A blind spot monitoring method and device

Abstract

The application discloses a blind spot monitoring method and device, and the blind spot monitoring method comprises the following steps: determining whether a self vehicle is on a curve according to lane information obtained by a sensing system of the self vehicle; if yes, determining whether the curve curvature is within a threshold range; if yes, receiving an initial lateral distance between the self vehicle and a target vehicle behind the self vehicle detected by a blind spot monitoring radar; determining a lateral compensation distance according to the curve curvature; determining a compensated lateral distance between the self vehicle and the target vehicle according to the initial lateral distance and the lateral compensation distance; determining whether an alarm condition is met according to the compensated lateral distance; and if yes, sending a blind spot monitoring alarm information. The application compensates the lateral distance between the self vehicle on the curve and the target vehicle behind the self vehicle, improves the positioning accuracy of the target vehicle, reduces the false alarm rate and the missed alarm rate of the blind spot monitoring system, makes the blind spot monitoring system provide more accurate road information for the driver, and reduces the accident rate.

Description

Technical Field

[0001] This application relates to the field of automotive intelligent control technology, and more specifically, to a blind spot monitoring method and device. Background Technology

[0002] Every car's rearview mirror has blind spots. These blind spots prevent drivers from anticipating the presence of vehicles in adjacent lanes when changing lanes or overtaking, and they also cannot anticipate the potential danger of their upcoming maneuvers. This often leads to collisions and traffic accidents. In special weather conditions, such as heavy rain, fog, or poor visibility at night, seeing vehicles behind becomes even more difficult, making lane changes even more dangerous. In recent years, with the development and application of millimeter-wave radar technology, Blind Spot Detection (BSD) systems have emerged. Based on millimeter-wave radar sensor technology, BSD is a new high-tech feature in automobiles designed to enhance driving safety. Its main function is to eliminate blind spots in the rearview mirrors. By using millimeter-wave radar to detect vehicles, moving people, or objects in the blind spots of the rearview mirrors on both sides of the vehicle, it provides the driver with audible and visual alerts, thereby preventing accidents caused by blind spots.

[0003] However, most existing blind spot detection systems are designed for straight roads. When both the main vehicle and the target vehicle are on a curve and in the same lane, existing blind spot monitoring systems often produce false alarms or misses, which can lead to accidents. Summary of the Invention

[0004] This application provides a blind spot monitoring method and device, which improves the positioning accuracy of the target vehicle by compensating for the lateral distance between the vehicle on the curve and the target vehicle behind it, reduces the false alarm rate and false alarm rate of the blind spot monitoring system, and enables the blind spot monitoring system to provide the driver with more accurate road information, thereby reducing the accident rate.

[0005] This application provides a blind spot monitoring method, including:

[0006] The vehicle uses lane information obtained from its own perception system to determine whether it is on a curve;

[0007] If so, determine whether the curvature of the curve is within the threshold range;

[0008] If so, the initial lateral distance between the vehicle and the target vehicle behind it, detected by the blind spot monitoring radar, is received.

[0009] The lateral compensation distance is determined based on the curvature of the curve;

[0010] The compensated lateral distance between the vehicle and the target vehicle is determined based on the initial lateral distance and the lateral compensation distance.

[0011] Determine whether the alarm conditions are met based on the compensated lateral distance;

[0012] If so, a blind spot monitoring alarm will be issued.

[0013] Preferably, the lateral compensation distance is determined based on the curvature of the curve, specifically including:

[0014] The direction of curvature of a curve is determined by the steering wheel angle signal of the vehicle.

[0015] Determine the curvature interval to which the curve's curvature belongs;

[0016] The lateral compensation distance is obtained based on the curvature direction and curvature range of the curve.

[0017] Preferably, the lateral compensation distance is a calibration value corresponding to the bending direction and curvature range of the curve.

[0018] Preferably, if the curvature of the curve is not within the threshold range and the curvature of the curve is greater than the maximum value of the threshold range, then the blind spot monitoring system is functionally suppressed.

[0019] Preferably, if the curvature of the curve is not within the threshold range and the curvature of the curve is less than the minimum value of the threshold range, then the alarm condition is determined based on the initial lateral distance.

[0020] This application also provides a blind spot monitoring device, including a curve judgment module, a first judgment module, an initial distance receiving module, a compensation distance determination module, a compensation module, a second judgment module, and an alarm module;

[0021] The curve detection module is used to determine whether the vehicle is on a curve by using lane information obtained from the vehicle's perception system.

[0022] The first judgment module is used to determine whether the curvature of the curve is within the threshold range when the vehicle is on a curve.

[0023] The initial distance receiving module is used to receive the initial lateral distance between the vehicle and the target vehicle behind it detected by the blind spot monitoring radar when the curvature of the curve is within the threshold range.

[0024] The compensation distance determination module is used to determine the lateral compensation distance based on the curvature of the curve.

[0025] The compensation module is used to determine the compensated lateral distance between the vehicle and the target vehicle based on the initial lateral distance and the lateral compensation distance.

[0026] The second judgment module is used to determine whether the compensated lateral distance meets the alarm conditions.

[0027] The alarm module is used to issue blind spot monitoring alarm information when alarm conditions are met.

[0028] Preferably, the compensation distance determination module includes a bending direction determination module, a curvature range determination module, and a lateral compensation distance acquisition module;

[0029] The bending direction determination module is used to determine the bending direction of the curve using the steering wheel angle signal of the vehicle.

[0030] The curvature interval determination module is used to determine the curvature interval to which the curvature of the curve belongs;

[0031] The lateral compensation distance acquisition module is used to obtain the lateral compensation distance based on the curvature direction and curvature range of the curve.

[0032] Preferably, the lateral compensation distance is a calibration value corresponding to the bending direction and curvature range of the curve.

[0033] Preferably, the blind spot monitoring device further includes a function suppression module, which is used to suppress the function of the blind spot monitoring system when the curvature of the curve is not within the threshold range and the curvature of the curve is greater than the maximum value of the threshold range.

[0034] Preferably, the second judgment module is further used to determine whether the alarm condition is met based on the initial lateral distance when the curvature of the curve is not within the threshold range and the curvature of the curve is less than the minimum value of the threshold range.

[0035] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0036] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0037] Figure 1 A flowchart of the blind spot monitoring method provided in this application;

[0038] Figure 2 A schematic diagram of lateral compensation provided for this application;

[0039] Figure 3 This is a schematic diagram of the blind spot monitoring device provided in this application. Detailed Implementation

[0040] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0041] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0042] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0043] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0044] This application provides a blind spot monitoring method and device, which improves the positioning accuracy of the target vehicle by compensating for the lateral distance between the vehicle on the curve and the target vehicle behind it, reduces the false alarm rate and false alarm rate of the blind spot monitoring system, and enables the blind spot monitoring system to provide the driver with more accurate road information, thereby reducing the accident rate.

[0045] Example 1

[0046] like Figure 1 As shown, the blind spot monitoring method provided in this application includes:

[0047] S1010: Use lane information obtained from the vehicle's perception system to determine whether the vehicle is on a curve. If yes, proceed to S1020; otherwise, proceed to S1110.

[0048] Specifically, as one embodiment, lane lines and their curvature can be identified using the vehicle's forward-facing camera. If the lane line curvature is greater than 0, it is determined that the vehicle is traveling on a curve. The lane line curvature is then used as the curve curvature S.

[0049] S1020: Determine whether the curvature S of the curve is within the threshold range. If yes, execute S1030; otherwise, execute S1080.

[0050] Specifically, the threshold range is S min <S<S max This range is suitable for blind spot monitoring on curves.

[0051] If S>S max If the curvature of the curve is too large, the BSD function will not work properly under this condition. Generally, BSD function is suppressed. Please see S1080-S1090 below.

[0052] If S min If the curvature of the curve is very small, it can be regarded as a straight road. The alarm can be triggered according to the blind spot monitoring logic on the straight road (i.e., the existing technology). Please see S1100-S1110 below.​

[0053] S1030: Receive the initial lateral distance between the host vehicle and the target vehicle behind it detected by the blind spot monitoring radar.

[0054] S1040: Determine the lateral compensation distance according to the curve curvature S.

[0055] Specifically, information such as the curve curvature S detected by the host vehicle is used as reference data for the following vehicle, and this information is used to determine the lateral compensation distance.

[0056] As an embodiment, determining the lateral compensation distance according to the curve curvature specifically includes:

[0057] S10401: Use the steering wheel angle signal of the host vehicle to determine the bending direction of the curve.

[0058] Specifically, the positive / negative and absolute value magnitude of the steering wheel angle signal are used to judge the bending direction of the curve (i.e., left deviation or right deviation) and the magnitude of the curve curvature.

[0059] S10402: Determine the curvature interval to which the curve curvature belongs.

[0060] Different curve bending directions and curvature intervals correspond to different lateral compensation distances.

[0061] As an example, the curvature interval includes S min <S < S1, S1 < S < S2, and S2 < S < S max three intervals, where S min <S1 < S2 < S max , S min , S1, S2, and S max are preset thresholds.

[0062] S10403: Obtain the lateral compensation distance according to the bending direction and curvature interval of the curve.

[0063] As an embodiment, the lateral compensation distance is a calibrated value corresponding to the bending direction and curvature interval of the curve.

[0064] In the above example, as an illustration, the lateral compensation distance is shown in the following table:

[0065] Curvature S of the curve Left lateral compensation distance Right lateral compensation distance <![CDATA[S min <S<S1]]> ΔL1 ΔR1 S1 <S<S2 ΔL2 ΔR2 <![CDATA[S2<S<S max ]]> ΔL3 ΔR3

[0066] Among them, ΔL1 < ΔL2 < ΔL3, ΔR1 < ΔR2 < ΔR3, that is, the lateral compensation distance increases with the increase of the curve curvature. ΔL1, ΔL2, ΔL3, ΔR1, ΔR2, and ΔR3 are all fixed compensation values designed by calibration. Among them, when the curve is left - deviated, lateral compensation is made to the right; when it is right - deviated, lateral compensation is made to the left.

[0067] The calibration value corresponding to the bending direction and curvature range of the curve can be determined by consulting the table above.

[0068] S1050: Determine the compensated lateral distance between the vehicle and the target vehicle based on the initial lateral distance and the lateral compensation distance, thereby determining the relative positions of the vehicle and the target vehicle in the curve.

[0069] Figure 2 A schematic diagram of lateral compensation is shown. (For example...) Figure 2 As shown, the curve is to the left, and the target vehicle detected by the radar is located on the left side of the curve. The actual position of the target vehicle is inside the curve. By using lateral distance compensation, the position of the target vehicle can be corrected to the correct position. This allows for accurate determination of the relative positions of the vehicle and the target vehicle in the curve, thereby optimizing curve performance and reducing false alarms and missed alarms.

[0070] S1060: Determine whether the alarm conditions are met based on the compensated lateral distance. If yes, proceed to S1070; otherwise, return to S1010.

[0071] The positional relationship between the compensated target vehicle and the vehicle itself matches the situation of blind spot monitoring on a straight road. Therefore, in the alarm condition judgment stage, the judgment logic in the existing technology can be followed.

[0072] S1070: Issues a blind spot monitoring alarm and returns to S1010.

[0073] S1080: Determine if the curvature of the curve is greater than the maximum value of the threshold range. If yes, execute S1090; otherwise, execute S1100.

[0074] S1090: Functional suppression of the blind spot monitoring system.

[0075] S1100: Determine if the curvature of the curve is less than the minimum value of the threshold range. If so, execute S1110.

[0076] S1110: Determine whether the alarm conditions are met based on the initial lateral distance. If yes, execute S1070; otherwise, return to S1010.

[0077] By repeatedly executing the above steps, the blind spot monitoring results can be updated in real time.

[0078] Example 2

[0079] Based on the above blind spot monitoring method, this application provides a blind spot monitoring device. For example... Figure 3 As shown, the blind spot monitoring device includes a curve judgment module 310, a first judgment module 320, an initial distance receiving module 330, a compensation distance determination module 340, a compensation module 350, a second judgment module 360, and an alarm module 370.

[0080] The curve detection module 310 is used to determine whether the vehicle is on a curve by using lane information obtained from the vehicle's perception system.

[0081] The first judgment module 320 is used to determine whether the curvature of the curve is within the threshold range when the vehicle is on a curve.

[0082] The initial distance receiving module 330 is used to receive the initial lateral distance between the vehicle and the target vehicle behind it detected by the blind spot monitoring radar when the curvature of the curve is within the threshold range.

[0083] The compensation distance determination module 340 is used to determine the lateral compensation distance based on the curvature of the curve.

[0084] The compensation module 350 is used to determine the compensated lateral distance between the vehicle and the target vehicle based on the initial lateral distance and the lateral compensation distance.

[0085] The second judgment module 360 ​​is used to determine whether the compensated lateral distance meets the alarm conditions.

[0086] The alarm module 370 is used to issue blind spot monitoring alarm information when alarm conditions are met.

[0087] As an example, the compensation distance determination module 340 includes a bending direction determination module 3401, a curvature interval determination module 3402, and a lateral compensation distance acquisition module 3403.

[0088] The bending direction determination module 3401 is used to determine the bending direction of a curve using the steering wheel angle signal of the vehicle.

[0089] The curvature interval determination module 3402 is used to determine the curvature interval to which the curvature of the curve belongs.

[0090] The lateral compensation distance acquisition module 3403 is used to obtain the lateral compensation distance based on the bending direction and curvature range of the curve.

[0091] As an example, the first judgment module 320 is also used to determine whether the curvature of the curve is greater than the maximum value of the threshold range. Furthermore, the blind spot monitoring device also includes a function suppression module 380, which is used to suppress the function of the blind spot monitoring system when the curvature of the curve is not within the threshold range and the curvature is greater than the maximum value of the threshold range.

[0092] As an example, the first judgment module 320 is further used to determine whether the curvature of the curve is less than the minimum value of the threshold range. Furthermore, the second judgment module 360 ​​is further used to determine whether the alarm conditions are met based on the initial lateral distance when the curvature of the curve is not within the threshold range and is less than the minimum value of the threshold range, or when the vehicle is traveling on a straight road.

[0093] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A blind spot monitoring method, characterized in that, include: The vehicle uses lane information obtained from its own perception system to determine whether it is on a curve; If so, determine whether the curvature of the curve is within the threshold range; If so, the initial lateral distance between the vehicle and the target vehicle behind it, detected by the blind spot monitoring radar, is received; wherein, the target vehicle behind it refers to a vehicle that is on the curve and in the same lane as the vehicle. Determining the lateral compensation distance based on the curvature of the curve specifically includes: determining the curvature direction of the curve using the steering wheel angle signal of the vehicle; determining the curvature interval to which the curvature of the curve belongs; and obtaining the lateral compensation distance based on the curvature direction of the curve and the curvature interval. The compensated lateral distance between the vehicle and the target vehicle is determined based on the initial lateral distance and the lateral compensation distance. This is used to correct the position of the target vehicle detected by the blind spot monitoring radar to the correct position through lateral distance compensation. Determine whether the alarm conditions are met based on the compensated lateral distance; If so, a blind spot monitoring alarm will be issued.

2. The blind spot monitoring method according to claim 1, characterized in that, The lateral compensation distance is a calibration value corresponding to the bending direction of the curve and the curvature range.

3. The blind spot monitoring method according to claim 1, characterized in that, If the curvature of the curve is not within the threshold range, and the curvature of the curve is greater than the maximum value of the threshold range, then the blind spot monitoring system is functionally suppressed.

4. The blind spot monitoring method according to claim 1, characterized in that, If the curvature of the curve is not within the threshold range, and the curvature of the curve is less than the minimum value of the threshold range, then the alarm condition is determined based on the initial lateral distance.

5. A blind spot monitoring device, characterized in that, It includes a curve detection module, a first detection module, an initial distance receiving module, a compensation distance determination module, a compensation module, a second detection module, and an alarm module; The curve detection module is used to determine whether the vehicle is on a curve using lane information obtained from the vehicle's perception system. The first judgment module is used to determine whether the curvature of the curve is within the threshold range when the vehicle is on a curve; The initial distance receiving module is used to receive the initial lateral distance between the vehicle and the target vehicle behind it detected by the blind spot monitoring radar when the curvature of the curve is within the threshold range; wherein, the target vehicle behind it refers to the vehicle behind which is on the curve and in the same lane as the vehicle. The compensation distance determination module is used to determine the lateral compensation distance based on the curvature of the curve, specifically including: determining the curvature direction of the curve using the steering wheel angle signal of the vehicle; determining the curvature interval to which the curvature of the curve belongs; and obtaining the lateral compensation distance based on the curvature direction of the curve and the curvature interval. The compensation module is used to determine the compensated lateral distance between the vehicle and the target vehicle based on the initial lateral distance and the lateral compensation distance, and corrects the position of the target vehicle detected by the blind spot monitoring radar to the correct position through lateral distance compensation. The second judgment module is used to determine whether the compensated lateral distance meets the alarm conditions; The alarm module is used to issue blind spot monitoring alarm information when alarm conditions are met.

6. The blind spot monitoring device according to claim 5, characterized in that, The compensation distance determination module includes a bending direction determination module, a curvature range determination module, and a lateral compensation distance acquisition module. The bending direction determination module is used to determine the bending direction of the curve using the steering wheel angle signal of the vehicle. The curvature interval determination module is used to determine the curvature interval to which the curvature of the curve belongs; The lateral compensation distance acquisition module is used to obtain the lateral compensation distance based on the bending direction of the curve and the curvature range.

7. The blind spot monitoring device according to claim 6, characterized in that, The lateral compensation distance is a calibration value corresponding to the bending direction of the curve and the curvature range.

8. The blind spot monitoring device according to claim 5, characterized in that, It also includes a function suppression module, which is used to suppress the blind spot monitoring system when the curvature of the curve is not within the threshold range and the curvature of the curve is greater than the maximum value of the threshold range.

9. The blind spot monitoring device according to claim 5, characterized in that, The second judgment module is further configured to determine whether the alarm condition is met based on the initial lateral distance when the curvature of the curve is not within the threshold range and the curvature of the curve is less than the minimum value of the threshold range.

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