Two-wheeled vehicle driving warning system and method

Abstract

An embodiment of the present invention provides a two-wheeled vehicle driving warning system and method. The two-wheeled vehicle driving warning system comprises the following components: a monitoring radar assembled at the rear of the two-wheeled vehicle, which is used to monitor in real time moving targets entering the monitoring radar's detection area and obtain the moving targets' motion data; a controller, which is used to generate a predicted trajectory of the moving target based on the motion data, determine the moving target's current position based on the motion data and the predicted trajectory, and, when it is determined that the moving target has entered a pre-calibrated alarm area, calculate the time required for the moving target to depart from its current position and collide with the two-wheeled vehicle based on the moving target's latest motion data, and issue an alarm command when the time is less than a predetermined threshold; and an alarm, which is used to issue an alarm in response to receiving the alarm command. The present invention can monitor moving targets behind a two-wheeled vehicle at low cost and effectively, and can still effectively determine and issue an early warning even if the moving target enters a detection blind spot.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of two-wheeled vehicle driving assistance, and in particular to a two-wheeled vehicle driving warning system and method. Background Art

[0002] When a two-wheeled vehicle is driving on the road, the driver is easily affected by weather conditions and obstructed vision, making it difficult to accurately and promptly observe moving objects (such as motor vehicles, non-motor vehicles, and pedestrians) behind them. This can lead to collisions with moving objects behind them when the two-wheeled vehicle is changing lanes under the driver's control, causing traffic accidents. Therefore, relevant manufacturers have begun to install driving warning systems on two-wheeled vehicles to monitor moving objects behind the two-wheeled vehicle and provide timely safety warnings.

[0003] Existing driving warning systems mainly use rear-facing radar to track and monitor moving targets behind two-wheeled vehicles. When the system analyzes and determines that there is a risk of collision between a moving target and the two-wheeled vehicle, it will issue an alarm to alert the driver. Generally, only a single radar is installed at the rear end of the two-wheeled vehicle to track and monitor moving targets behind it. However, if Figure 2 As shown, a single radar has a detection blind spot, and part of the warning area determined based on data analysis (the area where a collision risk should be determined when a moving target enters, and an alarm should be issued when the collision risk is determined to be high) also falls within the detection blind spot. When a moving target enters the alarm area within the detection blind spot, the rear-facing radar is unable to accurately detect it, making it impossible for the entire driving warning system to effectively analyze the moving target and issue a timely alarm to the driver. In this case, if the driver changes lanes, they are very likely to collide with the moving target in the warning blind spot, posing a significant traffic safety hazard. Although installing two or more radars for segmented detection can effectively eliminate detection blind spots, this will increase costs. Summary of the Invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide a two-wheeled vehicle driving warning system that can monitor moving targets behind the two-wheeled vehicle at low cost and effectively, and can still effectively judge and warn after the moving targets enter the detection blind spot.

[0005] A further technical problem to be solved by the embodiments of the present invention is to provide a driving warning method that can effectively monitor moving targets behind a two-wheeled vehicle at low cost and issue an alarm in a timely manner.

[0006] In order to solve the above technical problems, the embodiment of the present invention first provides the following technical solution: a two-wheeled vehicle driving warning system, comprising the following components:

[0007] A monitoring radar assembled on the rear of the two-wheeled vehicle is used to monitor in real time the moving targets entering the detection area of ​​the monitoring radar and obtain the moving target's motion data, the motion data including the moving target's distance, speed and angle relative to the monitoring radar;

[0008] a controller, connected to the monitoring radar, configured to generate a predicted trajectory of the moving target based on the motion data, determine a current position of the moving target based on the motion data and the predicted trajectory, and, when determining that the moving target enters a pre-calibrated alarm area, calculate a time required for the moving target to depart from its current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issue an alarm instruction when the time is less than a predetermined threshold; and

[0009] An alarm is connected to the controller and is used to issue an alarm when an alarm instruction is received.

[0010] Furthermore, the controller includes:

[0011] A prediction module, connected to the monitoring radar, for predicting the movement path of the moving target in the next cycle according to the latest movement data in a predetermined cycle and generating the corresponding predicted trajectory;

[0012] a tracking module, connected to the monitoring radar and the prediction module, having a built-in plane coordinate system, in which the radar position and alarm area are pre-calibrated, and used to calibrate the position of the moving target in the plane coordinate system based on the motion data and the predicted trajectory. When the moving target is within the detection area, the current position of the moving target is directly calibrated using the latest motion data. After the moving target enters a detection blind area from the detection area, the current position of the moving target is calibrated based on the predicted trajectory generated by the prediction module before the moving target enters the detection blind area; and

[0013] An early warning module is connected to the prediction module and the tracking module, and is used to analyze the current position of the moving target calibrated by the tracking module in the plane coordinate system, and when the current position of the moving target is within the alarm area, calculate the time required for the moving target to start from the current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issue the alarm instruction when the time is less than a predetermined threshold.

[0014] Furthermore, the tracking module is further configured to sequentially connect the coordinate positions of the moving target calibrated in the plane coordinate system based on the motion data of the moving target at each moment obtained by the monitoring radar to generate an actual motion trajectory of the moving target;

[0015] The controller further includes:

[0016] an associating module, connected to the tracking module and the prediction module, for associating each of the moving targets with the corresponding predicted trajectory and actual motion trajectory based on the predicted trajectory, the actual motion trajectory, and the current motion data of the moving target; and

[0017] A correction module is connected to the prediction module and the tracking module, and is used to correct the predicted trajectory according to the actual motion trajectory and the latest motion data.

[0018] Furthermore, the early warning module includes:

[0019] A monitoring unit, configured to monitor the alarm area in real time and issue a warning signal when the moving target enters the alarm area;

[0020] a calculation unit connected to the monitoring unit, configured to respond to the attention signal and calculate, based on the latest motion data of the moving target, the time required for the moving target to depart from its current position and collide with the two-wheeled vehicle; and

[0021] A comparison unit is connected to the calculation unit and is used to compare whether the duration is less than the predetermined threshold, and issue an alarm instruction when the duration is less than the predetermined threshold.

[0022] Furthermore, the early warning module also includes:

[0023] a steering analysis unit connected to the comparison unit and configured to connect to a vehicle computer system of the two-wheeled vehicle to obtain the turn signal status data of the two-wheeled vehicle, and to send a steering reminder signal to the comparison unit when determining that the turn signal of the two-wheeled vehicle is turned on, wherein the steering reminder signal includes a steering direction;

[0024] The comparison unit further determines whether the turn reminder signal is received when the time length is less than the predetermined threshold, and if not, issues a first-level alarm instruction; if so, further determines whether the turning direction and the moving target corresponding to the time length less than the predetermined threshold behind the two-wheeled vehicle are both located on the same side of the two-wheeled vehicle; if not, issues a first-level alarm instruction; if so, issues a second-level alarm instruction;

[0025] The alarm device issues a low-intensity alarm when receiving the first-level alarm instruction, and issues a high-intensity alarm when receiving the second-level alarm instruction.

[0026] In order to further solve the above technical problems, the embodiment of the present invention also provides the following technical solution: a driving warning method, comprising the following steps:

[0027] A monitoring radar assembled on the rear of the two-wheeled vehicle monitors in real time the moving targets entering the detection area of ​​the monitoring radar and obtains the motion data of the moving targets, the motion data including the distance, speed and angle of the moving targets relative to the monitoring radar;

[0028] generating a predicted trajectory of the moving target based on the motion data, determining a current position of the moving target based on the motion data and the predicted trajectory, and, when it is determined that the moving target enters a pre-calibrated alarm area, calculating a time required for the moving target to depart from its current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issuing an alarm instruction when the time is less than a predetermined threshold; and

[0029] When the alarm device responds to the alarm instruction, an alarm is issued accordingly.

[0030] Furthermore, the predicting and generating of a predicted trajectory of the moving target based on the motion data, determining the current position of the moving target based on the motion data and the predicted trajectory, and, when it is determined that the moving target enters a pre-calibrated alarm area, calculating the time required for the moving target to depart from the current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issuing an alarm instruction when the time is less than a predetermined threshold specifically includes:

[0031] Predicting the movement path of the moving target in the next period based on the latest movement data according to a predetermined period and generating the corresponding predicted trajectory;

[0032] Calibrate the position of the moving target in a built-in plane coordinate system based on the motion data and the predicted trajectory, wherein the radar position and the alarm area are pre-calibrated in the plane coordinate system; when the moving target is within the detection area, directly calibrate the current position of the moving target using the latest motion data; and after the moving target enters a detection blind area from the detection area, calibrate the current position of the moving target based on the predicted trajectory generated by the last prediction before the moving target enters the detection blind area; and

[0033] Analyze the current position of the moving target in the plane coordinate system, and when the current position of the moving target is within the alarm area, calculate the time required for the moving target to start from the current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issue the alarm instruction when the time is less than a predetermined threshold.

[0034] Furthermore, the coordinate positions of the moving target calibrated in the plane coordinate system according to the motion data of the moving target at each moment obtained by the monitoring radar are sequentially connected to generate the actual motion trajectory of the moving target;

[0035] Associating each of the moving targets with a corresponding predicted trajectory and actual motion trajectory according to the predicted trajectory, the actual motion trajectory, and the current motion data of the moving target;

[0036] The predicted trajectory is corrected according to the actual motion trajectory and the latest motion data.

[0037] Furthermore, the analyzing the current position of the moving target in the plane coordinate system and, when the current position of the moving target is within the alarm area, calculating the time required for the moving target to depart from the current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issuing the alarm instruction when the time is less than a predetermined threshold specifically includes:

[0038] Performing real-time monitoring on the alarm area and issuing a warning signal when the moving target enters the alarm area;

[0039] In response to the attention signal, calculating, based on the latest motion data of the moving target, the time required for the moving target to depart from the current position and collide with the two-wheeled vehicle; and

[0040] Compare the duration to see if it is less than the predetermined threshold, and issue an alarm instruction when the duration is less than the predetermined threshold.

[0041] Furthermore, it also includes:

[0042] connecting to the vehicle computer system of the two-wheeled vehicle to obtain the turn signal status data of the two-wheeled vehicle, and sending a turn reminder signal to the comparison unit when it is determined that the turn signal of the two-wheeled vehicle is turned on, wherein the turn reminder signal includes the turn direction;

[0043] When the duration is less than the predetermined threshold, first further determining whether the turning reminder signal is received, if not, issuing a first-level alarm instruction, if yes, further determining whether the turning direction and the moving target corresponding to the duration less than the predetermined threshold behind are both located on the same side of the two-wheeled vehicle, if not, issuing a first-level alarm instruction, if yes, issuing a second-level alarm instruction;

[0044] The alarm device issues a low-intensity alarm when receiving the first-level alarm instruction, and issues a high-intensity alarm when receiving the second-level alarm instruction.

[0045] After adopting the above technical solution, the embodiment of the present invention has at least the following beneficial effects: the embodiment of the present invention installs a driving warning system on a two-wheeled vehicle. When a moving target enters the detection range behind the two-wheeled vehicle, the monitoring radar installed at the rear of the two-wheeled vehicle obtains the motion data of the moving target in real time. The controller generates a predicted trajectory of the moving target based on the motion data and determines the current position of the moving target based on the motion data and the predicted trajectory, so that the position of the two-wheeled vehicle can still be effectively determined when the two-wheeled vehicle enters the detection blind spot behind the vehicle. When it is determined that the position of the moving target is within the pre-calibrated alarm area, the collision time between the moving target from the current position to the two-wheeled vehicle is calculated. When the collision time is less than a predetermined threshold, an alarm instruction is issued. The alarm reminds the driver according to the alarm instruction, thereby realizing effective early warning for the driver. At the same time, the system only needs to install a single monitoring radar behind the two-wheeled vehicle to realize the detection of moving targets, which not only effectively saves costs but also facilitates the installation of the system on the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 The figure is a schematic structural block diagram of the two-wheeled vehicle driving warning system of the present invention.

[0047] Figure 2 Schematic diagram of the monitoring radar detection area and coordinate system of the two-wheeled vehicle driving warning system of the present invention.

[0048] Figure 3 Schematic diagram of the relative speed and angle between the moving target and the monitoring radar of the two-wheeled vehicle driving warning system of the present invention.

[0049] Figure 4 The figure is a schematic diagram of the controller structure of the two-wheeled vehicle driving warning system of the present invention.

[0050] Figure 5 This is a schematic structural diagram of the warning module of the two-wheeled vehicle driving warning system of the present invention.

[0051] Figure 6 The figure is a schematic diagram of the principle steps of the two-wheeled vehicle driving warning method of the present invention.

[0052] Figure 7 This is a flow chart of step S2 of the two-wheeled vehicle driving warning method of the present invention.

[0053] Figure 8 This is a flow chart of step S23 of the two-wheeled vehicle driving warning method of the present invention. DETAILED DESCRIPTION

[0054] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the following exemplary embodiments and descriptions are only used to explain the present invention and are not intended to limit the present invention. Moreover, the embodiments and features in the embodiments of the present application may be combined with each other unless there is a conflict.

[0055] like Figure 1 As shown, an optional embodiment of the present invention provides a two-wheeled vehicle driving warning system, which is composed of the following components:

[0056] A monitoring radar 1 assembled at the rear of the two-wheeled vehicle is used to monitor in real time the moving targets entering the detection area of ​​the monitoring radar 1 and obtain the moving target's motion data, the motion data including the moving target's distance, speed and angle relative to the monitoring radar 1;

[0057] a controller 3 connected to the monitoring radar 1, configured to generate a predicted trajectory of the moving target based on the motion data, determine the current position of the moving target based on the motion data and the predicted trajectory, and, when it is determined that the moving target enters a pre-calibrated alarm area, calculate the time required for the moving target to depart from the current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issue an alarm instruction when the time is less than a predetermined threshold; and

[0058] The alarm 5 is connected to the controller 3 and is used to issue an alarm when an alarm instruction is received.

[0059] The embodiment of the present invention installs a driving warning system on a two-wheeled vehicle. When a moving target behind the two-wheeled vehicle enters the detection range, the monitoring radar 1 installed at the rear of the two-wheeled vehicle obtains the motion data of the moving target in real time. The motion data includes the distance, speed and angle of the moving target relative to the monitoring radar 1. The controller 3 generates a predicted trajectory of the moving target based on the motion data and determines the current position of the moving target based on the motion data and the predicted trajectory. Therefore, the position of the two-wheeled vehicle can still be effectively determined when the two-wheeled vehicle enters the detection blind spot behind the vehicle. When it is determined that the position of the moving target is within the pre-calibrated alarm area, the collision time between the moving target from the current position to the two-wheeled vehicle is calculated. In specific implementation, Figure 2 and Figure 3As shown, a detection area within the detection range of the monitoring radar 1 and a detection blind area outside the detection range of the monitoring radar 1 near the rear of the two-wheeled vehicle are formed behind the vehicle. A plane coordinate system is established with the monitoring radar 1 as the origin, the driving direction of the two-wheeled vehicle as the Y axis, and the axis perpendicular to the driving direction of the two-wheeled vehicle as the X axis. First, the component velocities (Vx and Vy) of the moving target in the X-axis direction and the Y-axis direction are determined according to the speed V and the angle θ, and then the coordinate position (x, y) of the moving target in the plane coordinate system is determined according to the distance r and the angle θ. The collision time T between the moving target and the two-wheeled vehicle is T=y / Vy. ​​When the collision time T is less than the predetermined threshold, an alarm instruction is issued, and the alarm 5 warns the driver according to the alarm instruction, thereby realizing effective early warning for the driver. At the same time, the system only needs to install a single monitoring radar 1 behind the two-wheeled vehicle to realize the detection of the moving target, which not only effectively saves costs but also facilitates the installation of the system on the vehicle.

[0060] The driving warning system of the present invention can be applied not only to various two-wheeled motor vehicles, such as two-wheeled motorcycles and electric bicycles, but also to non-motorized two-wheeled vehicles such as bicycles, provided that a power supply module is installed to ensure power supply.

[0061] In an optional embodiment of the present invention, Figure 4 As shown, the controller 3 includes:

[0062] A prediction module 30, connected to the monitoring radar 1, is used to predict the movement path of the moving target in the next cycle according to the latest movement data in a predetermined cycle and generate the corresponding predicted trajectory;

[0063] a tracking module 32, connected to the monitoring radar 1 and the prediction module 30, having a built-in plane coordinate system in which the radar position and the alarm area are pre-calibrated, and for calibrating the position of the moving target in the plane coordinate system based on the motion data and the predicted trajectory. When the moving target is within the detection area, the current position of the moving target is directly calibrated using the latest motion data. After the moving target enters the detection blind area from the detection area, the current position of the moving target is calibrated based on the predicted trajectory generated by the prediction module 30 for the last prediction before the moving target enters the detection blind area; and

[0064] The early warning module 34 is connected to the prediction module 30 and the tracking module 32, and is used to analyze the current position of the moving target calibrated by the tracking module 32 in the plane coordinate system, and when the current position of the moving target is within the alarm area, calculate the time required for the moving target to start from the current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issue the alarm instruction when the time is less than a predetermined threshold.

[0065] This embodiment predicts the movement route of the moving target in the next cycle through the prediction module 30, which can effectively grasp the movement of the target in the next cycle, and tracks the moving target in real time through the tracking module 32 to ensure that the movement data of the moving target can be obtained in real time. When the moving target enters the detection blind spot, the position of the moving target after entering the detection blind spot is determined according to the predicted trajectory predicted by the prediction module 30 before the moving target enters the detection blind spot, thereby ensuring that the position of the moving target can still be grasped after entering the detection blind spot, and realizing effective tracking of the moving target. The early warning module 34 can effectively analyze the movement state of the moving target and the possibility of collision between it and the two-wheeled vehicle, and issue an alarm instruction in time to realize timely early warning reminder to the driver.

[0066] In an optional embodiment of the present invention, Figure 4 As shown, the tracking module 32 is further used to sequentially connect the coordinate positions of the moving target calibrated in the plane coordinate system according to the motion data of the moving target at each moment obtained by the monitoring radar 1 to generate the actual motion trajectory of the moving target;

[0067] The controller 3 further includes:

[0068] an associating module 36 connected to the tracking module 32 and the prediction module 30, configured to associate each moving target with a corresponding predicted trajectory and actual trajectory based on the predicted trajectory, the actual trajectory, and the current motion data of the moving target; and

[0069] The correction module 38 is connected to the prediction module 30 and the tracking module 32, and is used to correct the predicted trajectory according to the actual motion trajectory and the latest motion data.

[0070] This embodiment generates the actual motion trajectory of the moving target and can match the motion trajectory of the moving target with the moving target to achieve good tracking of the moving target. The predicted motion trajectory of the moving target is associated with the actual motion trajectory through the association module 36, so that the moving target corresponding to the actual motion trajectory can be effectively determined. In specific implementation, since the monitoring radar 1 has a predetermined interval period for obtaining the position of the moving target, when there are many moving targets to be tracked or the moving targets are close to each other, the positions of the moving targets obtained may be close to each other. In this case, it is difficult to determine the moving target and its corresponding actual motion trajectory, resulting in system judgment errors. It is necessary to associate the moving target with its actual motion trajectory through the predicted trajectory to determine which predicted trajectory the moving target position is close to, and the moving target corresponding to the close predicted trajectory is the moving target corresponding to the actual moving target position. The correction module 38 can update the acquired motion data and predicted trajectory in real time, thereby ensuring the real-time and accuracy of the moving target prediction.

[0071] In an optional embodiment of the present invention, Figure 5 As shown, the early warning module 34 includes:

[0072] The monitoring unit 341 is used to monitor the alarm area in real time and send a warning signal when the moving target enters the alarm area;

[0073] a calculation unit 343 connected to the monitoring unit 341, configured to respond to the attention signal and calculate, based on the latest motion data of the moving target, the time required for the moving target to depart from its current position and collide with the two-wheeled vehicle; and

[0074] The comparison unit 345 is connected to the calculation unit 343 and is used to compare whether the duration is less than the predetermined threshold, and issue an alarm instruction when the duration is less than the predetermined threshold.

[0075] This embodiment can effectively monitor the alarm area preset behind the two-wheeled vehicle and issue a warning signal through the monitoring unit 341, and can effectively calculate the time required for a collision between the moving target and the two-wheeled vehicle through the calculation unit 343. The calculated time is compared with a predetermined threshold through the comparison unit 345, and it can effectively determine whether the state of the moving target meets the conditions for issuing an alarm command to issue an alarm.

[0076] In an optional embodiment of the present invention, Figure 5 As shown, the early warning module 34 also includes:

[0077] a steering analysis unit 347 connected to the comparison unit 345 and configured to connect to the vehicle computer system of the two-wheeled vehicle to obtain the turn signal status data of the two-wheeled vehicle, and to send a steering reminder signal to the comparison unit 345 when determining that the turn signal of the two-wheeled vehicle is turned on, wherein the steering reminder signal includes the steering direction;

[0078] The comparison unit 345 further determines whether the turn reminder signal is received when the time duration is less than the predetermined threshold, and if not, issues a first-level alarm instruction; if so, further determines whether the turning direction and the moving target corresponding to the time duration less than the predetermined threshold are both located on the same side of the two-wheeled vehicle; if not, issues a first-level alarm instruction; if so, issues a second-level alarm instruction;

[0079] The alarm device 5 issues a low-intensity alarm when receiving the first-level alarm instruction, and issues a high-intensity alarm when receiving the second-level alarm instruction.

[0080] This embodiment effectively determines which side of the two-wheeled vehicle's turn signal is on through the steering analysis unit 347 to judge the driver's steering intention, and determines whether the driver's steering direction and the rear moving target are on the same side of the two-wheeled vehicle through the comparison unit 345, so as to issue an alarm instruction of a corresponding level, and receives the alarm instruction through the alarm device 5 and activates the corresponding alarm device to alarm. In specific implementation, the alarm device includes a signal light and a buzzer. When the duration of the collision between the rear moving target and the two-wheeled vehicle is less than a predetermined threshold, it is first determined whether the turn signal of the two-wheeled vehicle is on, so as to determine the corresponding alarm instruction to be issued. The intensity level of the alarm is as follows: the first-level alarm instruction corresponds to a low-intensity alarm, and the second-level alarm instruction corresponds to a high-intensity alarm. The low-intensity alarm includes: when the duration of the possible collision between the moving target and the two-wheeled vehicle is less than a predetermined threshold, the signal light on the same side as the moving target relative to the two-wheeled vehicle is activated to warn the driver; the high-intensity alarm includes: when the duration of the possible collision between the moving target and the two-wheeled vehicle is less than a predetermined threshold, and the side of the moving target relative to the two-wheeled vehicle is the same as the side of the two-wheeled vehicle with the turn signal turned on, the signal light and buzzer on the same side as the moving target relative to the two-wheeled vehicle are activated to warn the driver. By setting the first-level alarm instruction and the second-level alarm instruction, it can effectively help the driver judge the situation of the vehicle coming from behind when turning and changing lanes, thereby improving driving safety. The alarm system mentioned in this embodiment is only applicable to electric two-wheeled vehicles and motorcycles with a vehicle-mounted system, and is not applicable to bicycles that do not have a vehicle-mounted system.

[0081] An optional embodiment of the present invention further provides a driving warning method, such as Figure 6 As shown, the following steps are included:

[0082] S1: A monitoring radar assembled on the rear of a two-wheeled vehicle monitors in real time a moving target entering a detection area of ​​the monitoring radar and obtains motion data of the moving target, the motion data including the distance, speed, and angle of the moving target relative to the monitoring radar;

[0083] S2: generating a predicted trajectory of the moving target based on the motion data, determining the current position of the moving target based on the motion data and the predicted trajectory, and when it is determined that the moving target enters a pre-calibrated alarm area, calculating the time required for the moving target to depart from the current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issuing an alarm instruction when the time is less than a predetermined threshold; and

[0084] S3: The alarm device issues an alarm in response to the alarm instruction.

[0085] By adopting the above method, this embodiment can achieve good monitoring of moving targets behind a two-wheeled vehicle with only one monitoring radar, effectively determine the position and status of the target within the detection area and after entering the detection blind spot, and promptly issue an early warning to the driver.

[0086] In an optional embodiment of the present invention, Figure 7 As shown, the step S2 specifically includes:

[0087] S21: predicting the movement path of the moving target in the next period according to the latest movement data in a predetermined period and generating the corresponding predicted trajectory;

[0088] S22: calibrating the position of the moving target in a built-in plane coordinate system based on the motion data and the predicted trajectory, wherein the plane coordinate system is pre-calibrated with a radar position and an alarm area. When the moving target is within the detection area, the current position of the moving target is directly calibrated using the latest motion data. After the moving target enters a detection blind area from the detection area, the current position of the moving target is calibrated based on the predicted trajectory generated by the last prediction before the moving target enters the detection blind area.

[0089] S23: Analyze the current position of the moving target in the plane coordinate system, and when the current position of the moving target is within the alarm area, calculate the time required for the moving target to start from the current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issue the alarm instruction when the time is less than a predetermined threshold.

[0090] This embodiment can make a good prediction of the motion trajectory of the moving target by adopting the above method, and effectively determine the position of the moving target in the detection blind spot based on the predicted trajectory, and effectively judge whether the state of the moving target meets the preset alarm conditions. When the alarm conditions are met, an alarm command is issued to promptly remind the driver.

[0091] In an optional embodiment of the present invention, Figure 7 As shown, it also includes:

[0092] S24: sequentially connecting the coordinate positions of the moving target calibrated in the plane coordinate system according to the motion data of the moving target at each moment obtained by the monitoring radar to generate an actual motion trajectory of the moving target;

[0093] S25: Associating each of the moving targets with the corresponding predicted trajectory and actual motion trajectory according to the predicted trajectory, the actual motion trajectory, and the current motion data of the moving target;

[0094] S26: Correcting the predicted trajectory according to the actual motion trajectory and the latest motion data.

[0095] This embodiment can effectively associate the actual motion trajectory of the target with the moving target by adopting the above method, thereby determining the moving target and its corresponding motion trajectory, thereby preventing the moving target from being lost during the tracking process.

[0096] In an optional embodiment of the present invention, Figure 8 As shown, the step S23 specifically includes:

[0097] S231: monitoring the alarm area in real time, and issuing a warning signal when the moving target enters the alarm area;

[0098] S232: In response to the attention signal, calculating the time required for the moving target to depart from its current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target; and

[0099] S233: Compare the duration to see if it is less than the predetermined threshold, and issue an alarm instruction when the duration is less than the predetermined threshold.

[0100] This embodiment can effectively determine whether a collision may occur between a moving target and a two-wheeled vehicle by adopting the above method, and issue an alarm instruction in time to warn the driver according to the situation.

[0101] In an optional embodiment of the present invention, Figure 8 As shown, it also includes:

[0102] S234: connecting to the vehicle computer system of the two-wheeled vehicle to obtain the turn signal status data of the two-wheeled vehicle, and sending a turn reminder signal to the comparison unit when it is determined that the turn signal of the two-wheeled vehicle is turned on, wherein the turn reminder signal includes the turn direction;

[0103] When the duration is less than the predetermined threshold, first further determining whether the turning reminder signal is received, if not, issuing a first-level alarm instruction, if yes, further determining whether the turning direction and the moving target corresponding to the duration less than the predetermined threshold behind are both located on the same side of the two-wheeled vehicle, if not, issuing a first-level alarm instruction, if yes, issuing a second-level alarm instruction;

[0104] S235: The alarm device issues a low-intensity alarm when receiving the first-level alarm instruction, and issues a high-intensity alarm when receiving the second-level alarm instruction.

[0105] This embodiment uses the above method to effectively determine whether the two-wheeled vehicle is currently turning or changing lanes, thereby issuing different alarm levels according to the situation so that the driver can make corresponding judgments and responses. This embodiment is more suitable for two-wheeled vehicles such as two-wheeled motorcycles and electric bicycles.

[0106] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which fall within the scope of protection of the present invention.

Claims

1. A two-wheeled vehicle driving warning system, characterized in that: The driving warning system consists of the following components: A monitoring radar assembled on the rear of the two-wheeled vehicle is used to monitor in real time the moving targets entering the detection area of ​​the monitoring radar and obtain the moving target's motion data, the motion data including the moving target's distance, speed and angle relative to the monitoring radar; a controller, connected to the monitoring radar, configured to generate a predicted trajectory of the moving target based on the motion data, determine a current position of the moving target based on the motion data and the predicted trajectory, and, when determining that the moving target enters a pre-calibrated alarm area, calculate a time required for the moving target to depart from its current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issue an alarm instruction when the time is less than a predetermined threshold; and An alarm, connected to the controller, for issuing an alarm upon receiving an alarm instruction; Wherein, the controller includes: A prediction module, connected to the monitoring radar, for predicting the movement path of the moving target in the next cycle according to the latest movement data in a predetermined cycle and generating the corresponding predicted trajectory; a tracking module connected to the monitoring radar and the prediction module, having a built-in plane coordinate system, in which the radar position and the alarm area are pre-calibrated, and used to calibrate the position of the moving target in the plane coordinate system according to the motion data and the predicted trajectory; when the moving target is in the detection area, the current position of the moving target is directly calibrated with the latest motion data; after the moving target enters the detection blind area from the detection area, the current position of the moving target is calibrated according to the predicted trajectory generated by the last prediction of the prediction module before the moving target enters the detection blind area; the tracking module is further used to sequentially connect the coordinate positions of the moving target calibrated in the plane coordinate system according to the motion data of the moving target at each moment obtained by the monitoring radar to generate the actual motion trajectory of the moving target; an early warning module, connected to the prediction module and the tracking module, configured to analyze the current position of the moving target calibrated by the tracking module in the plane coordinate system, and when the current position of the moving target is within the alarm area, calculate the time required for the moving target to depart from the current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issue the alarm instruction when the time is less than a predetermined threshold; an associating module, connected to the tracking module and the prediction module, for associating each of the moving targets with the corresponding predicted trajectory and actual motion trajectory based on the predicted trajectory, the actual motion trajectory, and the current motion data of the moving target; and A correction module is connected to the prediction module and the tracking module, and is used to correct the predicted trajectory according to the actual motion trajectory and the latest motion data.

2. The two-wheeled vehicle driving warning system according to claim 1, characterized in that: The early warning module includes: A monitoring unit, configured to monitor the alarm area in real time and issue a warning signal when the moving target enters the alarm area; a calculation unit connected to the monitoring unit, configured to respond to the attention signal and calculate, based on the latest motion data of the moving target, the time required for the moving target to depart from its current position and collide with the two-wheeled vehicle; and A comparison unit is connected to the calculation unit and is used to compare whether the duration is less than the predetermined threshold, and issue an alarm instruction when the duration is less than the predetermined threshold.

3. The two-wheeled vehicle driving warning system according to claim 2, characterized in that: The early warning module also includes: a steering analysis unit connected to the comparison unit and configured to connect to a vehicle computer system of the two-wheeled vehicle to obtain the turn signal status data of the two-wheeled vehicle, and to send a steering reminder signal to the comparison unit when determining that the turn signal of the two-wheeled vehicle is turned on, wherein the steering reminder signal includes a steering direction; The comparison unit further determines whether the turn reminder signal is received when the time length is less than the predetermined threshold, and if not, issues a first-level alarm instruction; if so, further determines whether the turning direction and the moving target corresponding to the time length less than the predetermined threshold behind the two-wheeled vehicle are both located on the same side of the two-wheeled vehicle; if not, issues a first-level alarm instruction; if so, issues a second-level alarm instruction; The alarm device issues a low-intensity alarm when receiving the first-level alarm instruction, and issues a high-intensity alarm when receiving the second-level alarm instruction.

4. A two-wheeled vehicle driving warning method, characterized in that: The method comprises the following steps: A monitoring radar assembled on the rear of the two-wheeled vehicle monitors in real time the moving targets entering the detection area of ​​the monitoring radar and obtains the motion data of the moving targets, the motion data including the distance, speed and angle of the moving targets relative to the monitoring radar; Generate a predicted trajectory of the moving target based on the motion data, determine the current position of the moving target based on the motion data and the predicted trajectory, and when it is determined that the moving target enters a pre-calibrated alarm area, calculate the time required for the moving target to start from the current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issue an alarm instruction when the time is less than a predetermined threshold, specifically including: predicting the movement route of the moving target in the next cycle based on the latest motion data according to a predetermined cycle and generating the corresponding predicted trajectory; calibrating the position of the moving target in a built-in plane coordinate system based on the motion data and the predicted trajectory, The radar position and alarm area are pre-calibrated. When the moving target is within the detection area, the current position of the moving target is directly calibrated with the latest motion data. After the moving target enters the detection blind area from the detection area, the current position of the moving target is calibrated according to the predicted trajectory generated by the last prediction before the moving target enters the detection blind area; and the current position of the moving target in the plane coordinate system is analyzed. When the current position of the moving target is within the alarm area, the time required for the moving target to depart from the current position and collide with the two-wheeled vehicle is calculated based on the latest motion data of the moving target, and the alarm instruction is issued when the time is less than a predetermined threshold. When the alarm device responds to the alarm instruction, an alarm is issued accordingly; The coordinate positions of the moving target calibrated in the plane coordinate system according to the motion data of the moving target at each moment obtained by the monitoring radar are sequentially connected to generate an actual motion trajectory of the moving target; Associating each of the moving targets with the corresponding predicted trajectory and actual motion trajectory according to the predicted trajectory, the actual motion trajectory, and the current motion data of the moving target; and The predicted trajectory is corrected according to the actual motion trajectory and the latest motion data.

5. The two-wheeled vehicle driving warning method according to claim 4, characterized in that: The analyzing the current position of the moving target in the plane coordinate system and, when the current position of the moving target is within the alarm area, calculating the time required for the moving target to depart from the current position and collide with the two-wheeled vehicle based on the latest motion data of the moving target, and issuing the alarm instruction when the time is less than a predetermined threshold specifically includes: Performing real-time monitoring on the alarm area and issuing a warning signal when the moving target enters the alarm area; In response to the attention signal, calculating, based on the latest motion data of the moving target, the time required for the moving target to depart from the current position and collide with the two-wheeled vehicle; and Compare the duration to see if it is less than the predetermined threshold, and issue an alarm instruction when the duration is less than the predetermined threshold.

6. The two-wheeled vehicle driving warning method according to claim 5, characterized in that: Also includes: Connecting to the vehicle computer system of the two-wheeled vehicle to obtain the turn signal status data of the two-wheeled vehicle, and sending a turn reminder signal to the comparison unit when it is determined that the turn signal of the two-wheeled vehicle is turned on, wherein the turn reminder signal includes the turn direction; When the duration is less than the predetermined threshold, first further determining whether the turning reminder signal is received, if not, issuing a first-level alarm instruction, if yes, further determining whether the turning direction and the moving target corresponding to the duration less than the predetermined threshold behind are both located on the same side of the two-wheeled vehicle, if not, issuing a first-level alarm instruction, if yes, issuing a second-level alarm instruction; The alarm device issues a low-intensity alarm when receiving the first-level alarm instruction, and issues a high-intensity alarm when receiving the second-level alarm instruction.

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