Millimeter wave radar warning system, method and vehicle

Abstract

The present invention discloses a millimeter-wave radar early warning system, method, and automobile. The millimeter-wave radar early warning system includes: a millimeter-wave radar, an inertial navigation module, and an acoustic and visual early warning screen; wherein: the inertial navigation module is used to obtain vehicle navigation information and transmit it to the acoustic and visual early warning screen; the acoustic and visual early warning screen is used to display the vehicle navigation information and receive the vehicle navigation information transmitted by the inertial navigation module and transmit it to the millimeter-wave radar; the millimeter-wave radar is used to detect target information, combine the vehicle navigation information received from the acoustic and visual early warning screen, predict the vehicle's driving trajectory, and derive early warning information based on a preset early warning strategy and transmit it to the acoustic and visual early warning screen; the acoustic and visual early warning screen is also used to issue an early warning based on the early warning information. This allows for early identification of dangerous targets, changing driving direction, improving driving safety, and effectively avoiding traffic accidents.

Description

Technical Field

[0001] The present invention relates to the field of automobile safe driving, and in particular to a millimeter wave radar early warning system, method and automobile. Background Art

[0002] With the rapid development of the national economy, the civil engineering, transportation, and logistics industries are booming across China. This has led to an increasing number of traffic accidents, particularly those caused by heavy trucks and construction vehicles. The lateral blind spots of heavy trucks are a major cause of road accidents. Coupled with the discrepancy between the inner and outer wheels of heavy trucks, accidents caused by drivers failing to detect pedestrians and other vehicles are also common, resulting in irreparable damage to people's lives and property.

[0003] At present, in the existing technology, drivers mainly rely on traditional side mirrors for observation. The observation range of such mirrors is limited. Some vehicles have added warning devices on the outside of the vehicle. When turning, the warning devices will emit sound and light to remind pedestrians to avoid. However, this method has certain limitations. It cannot avoid the blind spots caused by the trailer body when heavy trucks turn, resulting in the driver's inability to predict the vehicle's driving trajectory. In addition, the driver fails to adjust the vehicle's turning route or brake in time in possible emergencies, causing traffic accidents. Summary of the Invention

[0004] The embodiments of the present invention aim to provide a millimeter-wave radar warning system, method, and vehicle, which can solve the problem that existing heavy vehicles cannot predict the vehicle's driving trajectory due to blind spots when turning, and cannot adjust the vehicle's turning route or brake in time in possible emergencies, causing traffic accidents.

[0005] To solve the above technical problems, the first embodiment of the present invention provides a millimeter wave radar early warning system, which includes: a millimeter wave radar, an inertial navigation module, and an acoustic and light early warning screen; the acoustic and light early warning screen is electrically connected to the millimeter wave radar and the inertial navigation module, respectively; wherein:

[0006] The inertial navigation module is used to obtain vehicle navigation information and transmit it to the sound and light warning screen;

[0007] The sound and light warning screen is used to display the vehicle navigation information, and receive the vehicle navigation information transmitted by the inertial navigation module and transmit it to the millimeter wave radar;

[0008] The millimeter-wave radar is used to detect target information, combine the vehicle navigation information transmitted by the sound and light warning screen, predict the vehicle's driving trajectory, and obtain warning information based on a preset warning strategy and transmit it to the sound and light warning screen;

[0009] The sound and light warning screen is also used to issue a warning based on the warning information.

[0010] Optionally, the inertial navigation module includes an inertial measurement unit and a positioning component; wherein:

[0011] The inertial measurement unit is used to output vehicle posture information, and the vehicle posture information includes at least: acceleration, angular velocity, angle, ground speed and heading angle;

[0012] The positioning component is used to output vehicle positioning information.

[0013] Optionally, the millimeter-wave radar is installed on the other side opposite to the driving seat of the car, and the sound and light warning screen is installed in the car cab. The sound and light warning screen includes an inertial navigation module fault light, a sound warning device, an LED warning light and a display screen.

[0014] Optionally, the preset early warning strategy includes:

[0015] Determine a first warning area, a second warning area, and a third warning area based on the distance from the front of the vehicle;

[0016] A warning level is determined for each warning area according to the target situation in each warning area, and the warning levels include a first warning level, a second warning level and a third warning level; wherein, the first warning level is that the LED warning light is lit, the second warning level is that the LED warning light flashes at a predetermined flashing frequency, and the third warning level is that the LED warning light flashes at a predetermined flashing rate and the sound alarm issues a sound warning.

[0017] Optionally, the inertial navigation module fault light is electrically connected to the millimeter-wave radar, and is configured to light up when no vehicle information access flag signal transmitted by the millimeter-wave radar is received, so as to indicate that the millimeter-wave radar warning system is in an abnormal state;

[0018] The sound warning device is electrically connected to the millimeter-wave radar and is used to issue a sound warning when the millimeter-wave radar determines that the vehicle is at the third warning level;

[0019] The LED warning light is electrically connected to the millimeter-wave radar and is configured to flash at a predetermined flashing rate when the millimeter-wave radar determines that the vehicle is at the second warning level or the third warning level.

[0020] Optionally, determining a warning level for each warning area according to the target situation in each warning area includes:

[0021] First, a target is determined in the first warning area. If a target is present in the first warning area, the first level warning level is activated. The distance of the target from the side of the vehicle is also determined. If the distance from the target to the side of the vehicle is less than or equal to a preset warning distance, the third level warning level is activated. If the distance from the target to the side of the vehicle is greater than the preset warning distance, the second level warning level is activated.

[0022] If there is no target in the first warning area, the targets in the second warning area and the third warning area are determined; if there is a target in the second warning area and / or the third warning area, the first level warning level is activated, and the current time collision of the target in the second warning area and / or the third warning area is calculated and determined at the same time; if the current time collision of the target in the second warning area and / or the third warning area is less than or equal to the first preset time collision, the third level warning level is activated; if the current time collision is greater than or equal to the first preset time collision and less than or equal to the second preset time collision, the second level warning level is activated; if there is no target in the second warning area and the third warning area, the first level warning level, the second level warning level and the second level warning level are not activated.

[0023] Optionally, the millimeter wave radar is further used to receive vehicle CAN information input by CAN;

[0024] When the millimeter-wave radar simultaneously accesses the vehicle navigation information input by the inertial navigation module and the vehicle CAN information input via CAN, the millimeter-wave radar gives priority to the vehicle CAN information; when only one of the information is accessed, the millimeter-wave radar uses the accessed information; when neither of the two information is input, the inertial navigation module fault light on the sound and light warning screen is lit.

[0025] Correspondingly, a second embodiment of the present invention provides a car, which includes the millimeter-wave radar warning system described in the first embodiment.

[0026] Accordingly, a second embodiment of the present invention provides a millimeter wave radar early warning method, the method comprising:

[0027] The inertial navigation module obtains vehicle navigation information and transmits it to the sound and light warning screen;

[0028] The sound and light warning screen displays the vehicle navigation information and transmits the vehicle navigation information to the millimeter wave radar;

[0029] The millimeter wave radar detects target information and predicts the vehicle's driving trajectory in combination with the vehicle navigation information transmitted by the sound and light warning screen;

[0030] The millimeter wave radar obtains warning information based on a preset warning strategy and transmits it to the sound and light warning screen;

[0031] The sound and light warning screen issues an early warning according to the early warning information.

[0032] Optionally, the preset early warning strategy includes:

[0033] Determine a first warning area, a second warning area, and a third warning area based on the distance from the front of the vehicle;

[0034] A warning level is determined for each warning area according to the target situation in each warning area, and the warning levels include a first-level warning level, a second-level warning level and a third-level warning level; wherein, the first-level warning level is that the LED warning light of the sound and light warning screen is lit, the second-level warning level is that the LED warning light flashes at a predetermined flashing frequency, and the third-level warning level is that the LED warning light flashes at a predetermined flashing rate and the sound warning device of the sound and light warning screen issues a sound warning.

[0035] Optionally, the method further includes:

[0036] When the vehicle information access flag signal transmitted by the millimeter-wave radar is not received, the inertial navigation module fault light of the sound and light warning screen lights up to indicate that the millimeter-wave radar warning system is in an abnormal state;

[0037] When the millimeter-wave radar determines that the vehicle is at the third warning level, the sound warning device of the sound and light warning screen issues a sound warning;

[0038] When the millimeter-wave radar determines that the vehicle is at the second warning level or the third warning level, the LED warning light of the sound and light warning screen flashes at a predetermined flashing rate.

[0039] Optionally, the step of determining a warning level for each warning area according to the target situation in each warning area includes:

[0040] First, a target is determined in the first warning area. If a target is present in the first warning area, the first level warning level is activated. The distance of the target from the side of the vehicle is also determined. If the distance from the target to the side of the vehicle is less than or equal to a preset warning distance, the third level warning level is activated. If the distance from the target to the side of the vehicle is greater than the preset warning distance, the second level warning level is activated.

[0041] If there is no target in the first warning area, determining targets in the second warning area and the third warning area;

[0042] If there is a target in the second warning area and / or the third warning area, the first level warning level is activated, and the current collision time of the target in the second warning area and / or the third warning area is calculated and determined. If the current collision time of the target in the second warning area and / or the third warning area is less than or equal to the first preset collision time, the third level warning level is activated. If the current collision time is greater than or equal to the first preset collision time and less than or equal to the second preset collision time, the second level warning level is activated.

[0043] If there is no target in the second warning area and the third warning area, the first warning level, the second warning level and the third warning level are not activated.

[0044] Optionally, the method further includes:

[0045] The millimeter wave radar also receives vehicle CAN information input by CAN;

[0046] When the millimeter-wave radar simultaneously receives the vehicle navigation information input by the inertial navigation module and the vehicle CAN information input via CAN, the millimeter-wave radar preferentially uses the vehicle CAN information;

[0047] When only one of the information is accessed, the information accessed by the millimeter-wave radar;

[0048] When neither of the two pieces of information is input, the inertial navigation module fault light on the sound and light warning screen is lit.

[0049] Compared to the prior art, the embodiments of the present invention provide a millimeter-wave radar warning system, method, and vehicle. The system comprises a millimeter-wave radar, an inertial navigation module, and an acoustic and visual warning screen. The inertial navigation module is used to obtain vehicle navigation information and transmit it to the acoustic and visual warning screen. The acoustic and visual warning screen is used to display the vehicle navigation information and receive the vehicle navigation information transmitted by the inertial navigation module and transmit it to the millimeter-wave radar. The millimeter-wave radar is used to detect target information, combine it with the vehicle navigation information transmitted by the acoustic and visual warning screen, predict the vehicle's driving trajectory, and derive warning information based on a preset warning strategy and transmit it to the acoustic and visual warning screen. The acoustic and visual warning screen issues a warning based on the warning information. Thus, by accurately predicting the target's motion trajectory and estimating the risk of collision with the target, the system proactively issues a warning when a pedestrian or vehicle enters a dangerous area. The acoustic and visual warning screen emits an acoustic and visual reminder, allowing the driver to make an early judgment about dangerous targets by observing the warning status of the acoustic and visual warning screen, change driving direction, improve driving safety, and effectively avoid traffic accidents. It can be applied in scenarios such as blind spot monitoring, lane change assistance, and steering assistance, providing auxiliary warnings for heavy trucks, construction vehicles, and other vehicles with blind spots, thereby improving driving safety. This can solve the existing problem of heavy vehicles being unable to predict the vehicle's trajectory due to blind spots when turning, and failing to adjust the vehicle's turning route or brake in time in possible emergencies, causing traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0051] Figure 1 This is a structural diagram of a millimeter wave radar early warning system provided by the present invention;

[0052] Figure 2 This is a structural diagram of an inertial navigation module in a millimeter wave radar early warning system provided by the present invention;

[0053] Figure 3 This is a structural diagram of an acousto-optic warning screen in a millimeter-wave radar warning system provided by the present invention;

[0054] Figure 4 This is a schematic diagram of the distribution of warning areas in a millimeter wave radar warning system provided by the present invention;

[0055] Figure 5This is a schematic diagram of the interaction between a millimeter-wave radar early warning system, an actuator, and a CAN controller provided by the present invention;

[0056] Figure 6 This is a schematic diagram of a car including a millimeter wave radar early warning system provided by the present invention;

[0057] Figure 7 The figure is a flow chart of a millimeter wave radar early warning method provided by the present invention. DETAILED DESCRIPTION

[0058] For ease of understanding of the present invention, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as being "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween. The orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "bottom" etc. used in this specification is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0059] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this invention belongs. The terms used in this specification and in the description of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the relevant listed items.

[0060] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0061] In one embodiment, Figure 1 As shown, the present invention provides a millimeter wave radar early warning system, the millimeter wave radar early warning system 1 includes: a millimeter wave radar 11, an inertial navigation module 12 and an acoustic and light early warning screen 13; the acoustic and light early warning screen 13 is electrically connected to the millimeter wave radar 11 and the inertial navigation module 12 respectively; wherein:

[0062] The inertial navigation module 12 is used to obtain vehicle navigation information and transmit it to the sound and light warning screen 13;

[0063] The sound and light warning screen 13 is used to display the vehicle navigation information, and receive the vehicle navigation information transmitted by the inertial navigation module 12 and transmit it to the millimeter wave radar 11;

[0064] The millimeter wave radar 11 is used to detect target information, combine the vehicle navigation information transmitted by the sound and light warning screen 13, predict the vehicle's driving trajectory, and obtain warning information based on a preset warning strategy and transmit it to the sound and light warning screen 13;

[0065] The sound and light warning screen 13 is also used to issue a warning according to the warning information.

[0066] In this embodiment, a millimeter-wave radar warning system is provided, comprising a millimeter-wave radar, an inertial navigation module, and an acoustic and visual warning screen. The inertial navigation module is configured to acquire vehicle navigation information and transmit it to the acoustic and visual warning screen. The acoustic and visual warning screen is configured to display the vehicle navigation information and receive the vehicle navigation information transmitted by the inertial navigation module and transmit it to the millimeter-wave radar. The millimeter-wave radar is configured to detect target information, combine it with the vehicle navigation information received from the acoustic and visual warning screen, predict the vehicle's driving trajectory, and derive warning information based on a preset warning strategy, which is then transmitted to the acoustic and visual warning screen. The acoustic and visual warning screen issues a warning based on the warning information. Thus, by accurately predicting the target's trajectory and estimating the risk of collision with the target, the system proactively issues a warning when a pedestrian or vehicle enters a dangerous area. The acoustic and visual warning screen emits an acoustic and visual reminder, allowing the driver to make an early judgment about the presence of a dangerous target by observing the warning status of the acoustic and visual warning screen, change driving direction, improve driving safety, and effectively avoid traffic accidents. It can be applied in scenarios such as blind spot monitoring, lane change assistance, and steering assistance, providing auxiliary warnings for heavy trucks, construction vehicles, and other vehicles with blind spots, thereby improving driving safety. This can solve the existing problem of heavy vehicles being unable to predict the vehicle's trajectory due to blind spots when turning, and failing to adjust the vehicle's turning route or brake in time in possible emergencies, causing traffic accidents.

[0067] In one embodiment, the inertial navigation module 12 is used to obtain vehicle navigation information and transmit it to the sound and light warning screen 13 .

[0068] The vehicle navigation information includes at least one of the following: vehicle positioning information and vehicle posture information.

[0069] Specifically, if Figure 2 As shown, the inertial navigation module 12 includes an inertial measurement unit (IMU) 121 and a positioning component 122; wherein:

[0070] The inertial measurement unit 121 is used to output vehicle posture information, which includes at least: acceleration (X, Y, Z three axes), angular velocity (X, Y, Z three axes), angle (X, Y, Z three axes), ground speed, and heading angle. Preferably, the inertial measurement unit 121 is a six-axis inertial measurement unit.

[0071] The positioning component 122 is used to output vehicle positioning information. The positioning component 122 supports both Beidou and GPS (Global Positioning System) functions, and combines an adaptive combined navigation algorithm to provide real-time, high-precision vehicle positioning information.

[0072] The positioning component 122 includes an antenna module and a positioning module.

[0073] The antenna module is used to receive satellite positioning signals and transmit them to the positioning module;

[0074] The positioning module is used to output vehicle positioning information based on the satellite positioning signal. The positioning module supports both Beidou and GPS functions and combines an adaptive combined navigation algorithm to provide real-time, high-precision vehicle positioning information.

[0075] Preferably, the positioning module is a satellite receiving chip.

[0076] Preferably, the antenna module is built-in so that it can be packaged in one structure with the inertial measurement unit, making the product compact and easy to install.

[0077] The inertial navigation module 12 is installed in the vehicle cab, and the front of the antenna module of the inertial navigation module 12 cannot be blocked. Preferably, the inertial navigation module 12 is installed near the sound and light warning screen 13.

[0078] After the inertial navigation module 12 is installed and self-calibrated, in the xyz coordinate system of the inertial navigation module 12 , the z axis is perpendicular to the ground, and the x axis and the y axis are parallel to the ground.

[0079] During use, the inertial navigation module 12 is not fixed, and installation errors can cause the inertial navigation module 12's coordinate system to tilt, resulting in output errors. Therefore, each time the system is powered on, the inertial navigation module 12 performs a self-calibration to correct for coordinate system offsets caused by installation. After self-calibration is complete, the z-axis of the inertial navigation module 12's coordinate system is perpendicular to the ground, and the x-axis and y-axis are parallel to the ground. After this calibration, the output of the inertial navigation module 12 can accurately represent the vehicle's posture information.

[0080] In this embodiment, the inertial navigation module 12 can output vehicle navigation information such as acceleration (X, Y, Z three axes), angular velocity (X, Y, Z three axes), angle (X, Y, Z three axes), ground speed and heading angle. The vehicle navigation information output by the inertial navigation module is transmitted to various modules of the vehicle through the macro definition parameters of the inertial navigation module. For example, the acceleration vectors in the X and Y directions can be assigned to the millimeter-wave radar acceleration variable, the Z-axis angular velocity can be assigned to the millimeter-wave radar YAW variable, the ground speed information can be assigned to the millimeter-wave radar speed variable, and the heading angle information can be assigned to the millimeter-wave radar angle information.

[0081] In one embodiment, the sound and light warning screen 13 is used to receive the vehicle navigation information transmitted by the inertial navigation module 12 and transmit it to the millimeter wave radar 11 .

[0082] The sound and light warning screen 13 is installed in the vehicle cab at a position where the driver has a good field of view. Preferably, the sound and light warning screen 13 is installed at the A / B pillar position of the vehicle.

[0083] Specifically, if Figure 3 As shown, the sound and light warning screen 13 includes an inertial navigation module fault light 131, a sound warning device 132, an LED warning light 133 and a display screen 134.

[0084] The inertial navigation module fault light 131 is electrically connected to the millimeter-wave radar 11 and is configured to illuminate when the vehicle information access flag signal transmitted by the millimeter-wave radar 11 is not received, indicating that the millimeter-wave radar warning system is in an abnormal state. The lighting status of the inertial navigation module fault light 131 can be displayed on the display screen 134.

[0085] The sound warning device 132 is electrically connected to the millimeter wave radar 11 and is used to issue a sound warning when the millimeter wave radar 11 determines that the vehicle is at the third warning level. Preferably, the sound warning device 132 can be set at the bottom of the display screen 134.

[0086] The LED warning light 133 is electrically connected to the millimeter-wave radar 11 and is configured to flash at a predetermined rate when the millimeter-wave radar 11 determines that the vehicle is at the second or third warning level. The display status of the LED warning light 133 can be displayed on the display screen 134. Preferably, the display status of the LED warning light 133 is displayed as a bar on the display screen 134.

[0087] In one embodiment, the millimeter-wave radar 11 is used to detect target information, combine it with the vehicle navigation information transmitted by the sound and light warning screen 13, predict the vehicle's driving trajectory, and derive warning information based on a preset warning strategy and transmit it to the sound and light warning screen 13. The target information includes at least one of the following: target speed, target angle, and target distance information.

[0088] The millimeter-wave radar 11 is installed on the side opposite the driver's seat of the vehicle, at a preset height above the ground. For example, if the driver's seat is on the left side of the vehicle, the millimeter-wave radar 11 is installed on the right side of the vehicle. Preferably, the millimeter-wave radar 11 is installed in the middle of the right side of the vehicle, at a preset height of 60-140 cm from the ground.

[0089] If the car driver is on the right side of the car, the millimeter-wave radar 11 is installed on the left side of the car. Preferably, the millimeter-wave radar 11 is installed in the middle position of the left side of the car, at a height of 60-140 cm from the ground.

[0090] As an example, the millimeter-wave radar 11 uses a high-performance radar with a 180° FOV, operates in the 77GHz frequency band, and is installed on the left or right side of the vehicle at a height of 60-140cm from the ground. The maximum detection distance in front of and behind the vehicle can reach 80m. It has excellent resolution and measurement accuracy, can stably detect target information, and combined with the input information received from the inertial navigation module 12, accurately predict the vehicle's driving trajectory.

[0091] The preset warning strategy includes: determining multiple warning areas and multiple warning levels, and determining the warning level according to the target situation in the warning area.

[0092] Specifically, the determination of multiple warning zones includes dividing the zones into three zones based on their distance from the front of the vehicle: a first warning zone (Zone 1), a second warning zone (Zone 2), and a third warning zone (Zone 3). Targets within the first warning zone have the highest warning priority. If there are multiple targets within the first warning zone, targets closer to the side of the vehicle receive higher warning priority. For targets within the second and / or third warning zones, the warning priority is based on Time-To-Collision (TTC), with lower TTC values ​​indicating higher warning priority. If there are no targets within the second and third warning zones, a warning is issued according to the R151 regulatory logic, with the second warning zone taking precedence over the third warning zone. The R151 regulation is a technical regulation for the Blind Spot Information System (BSIS) officially published by the United Nations Economic Commission for Europe (UNECE) and took effect on November 15, 2019.

[0093] As an example, Figure 4 As shown, taking a heavy truck as an example, the horizontal line of the vehicle's front bumper is used as the dividing point, with the front of the vehicle's front bumper being positive and the rear of the vehicle's front bumper being negative. The horizontal line dividing point of the vehicle's front bumper is 0 meters. The first warning zone (Zone 1) includes 2 meters in front of the front bumper to 7 meters behind the front bumper, that is, the range of the first warning zone is (+2, -7) meters. The second warning zone (Zone 2) includes 7 meters behind the front bumper to 30 meters behind the front bumper, that is, (-7, -30) meters. The third warning zone (Zone 3) includes 2 meters in front of the front bumper to 7 meters in front of the front bumper, that is, (+7, +2) meters.

[0094] Determining multiple warning levels includes dividing the warning levels into three levels: a first warning level, a second warning level, and a third warning level. The first warning level includes illuminating an LED warning light. The second warning level includes flashing the LED warning light at a predetermined flashing frequency. The third warning level includes flashing the LED warning light at a predetermined flashing rate and an audible warning device providing an audible warning. Generally, the second warning level and the third warning level are activated when the vehicle turns left or right.

[0095] As an example, the predetermined flickering rate is 1.5 Hz. In the second warning level and the second warning level, the LED warning light flickers at a flickering rate of 1.5 Hz.

[0096] Determining the warning level according to the target situation in the warning area, specifically determining a warning level for each warning area according to the target situation in each warning area, includes:

[0097] First, determine the target in the first warning area. If there is a target in the first warning area, activate the first level warning level. At the same time, determine the side distance of the target from the vehicle. If the side distance of the target from the vehicle is less than or equal to the preset warning distance, activate the third level warning level. If the side distance of the target from the vehicle is greater than the preset warning distance, activate the second level warning level.

[0098] If there are no targets in the first warning area, the targets in the second and third warning areas are determined. If there are targets in the second and / or third warning areas, the first level warning level is activated, and the current time collision of the targets in the second and / or third warning areas is calculated and determined. If the current time collision of the targets in the second and / or third warning areas is less than or equal to the first preset time collision TTC1, the third level warning level is activated. If the current time collision is greater than or equal to the first preset time collision TTC1 and less than or equal to the second preset time collision TTC2, the second level warning level is activated. If there are no targets in the second and third warning areas, the R151 regulation logic warning is used, and the second warning area is superior to the third warning area, and the first, second and third level warning levels are not activated.

[0099] As an example, the preset warning distance is 2.5 meters, the first preset time collision TTC1 is 0.7 seconds, and the first preset time collision TTC2 is 1.5 seconds.

[0100] When there is a target in the first warning area, the first level warning level is activated; if the target is less than or equal to 2.5 meters away from the side of the vehicle, the third level warning level is activated; if the target is greater than 2.5 meters away from the side of the vehicle, the second level warning level is activated.

[0101] If there is no target in the first warning area, the target in the second warning area and / or the third warning area is determined. If there is a target in both the second warning area and / or the third warning area, the first level warning level is activated, and the current time collision of the target in the second warning area and / or the third warning area is calculated and determined. If the current time collision of the target in the second warning area and / or the third warning area is less than or equal to 0.7 seconds, the third level warning level is activated. If the current time collision is greater than or equal to 0.7 seconds and less than or equal to 1.5 seconds, the second level warning level is activated. If there is no target in either the second warning area and / or the third warning area, the R151 regulation logic warning is used, and the second warning area is prioritized over the third warning area. The first, second, and third level warning levels are not activated.

[0102] In this embodiment, the millimeter-wave radar combines its own detected target information, including target speed, target angle, and target distance, with the vehicle navigation information from the inertial navigation module transmitted via the sound and light warning screen to accurately predict the motion trajectory of the detected target and estimate the risk of collision with the target. Different levels of warning are provided within the warning range required by laws and regulations. When a pedestrian or vehicle enters a dangerous area, an active warning is issued. Warning information is derived based on a preset warning strategy and transmitted to the sound and light warning screen, which then emits an audible and visual reminder. This allows the driver to make an early judgment about the presence of a dangerous target by observing the warning status of the sound and light warning screen, change driving direction, improve driving safety, and effectively avoid traffic accidents. This system can be applied to scenarios such as blind spot monitoring, lane change assistance, and steering assistance, providing auxiliary warnings for heavy trucks, engineering vehicles, and other vehicles with blind spots, thereby improving driving safety. This system can thus solve the problem of heavy vehicles currently facing accidents, where drivers cannot predict the vehicle's trajectory due to blind spots when turning, and fail to adjust the vehicle's turning route or brake in a timely manner in the event of an emergency.

[0103] Furthermore, in one embodiment, Figure 5 As shown, the millimeter wave radar 11 is also used to receive vehicle CAN information input by CAN (Controller Area Network).

[0104] Specifically, in addition to receiving the vehicle navigation information transmitted from the inertial navigation module 12 via the sound and light warning screen 13, the millimeter-wave radar 11 can also receive vehicle CAN information input via CAN. At this time, the inertial navigation module 12 is electrically connected to the sound and light warning screen 13, and the sound and light warning screen 13 is electrically connected to the millimeter-wave radar 11. The sound and light warning screen 13 receives the vehicle navigation information transmitted from the inertial navigation module 12 and transmits it to the millimeter-wave radar 11. The vehicle CAN information is directly input to the millimeter-wave radar 11 via CAN, that is, the millimeter-wave radar 11 simultaneously receives the vehicle navigation information input from the inertial navigation module 12 and the vehicle CAN information input via CAN.

[0105] At this time, when the millimeter-wave radar 11 simultaneously accesses the vehicle navigation information input by the inertial navigation module 12 and the vehicle CAN information input via CAN, the millimeter-wave radar 11 gives priority to using the vehicle CAN information; when only one of the information is accessed, the millimeter-wave radar 11 uses the accessed information; when neither of the two information is input, the system status is abnormal, and the inertial navigation module fault light 131 on the sound and light warning screen 13 will be lit.

[0106] Specifically, the millimeter-wave radar 11 first determines whether there is vehicle CAN information input. If there is vehicle CAN information input, the vehicle CAN information is directly used and a vehicle information access flag signal is output to the sound and light warning screen 13. The sound and light warning screen 13 then forcibly turns off the inertial navigation module fault light 131 and may not output the vehicle navigation information transmitted by the inertial navigation module 12 to the millimeter-wave radar 11. If the millimeter-wave radar 11 determines that there is no vehicle CAN information input, it further determines whether there is vehicle navigation information input transmitted by the inertial navigation module 12. If there is vehicle navigation information transmitted by the inertial navigation module 12, the vehicle navigation information is used and a vehicle information access flag signal is output to the sound and light warning screen 13. The sound and light warning screen 13 then forcibly turns off the inertial navigation module fault light 131. Otherwise, a fault message is sent to the sound and light warning screen 13, lighting up the inertial navigation module fault light 131, indicating that there is no vehicle posture information input and the system status is abnormal. When the sound and light warning screen 13 does not receive the vehicle information access flag signal transmitted by the millimeter-wave radar 11, the connected inertial navigation module 12 is judged according to the electrical connection status of the inertial navigation module 12, the sound and light warning screen 13 and the millimeter-wave radar 11. If the inertial navigation module 12 works normally, the vehicle navigation information of the inertial navigation module 12 is transmitted to the millimeter-wave radar 11 through the sound and light warning screen 13. If the inertial navigation module 12 access fails, the inertial navigation module fault light 131 is turned on.

[0107] In this embodiment, in addition to receiving the vehicle navigation information transmitted by the inertial navigation module through the sound and light warning screen, the millimeter-wave radar can also receive vehicle CAN information input through CAN, so that more stable and reliable vehicle posture information can be obtained from the vehicle itself, thereby improving the compatibility of the millimeter-wave radar warning system, enabling the millimeter-wave radar warning system to meet a wider range of applications, reminding drivers to avoid accidents, and further improving vehicle driving safety.

[0108] Furthermore, in one embodiment, Figure 5 As shown, the millimeter wave radar 11 is further configured to output the warning information to an actuator via an analog output interface, so that the actuator performs vehicle braking. As an example, the actuator is a vehicle brake.

[0109] In this embodiment, the millimeter-wave radar is also used to output the warning information to the actuator through an analog output interface. In an emergency situation, the millimeter-wave radar warning system will perform collision prediction to enable the actuator to brake the vehicle, further improving the safety of vehicle driving and effectively avoiding the occurrence of traffic accidents.

[0110] Based on the same concept, in one embodiment, Figure 6 As shown, the present invention provides a car, and the car 100 includes the millimeter wave radar warning system 1 described in any one of the above embodiments.

[0111] In this embodiment, the millimeter wave radar warning system 1 is consistent with the millimeter wave radar warning system 1 described in any of the above embodiments. The specific structure and function can refer to the millimeter wave radar warning system 1 described in any of the above embodiments, and will not be repeated here.

[0112] The automobile includes a heavy truck, an engineering vehicle or a medium or large passenger bus.

[0113] In this embodiment, the automobile includes a millimeter-wave radar warning system, which includes a millimeter-wave radar, an inertial navigation module, and an acoustic and visual warning screen. The inertial navigation module is used to obtain vehicle navigation information and transmit it to the acoustic and visual warning screen. The acoustic and visual warning screen is used to display the vehicle navigation information and receive the vehicle navigation information transmitted by the inertial navigation module and transmit it to the millimeter-wave radar. The millimeter-wave radar is used to detect target information, combine it with the vehicle navigation information transmitted by the acoustic and visual warning screen, predict the vehicle's driving trajectory, and derive warning information based on a preset warning strategy and transmit it to the acoustic and visual warning screen. The acoustic and visual warning screen issues a warning based on the warning information. Thus, by accurately predicting the target's motion trajectory and estimating the risk of collision with the target, the system proactively issues a warning when a pedestrian or vehicle enters a dangerous area. The acoustic and visual warning screen emits an acoustic and visual reminder, allowing the driver to make an early judgment about the presence of a dangerous target by observing the warning status of the acoustic and visual warning screen, change driving direction, improve driving safety, and effectively avoid traffic accidents. It can be applied in scenarios such as blind spot monitoring, lane change assistance, and steering assistance, providing auxiliary warnings for heavy trucks, construction vehicles, and other vehicles with blind spots, thereby improving driving safety. This can solve the existing problem of heavy vehicles being unable to predict the vehicle's trajectory due to blind spots when turning, and failing to adjust the vehicle's turning route or brake in time in possible emergencies, causing traffic accidents.

[0114] It should be noted that the above-mentioned automobile embodiment and the millimeter-wave radar warning system embodiment belong to the same concept. The specific implementation process is detailed in the millimeter-wave radar warning system embodiment, and the technical features in the millimeter-wave radar warning system embodiment are correspondingly applicable in the automobile embodiment, which will not be repeated here.

[0115] Based on the same concept, in one embodiment, Figure 7 As shown, the present invention provides a millimeter wave radar early warning method, the method comprising:

[0116] S1, the inertial navigation module obtains vehicle navigation information and transmits it to the sound and light warning screen;

[0117] S2. The sound and light warning screen displays the vehicle navigation information and transmits the vehicle navigation information to the millimeter wave radar;

[0118] S3, the millimeter wave radar detects target information and predicts the vehicle's driving trajectory in combination with the vehicle navigation information transmitted by the sound and light warning screen;

[0119] S4. The millimeter-wave radar obtains warning information based on a preset warning strategy and transmits the warning information to the sound and light warning screen;

[0120] S5. The sound and light warning screen issues a warning according to the warning information.

[0121] In this embodiment, a millimeter-wave radar warning method is provided, comprising: an inertial navigation module acquiring vehicle navigation information and transmitting it to an audible and visual warning screen; the audible and visual warning screen displaying the vehicle navigation information and transmitting it to the millimeter-wave radar; the millimeter-wave radar detecting target information and, in combination with the vehicle navigation information received from the audible and visual warning screen, predicting the vehicle's trajectory; the millimeter-wave radar generating warning information based on a preset warning strategy and transmitting it to the audible and visual warning screen; and the audible and visual warning screen issuing a warning based on the warning information. This method accurately predicts the target's trajectory and estimates the risk of collision with the target. When pedestrians or vehicles enter a dangerous area, an active warning is issued. The audible and visual warning screen emits an audible and visual reminder, allowing the driver to observe the warning status of the audible and visual warning screen and make an early assessment of the presence of a dangerous target, thereby changing driving direction, improving driving safety, and effectively avoiding traffic accidents. The method can be applied to scenarios such as blind spot monitoring, lane change assistance, and steering assistance, providing auxiliary warnings for blind spots in heavy trucks, engineering vehicles, and other vehicles, improving driving safety. This can solve the problem that the driver of existing heavy vehicles cannot predict the vehicle's driving trajectory due to blind spots when turning, and fails to adjust the vehicle's turning route or brake in time in possible emergencies, causing traffic accidents.

[0122] In one embodiment, the preset warning strategy includes: determining multiple warning areas and multiple warning levels, and determining the warning level according to the target conditions within the warning area.

[0123] Specifically, the determination of multiple warning areas includes: dividing the warning areas into three areas according to the distance from the front of the vehicle: the first warning area, the second warning area, and the third warning area. Among them, the warning priority of the target in the first warning area is the highest, and if there are multiple targets in the first warning area, the warning priority of the target that is closer to the side of the vehicle is higher. The warning priority of the target in the second warning area and / or the third warning area is based on the Time-To-Collision (TTC). The lower the TTC value, the higher the warning priority. If there is no target in the second warning area and the third warning area, the R151 regulation logic warning is used, and the second warning area is superior to the third warning area.

[0124] Determining multiple warning levels includes dividing the warning levels into three levels: a first warning level, a second warning level, and a third warning level. The first warning level includes lighting up an LED warning light. The second warning level includes flashing the LED warning light at a predetermined flashing frequency. The third warning level includes flashing the LED warning light at a predetermined flashing rate and an audible warning device sounding an audible warning.

[0125] Determining the warning level according to the target situation in the warning area, specifically determining a warning level for each warning area according to the target situation in each warning area, includes:

[0126] First, determine the target in the first warning area. If there is a target in the first warning area, activate the first level warning level. At the same time, determine the side distance of the target from the vehicle. If the side distance of the target from the vehicle is less than or equal to the preset warning distance, activate the third level warning level. If the side distance of the target from the vehicle is greater than the preset warning distance, activate the second level warning level.

[0127] If there are no targets in the first warning area, the targets in the second and third warning areas are determined. If there are targets in the second and / or third warning areas, the first level warning level is activated, and the current time collision of the targets in the second and / or third warning areas is calculated and determined. If the current time collision of the targets in the second and / or third warning areas is less than or equal to the first preset time collision TTC1, the third level warning level is activated. If the current time collision is greater than or equal to the first preset time collision TTC1 and less than or equal to the second preset time collision TTC2, the second level warning level is activated. If there are no targets in the second and third warning areas, the R151 regulation logic warning is used, and the second warning area is superior to the third warning area, and the first, second and third level warning levels are not activated.

[0128] In one embodiment, the method further comprises:

[0129] When the vehicle information access flag signal transmitted by the millimeter-wave radar is not received, the inertial navigation module fault light of the sound and light warning screen lights up to indicate that the millimeter-wave radar warning system is in an abnormal state;

[0130] When the millimeter-wave radar determines that the vehicle is at the third warning level, the sound warning device of the sound and light warning screen issues a sound warning;

[0131] When the millimeter-wave radar determines that the vehicle is at the second warning level or the third warning level, the LED warning light of the sound and light warning screen flashes at a predetermined flashing rate.

[0132] In one embodiment, the method further comprises:

[0133] The millimeter wave radar also receives vehicle CAN information input by CAN;

[0134] When the millimeter-wave radar simultaneously receives the vehicle navigation information input by the inertial navigation module and the vehicle CAN information input via CAN, the millimeter-wave radar preferentially uses the vehicle CAN information;

[0135] When only one of the information is accessed, the information accessed by the millimeter-wave radar;

[0136] When neither of the two pieces of information is input, the inertial navigation module fault light on the sound and light warning screen is lit.

[0137] It should be noted that the above-mentioned method embodiment and the millimeter-wave radar warning system embodiment belong to the same concept. The specific implementation process is detailed in the millimeter-wave radar warning system embodiment, and the technical features in the millimeter-wave radar warning system embodiment are correspondingly applicable in the method embodiment, which will not be repeated here.

[0138] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0139] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above. For the sake of simplicity, they are not provided in detail. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A millimeter wave radar early warning system, characterized in that: The millimeter wave radar early warning system includes: a millimeter wave radar, an inertial navigation module and an acoustic and light early warning screen, wherein the acoustic and light early warning screen is electrically connected to the millimeter wave radar and the inertial navigation module respectively, wherein: The inertial navigation module is used to obtain vehicle navigation information and transmit it to the sound and light warning screen; The sound and light warning screen is used to display the vehicle navigation information, and receive the vehicle navigation information transmitted by the inertial navigation module and transmit it to the millimeter wave radar; The millimeter wave radar is used to detect target information, and in combination with the vehicle navigation information transmitted by the sound and light warning screen, predict the vehicle's driving trajectory, and obtain warning information based on a preset warning strategy, and transmit it to the sound and light warning screen; wherein, the preset warning strategy includes: determining the first warning area, the second warning area and the third warning area according to the distance from the front of the vehicle; determining a warning level for each warning area according to the target situation in each warning area, and the warning levels include the first warning level, the second warning level and the third warning level, including: first determining the target in the first warning area, if there is a target in the first warning area, then activating the first warning level, and at the same time determining the distance between the target and the side of the vehicle, if the distance between the target and the side of the vehicle is less than or equal to the preset warning distance, then activating the third warning level, if the distance between the target and the side of the vehicle is less than or equal to the preset warning distance, then activating the third warning level, If the surface distance is greater than the preset warning distance, the second level warning level is activated; if there is no target in the first warning area, the targets in the second warning area and the third warning area are determined; if there is a target in the second warning area and / or the third warning area, the first level warning level is activated, and the current time collision of the target in the second warning area and / or the third warning area is calculated and determined at the same time; if the current time collision of the target in the second warning area and / or the third warning area is less than or equal to the first preset time collision, the third level warning level is activated; if the current time collision is greater than or equal to the first preset time collision and less than or equal to the second preset time collision, the second level warning level is activated; if there is no target in the second warning area and the third warning area, the first level warning level, the second level warning level and the third level warning level are not activated; The sound and light warning screen is also used to issue a warning based on the warning information.

2. The millimeter wave radar early warning system according to claim 1, characterized in that: The inertial navigation module includes an inertial measurement unit and a positioning component; wherein: The inertial measurement unit is used to output vehicle posture information, and the vehicle posture information includes at least: acceleration, angular velocity, angle, ground speed and heading angle; The positioning component is used to output vehicle positioning information.

3. The millimeter wave radar early warning system according to claim 1, characterized in that: The millimeter-wave radar is installed on the other side opposite to the car's driving position, and the sound and light warning screen is installed in the car's cab. The sound and light warning screen includes an inertial navigation module fault light, a sound warning device, an LED warning light and a display screen.

4. The millimeter wave radar early warning system according to claim 3, characterized in that: The preset early warning strategy also includes: The first level warning level is that the LED warning light is on, the second level warning level is that the LED warning light flashes at a predetermined flashing frequency, and the third level warning level is that the LED warning light flashes at a predetermined flashing rate and the sound alarm issues a sound warning.

5. The millimeter wave radar early warning system according to claim 4, characterized in that: The inertial navigation module fault light is electrically connected to the millimeter-wave radar and is configured to light up when the vehicle information access flag signal transmitted by the millimeter-wave radar is not received, thereby indicating that the millimeter-wave radar warning system is in an abnormal state; The sound warning device is electrically connected to the millimeter-wave radar and is used to issue a sound warning when the millimeter-wave radar determines that the vehicle is at the third warning level; The LED warning light is electrically connected to the millimeter-wave radar and is configured to flash at a predetermined flashing rate when the millimeter-wave radar determines that the vehicle is at the second warning level or the third warning level.

6. The millimeter wave radar early warning system according to claim 1, characterized in that: The millimeter wave radar is also used to receive vehicle CAN information input by CAN; When the millimeter-wave radar simultaneously receives the vehicle navigation information input by the inertial navigation module and the vehicle CAN information input via CAN, the millimeter-wave radar preferentially uses the vehicle CAN information; When only one of the information is accessed, the millimeter-wave radar uses the accessed information; When neither of the two pieces of information is input, the inertial navigation module fault light on the sound and light warning screen is lit.

7. An automobile, characterized in that: The automobile includes the millimeter-wave radar warning system according to any one of claims 1 to 6.

8. A millimeter wave radar early warning method, characterized in that: The method comprises: The inertial navigation module obtains vehicle navigation information and transmits it to the sound and light warning screen; The sound and light warning screen displays the vehicle navigation information and transmits the vehicle navigation information to the millimeter wave radar; The millimeter wave radar detects target information and predicts the vehicle's driving trajectory in combination with the vehicle navigation information transmitted by the sound and light warning screen; The millimeter-wave radar obtains warning information based on a preset warning strategy and transmits it to the sound and light warning screen; wherein, the preset warning strategy includes: determining the first warning area, the second warning area and the third warning area according to the distance from the front of the vehicle; determining a warning level for each warning area according to the target situation in each warning area, and the warning levels include the first warning level, the second warning level and the third warning level, including: first determining the target in the first warning area, if there is a target in the first warning area, then activating the first warning level, and at the same time determining the distance between the target and the side of the vehicle, if the distance between the target and the side of the vehicle is less than or equal to the preset warning distance, then activating the third warning level, if the distance between the target and the side of the vehicle is greater than the preset warning distance, then activating the second warning, etc. level; if there is no target in the first warning area, determine the targets in the second warning area and the third warning area; if there is a target in the second warning area and / or the third warning area, activate the first warning level, and at the same time calculate and determine the current time collision of the target in the second warning area and / or the third warning area; if the current time collision of the target in the second warning area and / or the third warning area is less than or equal to the first preset time collision, activate the third warning level; if the current time collision is greater than or equal to the first preset time collision and less than or equal to the second preset time collision, activate the second warning level; if there is no target in the second warning area and the third warning area, do not activate the first warning level, the second warning level and the third warning level; The sound and light warning screen issues an early warning according to the early warning information.

9. The millimeter wave radar early warning method according to claim 8, characterized in that: The preset early warning strategy also includes: The first level warning level is that the LED warning light of the sound and light warning screen is lit, the second level warning level is that the LED warning light flashes at a predetermined flashing frequency, and the third level warning level is that the LED warning light flashes at a predetermined flashing rate and the sound warning device of the sound and light warning screen issues a sound warning.

10. The millimeter wave radar early warning method according to claim 9, characterized in that: The method further comprises: When the vehicle information access flag signal transmitted by the millimeter-wave radar is not received, the inertial navigation module fault light of the sound and light warning screen lights up to indicate that the millimeter-wave radar warning system is in an abnormal state; When the millimeter-wave radar determines that the vehicle is at the third warning level, the sound warning device of the sound and light warning screen issues a sound warning; When the millimeter-wave radar determines that the vehicle is at the second warning level or the third warning level, the LED warning light of the sound and light warning screen flashes at a predetermined flashing rate.

11. The millimeter wave radar early warning method according to claim 8, characterized in that: The method further comprises: The millimeter wave radar also receives vehicle CAN information input by CAN; When the millimeter-wave radar simultaneously receives the vehicle navigation information input by the inertial navigation module and the vehicle CAN information input via CAN, the millimeter-wave radar preferentially uses the vehicle CAN information; When only one of the information is accessed, the information accessed by the millimeter-wave radar; When neither of the two pieces of information is input, the inertial navigation module fault light on the sound and light warning screen is lit.

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