

[0083] State Q4 means that the electric vehicle has no intention to turn and no pedestrians or vehicles are detected from behind. At this time, the green light is on, indicating that no pedestrians or vehicles are detected from behind and the vehicle can continue to drive safely.

[0084] State Q5 means that when the electric vehicle is turning, no pedestrians or vehicles are detected behind the electric vehicle. At this time, the green light is on, indicating that no pedestrians or vehicles are detected behind the electric vehicle and it is safe to change lanes and turn.

[0085] Correspondingly, the present invention also provides an electric vehicle driving warning method applied to the above electric vehicle driving warning system, such as Figure 4 As shown, the electric vehicle driving warning method includes:

[0086] S10 controls the front-end RF module to transmit millimeter wave signals toward the rear of the electric vehicle and receives the returned millimeter wave signals;

[0087] S20 receives the signal obtained by the front-end RF module by mixing the received millimeter wave signal with the transmitted millimeter wave signal and then performing ADC sampling;

[0088] S30 receives the running speed of the electric vehicle measured in real time by the speed measuring module through the communication module;

[0089] S40 receives, through the communication module, a steering angle and / or a turn signal of the electric vehicle detected in real time by the steering module;

[0090] S50 processes the received information and sends the warning information to the alarm module through the communication module for warning.

[0091] Specifically, in step S10, the radio frequency parameter adjustment module in the personnel and vehicle status information tracking module sets the millimeter wave waveform parameters to be transmitted and sends them to the front-end radio frequency module. The front-end module transmits electromagnetic waves to the rear area of the electric vehicle in MIMO mode according to the set waveform. After receiving the echo signal, in step S20, it is mixed with the transmitted electromagnetic wave signal and then intermediate frequency. After obtaining the intermediate frequency signal, it is further ADC sampled and the sampled value is sent to the personnel and vehicle status information tracking module for processing. The ADC sampling module can be selected according to the actual required accuracy, which is not specifically limited here, such as sampling to obtain 16-bit precision sampling values of both I / Q channels.

[0092] In step S50, the ADC sampling data sent by the front-end RF module is processed in the distance dimension and Doppler dimension to extract information such as the target radial distance and radial velocity (a Gaussian plane coordinate system is established with the electric vehicle as the center during the calculation process. The target radial distance is the distance of the target object toward the electric vehicle, and the radial velocity is the speed of the target object relative to the electric vehicle). The algorithms include but are not limited to Fourier transform, maximum likelihood, least squares method, etc. After that, the data processed in the distance and velocity dimensions are processed in the angle dimension to obtain the target azimuth information. The algorithms include but are not limited to Fourier transform, maximum likelihood method, subspace method, etc., so as to obtain the distance to the target object, the target object's movement speed, and the angle and speed of the target object relative to the electric vehicle.

[0093] The judgment process includes comparing the electric vehicle's steering angle, as detected by the steering module, with a preset angle threshold to determine whether the electric vehicle needs to turn. When the steering angle is greater than the preset threshold θ1, it indicates that the electric vehicle has an intention to turn and change lanes. When the steering angle is less than the preset threshold θ1, it indicates that the electric vehicle has no intention to turn and change lanes. Subsequently, the system determines whether there is a dangerous target behind it based on the calculated distance to the target, the target's speed, and the target's angle and speed relative to the electric vehicle. If not, the calculated distance to the target, the target's speed, and the target's angle and speed relative to the electric vehicle are further compared with the corresponding preset thresholds to determine whether the turning conditions are met. Based on the judgment result, a warning signal is generated and sent to the alarm module via the communication module.

[0094] In determining whether there is a dangerous target behind the electric vehicle based on the calculated distance to the target, the target's speed, and the target's angle and speed relative to the electric vehicle, the determination step for one of the targets includes: determining whether there is a collision risk with the electric vehicle based on the target's angle relative to the electric vehicle, determining whether the target is a vehicle coming from behind or from the side relative to the electric vehicle, and whether a collision with the electric vehicle will occur at that angle. If so, calculating the vehicle's safe collision avoidance time (TTC) based on the calculated distance to the target and the target's speed relative to the electric vehicle, as shown in formula (1); calculating the vehicle headway warning time (HWM) based on the calculated distance to the target and the target's speed, as shown in formula (2); determining whether the calculated vehicle's safe collision avoidance time (TTC) and vehicle headway warning time (HWM) are both not less than a preset vehicle's safe collision avoidance time threshold and vehicle headway warning threshold; and determining that the target is not a dangerous target. If the vehicle's safe collision avoidance time (TTC) is less than the preset vehicle's safe collision avoidance time threshold or the vehicle headway warning time (HWM) is less than the vehicle headway warning threshold, the target is determined to be a dangerous target and there is a collision risk.

[0095] During this process, the presence of a dangerous target behind the electric vehicle is determined based on the calculated distance to the target, the target's speed, and the target's angle and speed relative to the electric vehicle. Specifically, the relative speed between the electric vehicle and the target, the target's orientation relative to the electric vehicle, and other factors are considered to determine whether the target poses a threat to the electric vehicle and constitutes a dangerous target. The calculated vehicle collision avoidance time (TTC) describes the time it takes for a collision to occur between the electric vehicle and the following vehicle or other moving target at the current relative speed. The headway warning time (HWM) serves as another evaluation metric, issuing an alert when the distance between the vehicles is too close. For example, if the distance between the two vehicles is 20 meters, the speed of the following vehicle (the target) is 60 km / h, and the speed of the leading vehicle (the electric vehicle) is 80 km / h, the calculated headway warning time (HWM) is 1.2 seconds, and the time to potential rear-end collision (TTC) is 3.6 seconds. Both are less than the preset time threshold of 5 seconds, resulting in an alert. If the speed of the front and rear vehicles is 60Km / h, although the distance warning time HWM shows the same time as 1.2s, it will not happen, because although the distance between the two vehicles is very close, they are at the same speed and will not rear-end each other.

[0096] In addition, when it is determined that the electric vehicle needs to turn, the calculated distance to the target object, the target object's movement speed, the target object's angle and speed relative to the electric vehicle are further compared with the preset corresponding thresholds to determine whether the turning conditions are met. When the tracked target object information is less than the lane change threshold, it indicates that the target object is behind and poses a danger to the electric vehicle's turning. At this time, a warning signal is sent to the alarm module to indicate a red light. Furthermore, during driving, if it is determined that there is no dangerous target behind, a warning signal is sent to the alarm module to indicate a green light. If it is determined that the electric vehicle does not need to turn, but there is a dangerous target behind, a warning signal is sent to the alarm module to indicate a yellow light.

[0097] In other embodiments, the flashing frequency of the warning light can also be controlled according to the judgment result. For example, when it is judged that the electric vehicle needs to turn and there is a target object behind it but the danger level is low, a warning signal is sent to the alarm module for a yellow light prompt, and it is controlled to flash at a preset high frequency; when it is judged that the electric vehicle does not need to turn and there is a target object behind it, a warning signal is sent to the alarm module for a yellow light prompt, and it is controlled to flash at a preset low frequency.

[0098] The present invention also provides a millimeter-wave radar system, including a single-chip transmitting antenna array, a receiving antenna array, a front-end radio frequency, a signal processor, a memory, and a computer program stored in the memory and runnable on the processor. When the computer program is executed, the steps of the above-mentioned electric vehicle driving warning method are implemented.

[0099] In practical applications, different embodiments of the front-end RF module (single-chip N-transmit, M-receive antenna transceiver array), RF parameter tuning unit (FM module), and signal processing module (processor) can be integrated into a millimeter-wave radar system or a separate millimeter-wave radar system. The transmitted millimeter waves include, but are not limited to, 24G, 60G, or 77G, using a continuous frequency modulation method to scan N chirps toward the rear of the electric vehicle every period T.

[0100] In the case of integrated millimeter wave radar systems, such as Figure 5 As shown, it integrates: a single-chip transmitting antenna array, a receiving antenna array, a front-end RF and a DSP signal processor. Among them, the DSP signal processor controls the front-end RF to transmit 60GHz or 77GHz millimeter wave signals through the transmitting antenna array (corresponding to the n transmitting antennas in the figure) to the detected space behind the electric vehicle. After being reflected by pedestrians, animals, vehicles, etc. in the detected area, the receiving antenna array (corresponding to the m receiving antennas in the figure) receives the echo signal. The front-end RF caches the processed echo data in the RF internal RAM1, and uses the EDMA driver to move the RAM echo data in the RF to the internal RAM2 of the signal processor in ping-pong mode for storage. The SPT signal processing detects the speed, distance azimuth and movement information of the target object through echo signal analysis, thereby realizing real-time tracking of multiple targets.

[0101] In the example of a separate millimeter-wave radar system, such as Figure 6 As shown, it includes: a transceiver antenna array, a front-end RF chip, and a DSP signal processor integrated SOC. The front-end RF transmits 60GHz or 77GHz millimeter waves, receives echo signals reflected by pedestrians, animals and vehicles in the detection area, and performs ADC sampling. The sampled data is driven by EDMA and transferred to the RAM of the DSP signal processor for storage. The SPT signal processing detects the speed, distance azimuth and movement information of the target object through echo signal analysis, thereby realizing real-time tracking of multiple targets.

[0102] The present invention also provides an electric vehicle equipped with at least one millimeter-wave radar system. When multiple millimeter-wave radar systems are configured, they communicate with each other and, upon receiving data from millimeter-wave radar systems at different installation locations, perform multi-dimensional fusion of target point data on the target object to improve the accuracy of target information and enhance the efficiency and accuracy of information processing.

[0103] like Figure 7The figure shows the installation diagram of millimeter-wave radar systems for different types of electric vehicles. For two-wheeled electric vehicles, a millimeter-wave radar system is installed on the rear. For three-wheeled and four-wheeled electric vehicles, a millimeter-wave radar system can be installed on each side to eliminate blind spots within the detection area. When both millimeter-wave radar systems are installed, the detected target information is fused to increase target tracking confidence. Of course, to save costs, a single millimeter-wave radar system can also be installed on the rear of three-wheeled and four-wheeled electric vehicles.

[0104] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred embodiments of the present invention. It should be pointed out that ordinary relevant personnel in this technical field can make several improvements and modifications without departing from the principles of the present invention. Such improvements and modifications should also be considered as the scope of protection of the present invention.

Claims

1. An electric vehicle driving warning system, characterized in that: include: The millimeter-wave radar system is configured with an interconnected personnel and vehicle status information tracking module and a front-end radio frequency module, wherein the personnel and vehicle status information tracking module is used to process the received information and issue corresponding warnings, and the front-end radio frequency module is used to transmit and receive millimeter-wave signals toward the rear of the electric vehicle; Speed measurement module, used to measure the running speed of electric vehicles in real time; A steering module, used to detect the steering angle and / or turn signal of the electric vehicle in real time; An alarm module, configured to issue an alarm based on the alarm information sent by the personnel and vehicle status information tracking module; a communication module, connected to the personnel and vehicle status information tracking module, the speed measurement module, the steering module, and the alarm module, respectively, for sending signals detected by the speed measurement module and the steering module to the personnel and vehicle status information tracking module for processing, and for sending alarm information generated by the personnel and vehicle status information tracking module to the alarm module; The personnel and vehicle status information tracking module includes a radio frequency parameter adjustment module and a signal processing module, wherein: The radio frequency parameter adjustment module is used to configure the waveform parameters of the millimeter wave signal sent by the front-end radio frequency module; The signal processing module is used to process the signals fed back by the front-end radio frequency module, the speed measurement module and the steering module to generate alarm information; The signal processing module includes: a calculation unit, configured to process the ADC sampling data sent by the front-end RF module to obtain the distance to the target object, the moving speed of the target object, and the angle and speed of the target object relative to the electric vehicle; a comparison unit connected to the calculation unit, configured to compare the steering angle of the electric vehicle detected by the steering module with a preset angle threshold to determine whether the electric vehicle needs to turn; and to compare the calculated distance to the target object, the moving speed of the target object, and the angle and speed of the target object relative to the electric vehicle with corresponding preset thresholds to determine whether a turning condition is met; The judgment unit is connected to the comparison unit and the calculation unit respectively, and is used to judge whether there is a dangerous target behind the electric vehicle based on the calculated distance to the target, the moving speed of the target, and the angle and speed of the target relative to the electric vehicle; the judgment steps for one of the targets include: Determining whether a target object has a collision risk with the electric vehicle based on its angle relative to the electric vehicle; If so, the vehicle's safe collision avoidance time TTC is calculated based on the calculated distance to the target object and the speed of the target object relative to the electric vehicle: TTC=ΔS / ΔV Where ΔS is the distance between the electric vehicle and the target object, and ΔV is the speed of the target object relative to the electric vehicle; Calculate the vehicle distance warning time HWM based on the calculated distance to the target object and the target object's moving speed: HWM=ΔS / V1 Among them, V1 is the moving speed of the target; Determine whether the calculated vehicle safety collision avoidance time TTC and vehicle distance warning time HWM are both not less than a preset vehicle safety collision avoidance time threshold and vehicle distance warning threshold; Determining that the target object is not a dangerous target object; The alarm information generating unit is used to generate corresponding alarm information according to the judgment result of the judgment unit.

2. The electric vehicle driving warning system according to claim 1, wherein: The front-end RF module is also used to send and receive millimeter wave signals using an N-transmit and M-receive MIMO radar system, and mix the received millimeter wave signal with the transmitted millimeter wave signal, perform ADC sampling on the mixed signal, and then send it to the personnel and vehicle status information tracking module for processing.

3. A method for warning electric vehicle driving, characterized in that: Applied to the electric vehicle driving warning system according to any one of claims 1-2, the electric vehicle driving warning method comprises: Control the front-end RF module to transmit millimeter wave signals toward the rear of the electric vehicle and receive the returned millimeter wave signals; The receiving front-end RF module mixes the received millimeter wave signal with the transmitted millimeter wave signal and performs ADC sampling on the signal; The communication module receives the running speed of the electric vehicle measured in real time by the speed measurement module; receiving, via the communication module, a steering angle and / or a turn signal of the electric vehicle detected in real time by the steering module; Processing the received information and sending the warning information to the alarm module through the communication module for warning; also including: Processing the ADC sampling data sent by the front-end radio frequency module to obtain the distance to the target object, the moving speed of the target object, and the angle and speed of the target object relative to the electric vehicle; Comparing the steering angle of the electric vehicle detected by the steering module with a preset angle threshold to determine whether the electric vehicle needs to turn; If so, determine whether there is a dangerous target behind the electric vehicle based on the calculated distance to the target, the target's speed, and the angle and speed of the target relative to the electric vehicle. The determination steps for one of the targets include: Determining whether a target object has a collision risk with the electric vehicle based on its angle relative to the electric vehicle; If so, the vehicle's safe collision avoidance time TTC is calculated based on the calculated distance to the target object and the speed of the target object relative to the electric vehicle: TTC=ΔS / ΔV Where ΔS is the distance between the electric vehicle and the target object, and ΔV is the speed of the target object relative to the electric vehicle; Calculate the vehicle distance warning time HWM based on the calculated distance to the target object and the target object's moving speed: HWM=ΔS / V1 Among them, V1 is the moving speed of the target; Determine whether the calculated vehicle safety collision avoidance time TTC and vehicle distance warning time HWM are both not less than a preset vehicle safety collision avoidance time threshold and vehicle distance warning threshold; Determining that the target object is not a dangerous target object; If not, the calculated distance to the target object, the target object's moving speed, the target object's angle and speed relative to the electric vehicle are further compared with the preset corresponding thresholds to determine whether the turning condition is met; A warning signal is generated according to the judgment result and sent to the alarm module through the communication module.

4. The electric vehicle driving warning method as claimed in claim 3, characterized in that: The generating of the warning signal according to the judgment result and sending the warning signal to the alarm module through the communication module includes: When it is determined that there is no dangerous target behind, a warning signal is sent to the alarm module to prompt a green light; When it is determined that the electric vehicle does not need to turn, but there is a dangerous target behind it, a warning signal is sent to the alarm module to indicate a yellow light; When it is determined that the electric vehicle needs to turn and there is a dangerous target behind it, a warning signal is sent to the alarm module to issue a red light prompt.

5. A millimeter wave radar system, characterized in that: It includes a single-chip transmitting antenna array, a receiving antenna array, a front-end radio frequency, a signal processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed, the steps of the electric vehicle driving warning method as described in any one of claims 3-4 are implemented.

6. An electric vehicle, characterized in that: The electric vehicle is configured with at least one millimeter-wave radar system as described in claim 5; when multiple millimeter-wave radar systems are configured, the multiple millimeter-wave radar systems are interconnected and each millimeter-wave radar fuses and processes the detection information of other millimeter-wave radars.

Images