A right blind area elimination system and method based on multi-millimeter wave radar

Abstract

The present invention relates to a right blind area elimination system and method based on multiple millimeter-wave radars, including a bearing base, a turntable mechanism, a bearing head, a monitoring camera, millimeter-wave radars, an auxiliary drive circuit and a main control circuit. The lower end surface of the bearing base is connected to the bearing head through the turntable mechanism. The monitoring camera is embedded in the lower end surface of the bearing head. One millimeter-wave radar is provided at each end of the bearing head, and at least two millimeter-wave radars are provided on the front side and the rear side of the bearing head. The auxiliary drive circuit is embedded in the bearing base and is electrically connected to the turntable mechanism, the monitoring camera, the millimeter-wave radars, the main control circuit and the three-dimensional turntable respectively. The main control circuit is embedded in the vehicle console. The elimination method includes two steps: system presetting and rear-view observation operation. The present invention has a wider field of view, can effectively eliminate the vehicle blind area, can effectively meet the needs of various structural vehicles and usage environments, and can accurately identify and locate the objects around the vehicle.

Description

Technical Field

[0001] The present invention relates to a right blind spot elimination system and method based on multiple millimeter wave radars, belonging to the technical field of automotive equipment. Background Art

[0002] During vehicle operation, the vehicle mainly identifies and judges the surrounding environment and obstacles of the vehicle body through the rearview mirror. However, in actual use, it is found that when the current rearview mirror device is used, due to its relatively fixed structure, there are a large number of visual blind spots around the vehicle, or due to optical reflection, refraction, etc., the driver cannot directly and accurately judge the position relationship between the vehicle and external obstacles through the rearview mirror, thus seriously affecting the running safety of the vehicle. This problem is particularly prominent in large vehicles such as large trucks; at the same time, when the current rearview mirror device is in use, it is extremely vulnerable to external environmental lighting conditions, bad weather such as rain and snow, which further causes the vehicle driver to be unable to accurately and clearly identify and judge the vehicle and the obstacles outside the vehicle body through the rearview mirror. Summary of the Invention

[0003] In order to solve the problem that the vehicle and the obstacles outside the vehicle body cannot be accurately and clearly identified and judged through the rearview mirror in the prior art, the present invention provides a right blind spot elimination system and method based on multiple millimeter wave radars.

[0004] A right blind spot elimination system based on multi-millimeter-wave radars includes a bearing base, a turntable mechanism, a bearing head, a monitoring camera, a lighting lamp, a heating wire, a millimeter-wave radar, an auxiliary drive circuit and a main control circuit. The bearing base is a "凵" groove-shaped structure in cross section and is connected to the lower end face of the vehicle rearview mirror, and the axis of the bearing base is parallel to the horizontal plane. The lower end face of the bearing base is connected to the bearing head through the turntable mechanism. The bearing head is a columnar cavity structure with a rectangular axial section, and its axis is parallel to the lower end face of the bearing base. The axis of the bearing head and the axis of the turntable mechanism are vertically distributed and intersect, and the intersection is located at the midpoint of the bearing head. The monitoring camera is embedded in the lower end face of the bearing head and is hinged to the lower end face of the bearing head through a three-dimensional turntable. The optical axis of the monitoring camera is at an angle of 0°-180° to the horizontal plane. The monitoring camera is 0 °-360° rotation range, a millimeter-wave radar coaxially distributed with the carrying head is respectively arranged at both ends of the carrying head, at least two millimeter-wave radars evenly distributed along the axis direction of the carrying head are arranged on the front side and the rear side of the carrying head, and the millimeter-wave radars on the front side and the rear side of the carrying head are symmetrically distributed with the axis of the carrying head, and the axis of the millimeter-wave radar is perpendicular to and intersects with the axis of the carrying head. There are at least two lighting lamps embedded in the lower end surface of the carrying head and evenly distributed along the axis direction of the carrying head, and symmetrically distributed on both sides of the monitoring camera, at least one heating wire is embedded in the carrying base and connected to the bottom of the groove of the carrying base, the auxiliary drive circuit is embedded in the carrying base, and is electrically connected to the turntable mechanism, the monitoring camera, the lighting lamp, the heating wire, the millimeter-wave radar, the main control circuit and the three-dimensional turntable respectively, and the main control circuit is embedded in the vehicle center console and electrically connected to the vehicle driving computer circuit.

[0005] Furthermore, the supporting base includes a base, a partition, a guide rail, a positioning fixture, and a guide plate. The base is a "凵"-shaped groove structure in cross section. The partition is embedded in the base and coaxially distributed on the base, and the partition distributes the base from top to bottom into an assembly cavity and a control cavity, and the heating wire and the auxiliary drive circuit are both embedded in the control cavity. There are two guide rails, which are embedded in the assembly cavity and symmetrically distributed on both sides of the axis of the base, and the guide rails are connected to the side walls of the base and distributed parallel to the axis of the base. There are at least four positioning fixtures, which are embedded in the assembly cavity and slidably connected to the base through the guide rails. The two guide plates are respectively hinged to the upper end surface of the base through elastic hinges, and the two guide plates are symmetrically distributed on both sides of the axis of the base. The upper end surface of the guide plate is at an angle of 0°-90° with the upper end surface of the base.

[0006] Furthermore, the upper end surface of the partition is provided with wiring terminals and a plurality of springs, and the wiring terminals are electrically connected to the turntable mechanism, monitoring camera, lighting, heating wire, millimeter wave radar, main control circuit and three-dimensional turntable through wires. The spring axis is perpendicular to the upper end surface of the partition, and each spring is distributed along the axis direction of the partition, and the upper end surface of the spring is located below the upper end surface of the base.

[0007] Further, the cross-section of the bearing head is any one of a rectangle, a circle, an inverted isosceles trapezoid, and an inverted isosceles triangle. The upper end surface of the bearing head is parallel to the lower end surface of the bearing base, and the upper end surface of the bearing head and the lower end surface of the bearing base are slidably connected by at least two sliding grooves. Each sliding groove is symmetrically distributed on both sides of the turntable mechanism and is an arc structure coaxial with the turntable mechanism.

[0008] Further, the axis of the millimeter-wave radar forms an angle of 0° - 60° with the horizontal plane.

[0009] Further, both the auxiliary drive circuit and the main control circuit are circuit systems based on any one of a DSP chip and an FPGA chip.

[0010] An elimination method for a right blind area elimination system based on multiple millimeter-wave radars includes the following steps:

[0011] S1, system presetting. First, install the main control circuit into the vehicle's center console and electrically connect it to the vehicle computer circuit. Then, assemble the bearing base, turntable mechanism, bearing head, monitoring camera, lighting lamp, heating wire, millimeter-wave radar, and auxiliary drive circuit to obtain a blind area elimination mechanism. Connect a blind area elimination mechanism to the lower end surface position of the vehicle's right rearview mirror respectively, and electrically connect each blind area elimination mechanism to the main control circuit through a wire;

[0012] S2, rearview observation operation. After completing step S1, during vehicle operation, the turntable mechanism, monitoring camera, and each millimeter-wave radar are simultaneously driven by the main control circuit as the vehicle runs. On the one hand, the turntable mechanism adjusts the detection ranges of the monitoring camera and each millimeter-wave radar so that the field of view of the monitoring camera covers the vehicle's right blind area range; on the other hand, the millimeter-wave radar synchronously detects and locates the positions of objects and the vehicle within the right blind area range, determines the distance and angle between the obstacles in the blind area and the vehicle body, and then displays and alarms the detected video information in the blind area, the distance and angle data information between the obstacles in the blind area and the vehicle through the display equipped with the vehicle computer system, so as to achieve the purpose of showing the vehicle's right blind area.

[0013] Further, in step S2, when measuring the distance and angle between the obstacles in the blind area and the vehicle by the millimeter-wave radar:

[0014] First, adjust the axis of the bearing head to form an angle of 0° - 60° with the vehicle body axis through the turntable mechanism to determine the preliminary blind area detection range;

[0015] Then, millimeter-wave radars at both ends of the carrier head detect obstacles at the front and parking positions of the vehicle head, and simultaneously detect the distances between the front and rear end faces of the carrier head and the vehicle body. By using the trigonometric function based on the distance differences between the front and rear end faces of the carrier head and the vehicle body, the positioning angle between the current carrier head and the vehicle body can be calculated.

[0016] Finally, millimeter-wave radars at the front side position of the carrier head perform ranging operations on obstacles within the visual blind area along the axis direction of the carrier head. At the same time, millimeter-wave radars on the rear side of the carrier head detect the distance between the carrier head and the vehicle body, thereby obtaining preliminary data on the distribution positions of obstacles within the blind area. After the ranging is completed, the main control circuit drives the turntable mechanism to operate. The turntable mechanism adjusts the angle between the front side of the carrier head and the target obstacle until the minimum ranging value is obtained, that is, the axis of the carrier head is parallel to the obstacle. Then, millimeter-wave radars on the front and rear end faces of the carrier head and millimeter-wave radars on the rear side of the carrier head accurately measure the distances between the front and rear end faces of the carrier head and the vehicle body, and the main control circuit obtains the included angle between the current carrier head and the vehicle axis through trigonometric functions, thereby obtaining the relative angle data between the obstacle and the vehicle.

[0017] Compared with the traditional rearview mirror system, the present invention has a wider field of view, can effectively eliminate the vehicle blind area, and has flexible and convenient structure adjustment, can effectively adapt to the needs of various structural vehicles and usage environments. At the same time, it is not affected by bad weather such as rain and snow and insufficient lighting conditions at night during operation, has high clarity, can comprehensively obtain information on the vehicle surrounding environment, and can also accurately identify and locate objects around the vehicle, thus greatly improving the safety of vehicle operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be described in detail below in conjunction with the drawings and specific embodiments;

[0019] Figure 1 It is a schematic diagram of the system structure of the present invention;

[0020] Figure 2 It is a schematic cross-sectional structure diagram of the carrier base.

[0021] 1 Carrier base, 2 Turntable mechanism, 3 Carrier head, 4 Monitoring camera, 5 Lighting lamp, 6 Electric heating wire, 7 Millimeter-wave radar, 8 Auxiliary drive circuit, 9 Main control circuit, 10 Three-dimensional turntable, 11 Slide groove, 101 Base, 102 Partition board, 103 Guide rail, 104 Positioning fixture, 105 Deflector, 106 Assembly cavity, 107 Control cavity, 108 Wiring terminal, 109 Spring. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] In order to make the technical means, creative features, achieved objectives and effects of the present invention easy to implement during construction, the present invention will be further described below in conjunction with specific embodiments.

[0023] As Figure 1 and Figure 2 shown, a right blind spot elimination system based on multi-millimeter wave radar includes a carrying base 1, a turntable mechanism 2, a carrying head 3, a monitoring camera 4, a lighting lamp 5, a heating wire 6, a millimeter wave radar 7, an auxiliary drive circuit 8 and a main control circuit 9. The carrying base 1 has a cross-section in a "U" groove shape and is connected to the lower end face of the vehicle rearview mirror, and the axis of the carrying base 1 is parallel to the horizontal plane. The lower end face of the carrying base 1 is connected to the carrying head 3 through the turntable mechanism 2. The carrying head 3 is a columnar cavity structure with a rectangular axial cross-section, and its axis is parallel to the lower end face of the carrying base 1. The axis of the carrying head 3 is perpendicular to and intersects with the axis of the turntable mechanism 2, and the intersection point is located at the midpoint of the carrying head 3. The monitoring camera 4 is embedded in the lower end face of the carrying head 3 and is hinged to the lower end face of the carrying head 3 through a three-dimensional turntable 10, and the optical axis of the monitoring camera 4 forms an angle of 0° - 180° with the horizontal plane. The monitoring camera 4 rotates within a range of 0° - 360° through the three-dimensional turntable 10. At both ends of the carrying head 3, a millimeter wave radar 7 coaxial with the carrying head 3 is provided respectively. At least two millimeter wave radars 7 are provided on both the front side and the rear side of the carrying head 3 and are evenly distributed along the axis of the carrying head 3, and the millimeter wave radars 7 on the front side and the rear side of the carrying head 3 are symmetrically distributed with respect to the axis of the carrying head 3. The axis of the millimeter wave radar 7 is perpendicular to and intersects with the axis of the carrying head 3. There are at least two lighting lamps 5, which are embedded in the lower end face of the carrying head 3 and are evenly distributed along the axis of the carrying head 3, and are symmetrically distributed on both sides of the monitoring camera 4. There is at least one heating wire 6, which is embedded in the carrying base 1 and is connected to the bottom of the groove of the carrying base 1. The auxiliary drive circuit 8 is embedded in the carrying base 1 and is electrically connected to the turntable mechanism 2, the monitoring camera 4, the lighting lamp 5, the heating wire 6, the millimeter wave radar 7, the main control circuit 9 and the three-dimensional turntable 10 respectively. The main control circuit 9 is embedded in the vehicle console and is electrically connected to the vehicle driving computer circuit.

[0024] In this embodiment, the bearing base 1 includes a base 101, a partition 102, a guiding slide rail 103, a positioning fixture 104, and a diversion plate 105. The base 101 has a cross-section in a "U"-shaped groove structure. The partition 102 is embedded in the base 101 and coaxially distributed with the base 101. The partition 102 divides the base 101 into an assembly cavity 106 and a control cavity 107 from top to bottom. The heating wire 6 and the auxiliary drive circuit 8 are both embedded in the control cavity 107. There are two guiding slide rails 103 in total, which are embedded in the assembly cavity 106 and symmetrically distributed on both sides of the axis of the base 101. The guiding slide rails 103 are connected to the side wall of the base 101 and are parallel to the axis of the base 101. There are at least four positioning fixtures 104, which are embedded in the assembly cavity 106 and are slidably connected to the base 101 through the guiding slide rails 103. There are two diversion plates 105, which are respectively hinged to the upper end surface of the base 101 through elastic hinges, and the two diversion plates 105 are symmetrically distributed on both sides of the axis of the base 101. The upper end surface of the diversion plate 105 forms an angle of 0°-90° with the upper end surface of the base 101.

[0025] Among them, a wiring terminal 108 and several springs 109 are arranged on the upper end surface of the partition 102. The wiring terminal 108 is electrically connected to the turntable mechanism 2, the monitoring camera 4, the lighting lamp 5, the heating wire 6, the millimeter-wave radar 7, the main control circuit 9, and the three-dimensional turntable 10 through wires respectively. The axes of the springs 109 are perpendicularly distributed to the upper end surface of the partition 102. The springs 109 are distributed along the axis direction of the partition 102, and the upper end surfaces of the springs 109 are located below the upper end surface of the base 101.

[0026] During the operation of the present invention, the upper end surface of the bearing base 1 covers the lower end surface of the vehicle rearview mirror and is forcibly positioned by the positioning fixture 104. During the positioning, the position relationship of each positioning fixture 104 is adjusted through the guiding slide rail 103 to meet the needs of supporting different structures of the rearview mirror for operation, and the elastic potential energy of the spring 109 is used to assist in clamping and positioning the rearview mirror; at the same time, the upper end surface of the bearing base 1 and the contact surface of the rearview mirror are covered and positioned, on the one hand, reducing the wind resistance during vehicle operation; on the other hand, preventing precipitation from seeping into the bearing groove and causing failures of the heating wire 6 and the auxiliary drive circuit 8.

[0027] In addition, the cross-section of the bearing head 3 is any one of a rectangle, a circle, an inverted isosceles trapezoid, and an inverted isosceles triangle. The upper end surface of the bearing head 3 is parallel to the lower end surface of the bearing base 1, and the upper end surface of the bearing head 3 and the lower end surface of the bearing base 1 are slidably connected through at least two sliding grooves 11. Each sliding groove 11 is symmetrically distributed on both sides of the turntable mechanism 2 and is an arc structure coaxial with the turntable mechanism 2.

[0028] Further optimized, the axis of the millimeter-wave radar 7 forms an angle of 0°-60° with the horizontal plane.

[0029] In this embodiment, both the auxiliary drive circuit 8 and the main control circuit 9 are circuit systems based on any one of DSP chips and FPGA chips.

[0030] A method for eliminating the right blind area of a multi-millimeter wave radar-based right blind area elimination system includes the following steps:

[0031] S1. System presetting: First, install the main control circuit 9 into the vehicle's center console and electrically connect it to the vehicle computer circuit. Then, assemble the carrier base 1, turntable mechanism 2, carrier head 3, monitoring camera 4, lighting lamp 5, heating wire 6, millimeter wave radar 7, and auxiliary drive circuit 8 to obtain a blind area elimination mechanism. Connect a blind area elimination mechanism to the lower end face position of the vehicle's right rearview mirror, and electrically connect each blind area elimination mechanism to the main control circuit 9 through wires.

[0032] S2. Rearview observation operation: After completing step S1, during vehicle operation, the main control circuit 9 simultaneously drives the turntable mechanism 2, monitoring camera 4, and each millimeter wave radar 7 to operate. On the one hand, the turntable mechanism 2 adjusts the detection ranges of the monitoring camera 4 and each millimeter wave radar 7 so that the field of view of the monitoring camera 4 covers the vehicle's right blind area. On the other hand, the millimeter wave radar 7 synchronously detects and locates the objects and vehicle positions within the right blind area to determine the distance and angle between the obstacles in the blind area and the vehicle body. Then, display and alarm the detected video information in the blind area, the distance and angle data information between the obstacles in the blind area and the vehicle through the display equipped with the vehicle computer system, so as to achieve the purpose of showing the vehicle's right blind area.

[0033] Further, in step S2, when measuring the distance and angle between the obstacles in the blind area and the vehicle by the millimeter wave radar:

[0034] First, adjust the axis of the carrier head 3 to form an angle of 0° - 60° with the vehicle body axis through the turntable mechanism 2 to determine the preliminary blind area detection range.

[0035] Then, detect the obstacles at the front and rear positions of the vehicle by the millimeter wave radars 7 at both ends of the carrier head 3, and simultaneously detect the distances between the front end face and the rear end face of the carrier head 3 and the vehicle body. Through the distance difference between the front end face and the rear end face of the carrier head 3 and the vehicle body, the positioning angle between the current carrier head 3 and the vehicle body can be calculated using trigonometric functions.

[0036] Finally, each millimeter-wave radar 7 at the front side position of the carrier head 3 measures the distance to the obstacles within the visual blind area along the axis direction of the carrier head 3. At the same time, the millimeter-wave radar at the rear side of the carrier head 3 detects the distance between the carrier head 3 and the vehicle body, so as to obtain the preliminary data of the distribution position of the obstacles within the blind area. After the distance measurement is completed, the main control circuit 9 drives the turntable mechanism 2 to operate. The turntable mechanism 2 adjusts the angle between the front side of the carrier head 3 and the target obstacle until the minimum distance measurement value is obtained, that is, the axis of the carrier head 3 is parallel to the obstacle. Then, the millimeter-wave radars 7 at the front end face and the rear end face of the carrier head 3 and the millimeter-wave radars 7 at the rear side of the carrier head 3 accurately measure the distances between the front end face and the rear end face of the carrier head 3 and the vehicle body. The main control circuit 9 obtains the included angle between the current carrier head 3 and the vehicle axis through trigonometric functions, so as to obtain the relative angle data between the obstacle and the vehicle.

[0037] In addition, during operation, on the one hand, the lighting lamp 5 is used to perform supplementary lighting operations when the daylighting strip is insufficient, improving the clarity of the video signal collected by the camera. On the other hand, the heating wire 6 heats the carrier base 1 and the carrier head 3 to prevent rain, snow, icing, etc. from heating and drying the carrier base 1, the carrier head 3, and the various devices connected to the carrier base 1 and the carrier head 3, improving the clarity of the video signal collected by the camera, the flexibility and accuracy of the adjustment operation of the turntable mechanism 2.

[0038] Compared with the traditional rearview mirror system, the present invention has a wider field of vision, can effectively eliminate the vehicle blind area, and has flexible and convenient structure adjustment, can effectively meet the needs of various structural vehicles and usage environments. At the same time, during operation, it is not affected by bad weather such as rain and snow and insufficient lighting conditions at night, has high clarity, can comprehensively obtain the information of the vehicle surrounding environment, and can also accurately identify and locate the objects around the vehicle, thus greatly improving the safety of the vehicle during operation.

[0039] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A right blind spot elimination system based on multi-millimeter wave radar, characterized in that: The described right blind spot elimination system based on multi-millimeter wave radar includes a bearing base (1), a turntable mechanism (2), a bearing head (3), a monitoring camera (4), a lighting lamp (5), a heating wire, a millimeter wave radar (7), an auxiliary drive circuit, and a main control circuit (9). The bearing base (1) has a cross-sectional shape of a "U"-shaped groove structure and is connected to the lower end face of the vehicle rearview mirror. The axis of the bearing base (1) is parallel to the horizontal plane. The lower end face of the bearing base (1) is connected to the bearing head (3) through the turntable mechanism (2). The bearing head (3) is a columnar cavity structure with a rectangular axial cross-section, and its axis is parallel to the lower end face of the bearing base (1). The axis of the bearing head (3) is perpendicular to and intersects with the axis of the turntable mechanism (2), and the intersection point is located at the midpoint of the bearing head (3). The monitoring camera (4) is embedded in the lower end face of the bearing head (3) and is hinged to the lower end face of the bearing head (3) through a three-dimensional turntable. The monitoring camera (4) can also rotate within the range of 0° - 360° through the three-dimensional turntable. A millimeter wave radar (7) coaxial with the bearing head (3) is provided at each end of the bearing head (3). At least two millimeter wave radars (7) evenly distributed along the axis of the bearing head (3) are provided on the front side and the rear side of the bearing head (3), and the millimeter wave radars (7) on the front side and the rear side of the bearing head (3) are symmetrically distributed with respect to the axis of the bearing head (3). The axis of each millimeter wave radar (7) is perpendicular to and intersects with the axis of the bearing head (3). There are at least two lighting lamps (5), which are embedded in the lower end face of the bearing head (3) and evenly distributed along the axis of the bearing head (3), and are symmetrically distributed on both sides of the monitoring camera (4). There is at least one heating wire, which is embedded in the bearing base (1) and is connected to the bottom of the groove of the bearing base (1). The auxiliary drive circuit is embedded in the bearing base (1) and is electrically connected to the turntable mechanism (2), the monitoring camera (4), the lighting lamp (5), the heating wire, the millimeter wave radar (7), the main control circuit (9), and the three-dimensional turntable respectively. The main control circuit (9) is embedded in the vehicle center console and is electrically connected to the vehicle driving computer circuit;The described bearing base (1) includes a base (101), a partition plate (102), a guiding slide rail (103), a positioning fixture (104), and a diversion plate (105). The partition plate (102) is embedded in the base (101) and coaxially distributed with the base (101). The partition plate (102) divides the base (101) into an assembly cavity (106) and a control cavity (107) from top to bottom. The heating wire and the auxiliary drive circuit are both embedded in the control cavity (107). There are two guiding slide rails (103) in total, which are embedded in the assembly cavity (106) and symmetrically distributed on both sides of the axis of the base (101). The guiding slide rails (103) are connected to the side wall of the base (101) and are parallel to the axis of the base (101). There are at least four positioning fixtures (104), which are embedded in the assembly cavity (106) and are slidably connected to the base (101) through the guiding slide rails (103). There are two diversion plates (105), which are respectively hinged to the upper end surface of the base (101) through elastic hinges. The two diversion plates (105) are symmetrically distributed on both sides of the axis of the base (101). The upper end surface of the diversion plate (105) forms an angle of 0° - 90° with the upper end surface of the base (101).; 2. The right blind area elimination system based on multiple millimeter-wave radars according to claim 1, characterized in that: The upper end surface of the partition plate (102) is provided with a terminal (108) and several springs (109). The terminal (108) is electrically connected to the turntable mechanism (2), the monitoring camera (4), the lighting lamp (5), the heating wire, the millimeter-wave radar (7), the main control circuit (9) and the three-dimensional turntable through wires respectively. The axis of the spring (109) is vertically distributed with respect to the upper end surface of the partition plate (102), and each spring (109) is distributed along the axis direction of the partition plate (102), and the upper end surface of the spring (109) is located below the upper end surface of the base (101).

3. The blind area elimination system on the right side based on multiple millimeter-wave radars according to claim 1, wherein: The cross section of the carrier head (3) is any one of a rectangle, a circle, an inverted isosceles trapezoid and an inverted isosceles triangle. The upper end surface of the carrier head (3) is parallel to the lower end surface of the carrier base (1), and the upper end surface of the carrier head (3) and the lower end surface of the carrier base (1) are slidably connected through at least two sliding grooves, and each sliding groove is symmetrically distributed on both sides of the turntable mechanism (2) and is an arc structure coaxial with the turntable mechanism (2).

4. The right blind area elimination system based on multiple millimeter wave radars according to claim 1, characterized in that: The axis of the millimeter-wave radar (7) forms an angle of 0° - 60° with the horizontal plane.

5. A right blind spot elimination system based on multiple millimeter wave radars according to claim 1, characterized in that: Both the auxiliary drive circuit and the main control circuit (9) are circuit systems based on any one of a DSP chip and an FPGA chip.

6. The elimination method of a right blind area elimination system based on multiple millimeter-wave radars according to any one of claims 1-5, characterized in that It includes the following steps: S1. System presetting. First, install the main control circuit into the vehicle's center console and electrically connect it to the vehicle computer circuit. Then, assemble the carrier base (1), the turntable mechanism (2), the carrier head (3), the monitoring camera (4), the lighting lamp (5), the heating wire, the millimeter-wave radar (7), and the auxiliary drive circuit to obtain a blind area elimination mechanism. Connect a blind area elimination mechanism to the lower end surface position of the right rearview mirror of the vehicle respectively, and electrically connect each blind area elimination mechanism to the main control circuit (9) through wires. S2. Rearview observation operation. After completing step S1, during the vehicle operation, the main control circuit (9) drives the turntable mechanism (2), the monitoring camera (4) and each millimeter-wave radar (7) to operate simultaneously. On the one hand, the turntable mechanism (2) adjusts the detection ranges of the monitoring camera (4) and each millimeter-wave radar (7) so that the field of view of the monitoring camera (4) covers the blind area on the right side of the vehicle. On the other hand, the millimeter-wave radar (7) synchronously detects and locates the objects and vehicle positions within the right blind area to determine the distance and angle between the obstacles in the blind area and the vehicle body. Then, display and alarm the detected video information in the blind area, the distance and angle data information between the obstacles in the blind area and the vehicle through the display equipped with the vehicle computer system, so as to achieve the purpose of showing the blind area on the right side of the vehicle. In step S2, when measuring the distance and angle between the obstacles in the blind area and the vehicle by the millimeter-wave radar (7): First, adjust the axis of the carrier head (3) to form an angle of 0° - 60° with the vehicle body axis through the turntable mechanism (2) to determine the preliminary blind area detection range. Then, millimeter-wave radars (7) at both ends of the load-bearing head (3) detect obstacles at the position of the vehicle head and the parking space, and simultaneously detect the distances between the front end face and the rear end face of the load-bearing head (3) and the vehicle body. By using the trigonometric function with the distance difference between the front end face and the rear end face of the load-bearing head (3) and the vehicle body, the positioning angle between the current load-bearing head (3) and the vehicle body can be calculated; Finally, each millimeter-wave radar (7) at the front side position of the load-bearing head (3) measures the distance of obstacles within the visual blind area along the axis direction of the load-bearing head (3). At the same time, the millimeter-wave radar (7) at the rear side of the load-bearing head (3) detects the distance between the load-bearing head (3) and the vehicle body, so as to obtain the preliminary data of the distribution position of obstacles within the blind area; after the distance measurement is completed, the main control circuit (9) drives the turntable mechanism (2) to operate, and the turntable mechanism (2) adjusts the angle between the front side of the load-bearing head (3) and the target obstacle until the minimum distance measurement value is obtained, that is, the axis of the load-bearing head (3) is parallel to the obstacle. Then, the millimeter-wave radars (7) on the front end face and the rear end face of the load-bearing head (3) and the millimeter-wave radars (7) on the rear side of the load-bearing head (3) accurately measure the distances between the front end face and the rear end face of the load-bearing head (3) and the vehicle body, and the main control circuit (9) obtains the included angle between the current load-bearing head (3) and the vehicle axis through trigonometric functions, so as to obtain the relative angle data between the obstacle and the vehicle.

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