A blind area obstacle early warning method and device, electronic equipment and storage medium

Abstract

This disclosure provides a blind spot obstacle warning method, device, electronic device, and storage medium. It involves controlling a blind spot radar installed in front of a vehicle to emit blind spot radar signals perpendicular to the ground and receive corresponding echo signals; determining the installation height of the blind spot radar and the corresponding chassis height of the vehicle; determining whether a target object exists in front of the vehicle based on the echo signals; if so, determining the vertical distance between the blind spot radar and the target object; determining the height of the target object based on the installation height and the vertical distance; if the object height is greater than or equal to the chassis height, determining the target object as an obstacle; and sending blind spot obstacle warning information to the vehicle. This can improve the accuracy of obstacle detection in the vehicle's blind spots.

Description

Technical Field

[0001] This disclosure relates to the field of radar detection technology, and more specifically, to a method, device, electronic device, and storage medium for early warning of blind zone obstacles. Background Technology

[0002] Currently, with the continuous development of automotive technology, existing cars have more and more driver assistance functions. These functions often rely on sensors to achieve their purpose. Among them, ultrasonic radar is one of the basic automotive sensors, which can realize various functions such as parking assistance, low-speed collision warning, and automatic parking. Due to the limitations of physical characteristics, there are certain blind spots in front of, to the sides, and behind the car, which can cause certain safety hazards.

[0003] Currently, common methods for addressing blind spots in automobiles include installing sensors such as millimeter-wave, ultrasonic, and cameras. However, due to the physical phenomenon of residual vibration in ultrasonic waves, obstacles cannot be detected within this residual vibration time. Therefore, ordinary automotive ultrasonic radars have a blind spot of about 30cm. Furthermore, because ultrasonic radar beams have a fixed angle and are typically installed at a height of around 50cm, they are prone to false alarms if installed too low. Consequently, small obstacles close to the car, such as a child crouching on the ground, cannot be detected by ultrasonic radars. Therefore, their effectiveness in addressing blind spots is poor, and their accuracy in detecting obstacles within the blind spot is low. Summary of the Invention

[0004] This disclosure provides at least one blind spot obstacle warning method, device, electronic device, and storage medium, which can improve the accuracy of obstacle detection in vehicle blind spots.

[0005] This disclosure provides a blind spot obstacle warning method, the method comprising:

[0006] The blind spot radar, located in front of the vehicle, transmits signals perpendicular to the ground and receives the corresponding echo signals.

[0007] Determine the installation height of the blind spot radar and the corresponding chassis height of the vehicle;

[0008] The presence of a target object in front of the vehicle is determined based on the echo signal; if it is present, the vertical distance between the blind spot radar and the target object is determined.

[0009] Based on the installation height and the vertical distance, the height of the target object is determined. If the height of the target object is greater than or equal to the height of the chassis, the target object is determined to be an obstacle.

[0010] Send blind spot obstacle warning information to the vehicle.

[0011] In an optional implementation, after detecting a target object appearing in front of the vehicle based on the echo signal and determining the vertical distance between the blind-spot radar and the target object, the method further includes:

[0012] If there is no target object in front of the vehicle, the target height between the blind zone radar and the ground is determined based on the echo signal;

[0013] The chassis height is compared with the height difference between the target height and the installation height. If the height difference is greater than or equal to the chassis height, a road pothole warning message is sent to the vehicle.

[0014] In an optional implementation, after determining the object height of the target object based on the installation height and the vertical distance, and determining the target object as an obstacle if the object height is greater than or equal to the chassis height, the method further includes:

[0015] The control system is set up at the front of the vehicle to transmit horizontal radar signals parallel to the ground and receive the corresponding echo signals.

[0016] The horizontal distance between the obstacle and the vehicle is determined based on the echo signal corresponding to the horizontal radar signal.

[0017] If the horizontal distance is less than a preset distance threshold, an obstacle distance warning message is sent to the vehicle.

[0018] In an optional implementation, before the blind spot radar, positioned in front of the vehicle, transmits blind spot radar signals perpendicular to the ground and receives the corresponding echo signals, the method further includes:

[0019] The vehicle is positioned on a flat, unobstructed road surface;

[0020] The blind zone radar is controlled to transmit the blind zone radar signal perpendicular to the ground and receive the corresponding echo signal, and the vehicle body echo signal corresponding to the vehicle is separated from the echo signal.

[0021] Only the receiving function of the blind spot radar is enabled to receive interference signals generated by the vehicle itself;

[0022] Record the vehicle body echo signal and the interference signal.

[0023] In an optional implementation, after the blind spot radar, positioned in front of the vehicle, transmits blind spot radar signals perpendicular to the ground and receives the corresponding echo signals, the method further includes:

[0024] The vehicle body echo signal and the interference signal are filtered from the echo signal.

[0025] In one optional implementation, determining the object height of the target object based on the installation height and the vertical distance specifically includes:

[0026] Determine the distance difference between the installation height and the vertical distance;

[0027] The distance difference is determined as the height of the object.

[0028] This disclosure also provides a blind spot obstacle warning device, the device comprising:

[0029] The radar detection module is used to control the blind spot radar installed in front of the vehicle, which transmits blind spot radar signals perpendicular to the ground and receives the corresponding echo signals.

[0030] A height determination module is used to determine the installation height of the blind spot radar and the corresponding chassis height of the vehicle;

[0031] The vertical distance determination module is used to determine whether there is a target object in front of the vehicle based on the echo signal; if there is, it determines the vertical distance between the blind spot radar and the target object.

[0032] An obstacle determination module is used to determine the height of the target object based on the installation height and the vertical distance. If the object height is greater than or equal to the chassis height, the target object is determined to be an obstacle.

[0033] The obstacle warning module is used to send blind spot obstacle warning information to the vehicle.

[0034] In an optional embodiment, the device further includes a road information early warning module, the road information early warning module being used for:

[0035] If there is no target object in front of the vehicle, the target height between the blind zone radar and the ground is determined based on the echo signal;

[0036] The chassis height is compared with the height difference between the target height and the installation height. If the height difference is greater than or equal to the chassis height, a road pothole warning message is sent to the vehicle.

[0037] In one optional embodiment, the device further includes a collision warning module, the collision warning module being used for:

[0038] The control system is set up at the front of the vehicle to transmit horizontal radar signals parallel to the ground and receive the corresponding echo signals.

[0039] The horizontal distance between the obstacle and the vehicle is determined based on the echo signal corresponding to the horizontal radar signal.

[0040] If the horizontal distance is less than a preset distance threshold, an obstacle distance warning message is sent to the vehicle.

[0041] In one optional embodiment, the device further includes a calibration module, the calibration module being used for:

[0042] The vehicle is positioned on a flat, unobstructed road surface;

[0043] The blind zone radar is controlled to transmit the blind zone radar signal perpendicular to the ground and receive the corresponding echo signal, and the vehicle body echo signal corresponding to the vehicle is separated from the echo signal.

[0044] Only the receiving function of the blind spot radar is enabled to receive interference signals generated by the vehicle itself;

[0045] Record the vehicle body echo signal and the interference signal.

[0046] In one optional embodiment, the device further includes a filtering module, the filtering module being used for:

[0047] The vehicle body echo signal and the interference signal are filtered from the echo signal.

[0048] In one optional implementation, the obstacle determination module is specifically used for:

[0049] Determine the distance difference between the installation height and the vertical distance;

[0050] The distance difference is determined as the height of the object.

[0051] This disclosure also provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of the above-described blind spot obstacle warning method, or any possible implementation of the above-described blind spot obstacle warning method.

[0052] This disclosure also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the above-described blind spot obstacle warning method or any possible implementation thereof.

[0053] This disclosure provides a blind spot obstacle warning method, device, electronic device, and storage medium. It controls a blind spot radar installed in front of a vehicle to emit blind spot radar signals perpendicular to the ground and receive corresponding echo signals. The method determines the installation height of the blind spot radar and the corresponding chassis height of the vehicle. Based on the echo signals, it determines whether a target object exists in front of the vehicle; if so, it determines the vertical distance between the blind spot radar and the target object. Based on the installation height and the vertical distance, it determines the height of the target object; if the object height is greater than or equal to the chassis height, it determines the target object as an obstacle. Finally, it sends blind spot obstacle warning information to the vehicle. This improves the accuracy of obstacle detection in the vehicle's blind spots.

[0054] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0055] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly described below. These drawings are incorporated in and constitute a part of this specification. They illustrate embodiments conforming to this disclosure and, together with the specification, serve to explain the technical solutions of this disclosure. It should be understood that the following drawings only show some embodiments of this disclosure and should not be considered as limiting the scope. Those skilled in the art can obtain other related drawings based on these drawings without creative effort.

[0056] Figure 1 A flowchart of a blind spot obstacle warning method provided by an embodiment of this disclosure is shown;

[0057] Figure 2 A flowchart of another blind spot obstacle warning method provided by an embodiment of this disclosure is shown;

[0058] Figure 3 A schematic diagram of a blind spot obstacle warning device provided in an embodiment of this disclosure is shown;

[0059] Figure 4 A schematic diagram of an electronic device provided in an embodiment of this disclosure is shown. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. The components of the embodiments of this disclosure described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this disclosure provided in the accompanying drawings is not intended to limit the scope of the claimed disclosure, but merely represents selected embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0061] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0062] In this document, the term "and / or" merely describes a relationship, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0063] Research has found that the common methods for addressing blind spots in vehicles currently include installing sensors such as millimeter-wave, ultrasonic, and cameras. However, due to the physical phenomenon of residual vibration in ultrasonic waves, obstacles cannot be detected within this residual vibration time. Therefore, ordinary automotive ultrasonic radars have a blind spot of about 30cm. Furthermore, because ultrasonic radar beams have a fixed angle, and the installation height is generally around 50cm, if it is too low, it is prone to false alarms. As a result, small obstacles close to the car, such as a child crouching on the ground, cannot be detected by ultrasonic radar. Consequently, its effectiveness in addressing blind spots is poor, and its accuracy in detecting obstacles within the blind spot is low.

[0064] Based on the above research, this disclosure provides a blind spot obstacle warning method, device, electronic device, and storage medium. It controls a blind spot radar installed in front of a vehicle to emit blind spot radar signals perpendicular to the ground and receive corresponding echo signals; determines the installation height of the blind spot radar and the corresponding chassis height of the vehicle; determines whether a target object exists in front of the vehicle based on the echo signals; if so, determines the vertical distance between the blind spot radar and the target object; determines the height of the target object based on the installation height and the vertical distance; if the object height is greater than or equal to the chassis height, determines the target object as an obstacle; and sends blind spot obstacle warning information to the vehicle. This can improve the accuracy of obstacle detection in the vehicle's blind spots.

[0065] To facilitate understanding of this embodiment, a blind spot obstacle warning method disclosed in this disclosure will first be described in detail. The execution entity of the blind spot obstacle warning method provided in this disclosure is generally a computer device with a certain computing capability. This computer device may include, for example, a terminal device, a server, or other processing devices. The terminal device may be a user equipment (UE), mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA), handheld device, computing device, vehicle-mounted device, wearable device, etc. In some possible implementations, this blind spot obstacle warning method can be implemented by a processor calling computer-readable instructions stored in memory.

[0066] See Figure 1 The diagram shows a flowchart of a blind spot obstacle warning method provided in an embodiment of this disclosure. The method includes steps S101 to S105, wherein:

[0067] S101. Control the blind spot radar located in front of the vehicle to transmit blind spot radar signals perpendicular to the ground and receive the corresponding echo signals.

[0068] In practice, the blind spot radar installed on the top of the driver's cab at the front of the vehicle is controlled to detect vertically downwards and emit blind spot radar signals perpendicular to the ground. When the blind spot radar signal collides with an object, it is reflected to form an echo signal that is received by the blind spot radar.

[0069] Preferably, the blind spot detection radar is an ultrasonic radar, which is fixed to the top of the driver's cab at the front of the vehicle by a bracket to adjust the detection angle of the ultrasonic radar.

[0070] Here, by emitting blind spot radar signals perpendicular to the ground, the blind spot radar can cover the blind spot area in front of the vehicle. It should be noted that the embodiments of this application are preferably applicable to buses, trucks, and other vehicles with straight front ends and high heights, where the driver cannot see obstacles appearing at the bottom in front of the cab, resulting in a blind spot. At the same time, the horizontally detecting radar beam has a fixed angle and cannot fully cover this blind spot.

[0071] As one possible implementation, before step S101, the following calibration steps can also be performed:

[0072] Step 1: Place the vehicle on a flat, unobstructed road surface.

[0073] Step 2: Control the blind zone radar to transmit the blind zone radar signal perpendicular to the ground and receive the corresponding echo signal, and separate the vehicle body echo signal corresponding to the vehicle from the echo signal.

[0074] In practice, the vehicle is first placed in a flat, unobstructed area with a relatively open space around it. After the blind spot radar is controlled to emit a blind spot radar signal perpendicular to the ground, the corresponding echo signal is received. The vehicle body echo signal is separated from the echo signal and recorded.

[0075] Here, since the blind spot radar is installed on the top of the driver's cab at the front of the vehicle and detects vertically downwards, it will inevitably detect the car body. Therefore, the blind spot radar needs to be calibrated first.

[0076] Specifically, blind spot radar can be used first. Before it is installed on the top of the driver's cab in front of the vehicle, it only transmits radar signals to the ground and receives the corresponding echo signals, and records the signal characteristics of the echo signals reflected from the ground. Then, the blind spot radar is installed on the top of the driver's cab in front of the vehicle, which detects and transmits radar signals vertically downward and receives the corresponding echo signals. Based on the signal characteristics of the echo signals reflected from the ground, the echo signals reflected from the ground are filtered out to separate the vehicle body echo signals generated by the vehicle itself.

[0077] Step 3: Only enable the receiving function of the blind spot radar to receive the interference signals generated by the vehicle itself. Record the vehicle body echo signal and the interference signal.

[0078] In practice, after recording the vehicle body echo signal, only the blind spot radar's receiving function is activated to receive and record the interference signals generated by the vehicle body's own operation. Since the blind spot radar itself does not emit radar signals, the echo signals it receives are all generated by the vehicle body's own interference factors. For example, the vehicle's air brakes and engine will also emit interference signals that can be received by the blind spot radar.

[0079] Step 4: Filter the vehicle body echo signal and the interference signal from the echo signal.

[0080] S102. Determine the installation height of the blind spot radar and the corresponding chassis height of the vehicle.

[0081] In practice, the installation height of the blind spot radar at the top of the driver's cab in front of the vehicle and the corresponding chassis height of the vehicle with the blind spot radar installed are determined.

[0082] Here, during the process of detecting obstacles in front of the vehicle, if the height of the detected obstacle is less than the corresponding chassis height of the vehicle, then the obstacle will not cause any obstruction to the vehicle's passage. If the height of the detected obstacle is greater than the corresponding chassis height of the vehicle, then the obstacle will cause any obstruction to the vehicle's passage. Therefore, it is necessary to collect the corresponding chassis height of the vehicle as a criterion for determining whether to issue a warning to the vehicle for obstacles.

[0083] As an alternative implementation, a radar bracket can be used to fix the blind spot radar to the top of the driver's cab at the front of the vehicle. The radar bracket can be rotated to adjust the orientation of the blind spot radar.

[0084] S103. Determine whether there is a target object in front of the vehicle based on the echo signal. If there is, determine the vertical distance between the blind spot radar and the target object.

[0085] In practice, the blind spot radar determines whether there is a target object in the blind spot in front of the vehicle based on the received echo signal. Here, the detection range of the blind spot radar is mainly the blind spot field of view in front of the driver's cab and close to the vehicle chassis. When a target object is detected in front of the vehicle, the vertical distance between the blind spot radar and the target object is calculated by the transmission time of the blind spot radar signal and the reception time of the corresponding echo signal.

[0086] Here, the vertical distance between the blind zone radar and the target object can be calculated as follows: determine the transmission time of the blind zone radar signal and the reception time of the corresponding echo signal, calculate the time difference between the transmission time and the reception time, and multiply the time difference by the speed of propagation of the blind zone radar signal in the air, which is determined to be twice the vertical distance between the blind zone radar and the target object.

[0087] S104. Determine the height of the target object based on the installation height and the vertical distance. If the height of the target object is greater than or equal to the chassis height, then the target object is determined to be an obstacle.

[0088] In practice, after detecting the vertical distance between the blind zone radar and the target object, the height of the target object can be calculated based on the installation height of the blind zone radar and the vertical distance between the blind zone radar and the target object. If the height of the object is greater than or equal to the chassis height of the vehicle, the obstacle will affect the passage of the vehicle, and the target object is determined to be an obstacle; if the height of the object is less than the chassis height of the vehicle, the obstacle will not affect the passage of the vehicle, and the target object is determined to be an object that will not obstruct the normal passage of the vehicle.

[0089] As one possible implementation, the height of the target object can be determined by: determining the distance difference between the installation height and the vertical distance; and determining the distance difference as the object height.

[0090] As another possible implementation, after determining that the object detected by the blind spot radar is an obstacle, it is also necessary to determine the horizontal distance between the obstacle and the vehicle. The specific process can be as follows: control the horizontal radar set in front of the vehicle to emit horizontal radar signals parallel to the ground and receive the corresponding echo signals; determine the horizontal distance between the obstacle and the vehicle based on the echo signals corresponding to the horizontal radar signals; when the horizontal distance is less than a preset distance threshold, send obstacle distance warning information to the vehicle.

[0091] In practice, a horizontal radar installed in front of the vehicle emits horizontal radar signals parallel to the ground. The horizontal distance between the obstacle and the vehicle is determined based on the time difference between the emitted horizontal radar signal and the received corresponding echo signal. When the horizontal distance is less than a preset distance threshold, it indicates that the obstacle is too close to the vehicle and there is a risk of collision. Therefore, it is necessary to send obstacle distance warning information to the vehicle.

[0092] It should be noted that the preset distance threshold can be set according to actual needs, and no specific restrictions are imposed here.

[0093] S105. Send blind spot obstacle warning information to the vehicle.

[0094] In practice, when an obstacle is detected in the blind spot in front of the vehicle, a blind spot obstacle warning message is sent to the vehicle to remind the driver that there is an obstacle in the blind spot in front of the vehicle and that it is necessary to brake or avoid it in time.

[0095] As one possible implementation, after sending blind spot obstacle warning information to the vehicle, the horizontal distance between the obstacle and the vehicle can also be sent to the vehicle's automatic emergency braking (AEB) system to control the vehicle to perform emergency braking.

[0096] This disclosure provides a blind spot obstacle warning method. It involves controlling a blind spot radar installed in front of a vehicle to emit a blind spot radar signal perpendicular to the ground and receive corresponding echo signals; determining the installation height of the blind spot radar and the corresponding chassis height of the vehicle; determining whether a target object exists in front of the vehicle based on the echo signals; if so, determining the vertical distance between the blind spot radar and the target object; determining the height of the target object based on the installation height and the vertical distance; if the object height is greater than or equal to the chassis height, determining the target object as an obstacle; and sending blind spot obstacle warning information to the vehicle. This method can improve the accuracy of obstacle detection in the vehicle's blind spots.

[0097] See Figure 2 The diagram shows a flowchart of another blind spot obstacle warning method provided in this embodiment of the present disclosure. The method includes steps S201 to S207, wherein:

[0098] S201. Control the blind spot radar located in front of the vehicle to transmit blind spot radar signals perpendicular to the ground and receive the corresponding echo signals.

[0099] S202. Determine the installation height of the blind spot radar and the corresponding chassis height of the vehicle.

[0100] S203. Determine whether there is a target object in front of the vehicle based on the echo signal. If there is, determine the vertical distance between the blind spot radar and the target object.

[0101] S204. If there is no target object in front of the vehicle, the target height between the blind zone radar and the ground is determined based on the echo signal.

[0102] S205. Compare the height difference between the chassis height, the target height, and the installation height. If the height difference is greater than or equal to the chassis height, send a road pothole warning to the vehicle.

[0103] In practice, if there is no target object in front of the vehicle, but there may be road conditions such as potholes that may obstruct the vehicle's passage, it is necessary to make a judgment on the pothole situation.

[0104] Here, when potholes appear on the road surface, the target height value between the blind spot radar and the ground detected by the blind spot radar through the echo will be greater than the installation height of the blind spot radar. The absolute value of the difference between the target height between the blind spot radar and the ground and the installation height of the blind spot radar is the depth of the pothole. When this depth is greater than or equal to the chassis height of the vehicle, it will cause obstacles to the passage of the vehicle. Therefore, it is necessary to send a pothole warning message to the vehicle to remind the driver to pay attention.

[0105] Furthermore, if the absolute value of the difference between the target height between the blind spot radar and the ground and the installation height of the blind spot radar is less than the chassis height of the vehicle, there will be potholes on this type of road surface. However, these potholes will not affect the normal passage of the vehicle, so there is no need to send a pothole warning to the vehicle.

[0106] S206. Determine the height of the target object based on the installation height and the vertical distance. If the height of the target object is greater than or equal to the chassis height, then the target object is determined to be an obstacle.

[0107] S207. Send blind spot obstacle warning information to the vehicle.

[0108] Here, steps S201-S203, S206-S207 are essentially the same as steps S101-S105, have the same implementation method, and can achieve the same technical effect, so they will not be described in detail here.

[0109] This disclosure provides a blind spot obstacle warning method. It involves controlling a blind spot radar installed in front of a vehicle to emit a blind spot radar signal perpendicular to the ground and receive corresponding echo signals; determining the installation height of the blind spot radar and the corresponding chassis height of the vehicle; determining whether a target object exists in front of the vehicle based on the echo signals; if so, determining the vertical distance between the blind spot radar and the target object; determining the height of the target object based on the installation height and the vertical distance; if the object height is greater than or equal to the chassis height, determining the target object as an obstacle; and sending blind spot obstacle warning information to the vehicle. This method can improve the accuracy of obstacle detection in the vehicle's blind spots.

[0110] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0111] Based on the same inventive concept, this disclosure also provides a blind spot obstacle warning device corresponding to the blind spot obstacle warning method. Since the principle of the device in this disclosure is similar to the blind spot obstacle warning method described above, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0112] Please see Figure 3 , Figure 3 This is a schematic diagram of a blind spot obstacle warning device provided in an embodiment of this disclosure. Figure 3 As shown in the figure, the blind spot obstacle warning device 300 provided in this embodiment includes:

[0113] The radar detection module 310 is used to control the blind spot radar installed in front of the vehicle to transmit blind spot radar signals perpendicular to the ground and receive the corresponding echo signals.

[0114] The height determination module 320 is used to determine the installation height of the blind spot radar and the corresponding chassis height of the vehicle.

[0115] The vertical distance determination module 330 is used to determine whether there is a target object in front of the vehicle based on the echo signal, and if so, to determine the vertical distance between the blind spot radar and the target object.

[0116] The obstacle determination module 340 is used to determine the height of the target object based on the installation height and the vertical distance. If the height of the target object is greater than or equal to the chassis height, the target object is determined to be an obstacle.

[0117] The obstacle warning module 350 is used to send blind spot obstacle warning information to the vehicle.

[0118] The processing flow of each module in the device and the interaction flow between each module can be referred to the relevant descriptions in the above method embodiments, and will not be detailed here.

[0119] This disclosure provides a blind spot obstacle warning device. It controls a blind spot radar installed in front of a vehicle to emit blind spot radar signals perpendicular to the ground and receive corresponding echo signals. The device determines the installation height of the blind spot radar and the corresponding chassis height of the vehicle. Based on the echo signals, it determines whether a target object exists in front of the vehicle; if so, it determines the vertical distance between the blind spot radar and the target object. Based on the installation height and the vertical distance, it determines the height of the target object; if the object height is greater than or equal to the chassis height, it determines the target object as an obstacle. Finally, it sends blind spot obstacle warning information to the vehicle. This improves the accuracy of obstacle detection in the vehicle's blind spots.

[0120] Corresponding to Figure 1 and Figure 2 In addition to the blind spot obstacle warning method, this disclosure also provides an electronic device 400, such as... Figure 4 The diagram shown is a structural schematic of an electronic device 400 provided in an embodiment of this disclosure, including:

[0121] Processor 41, memory 42, and bus 43; memory 42 is used to store execution instructions, including main memory 421 and external memory 422; the main memory 421, also called internal memory, is used to temporarily store the computational data in processor 41, as well as the data exchanged with external memory 422 such as hard disk. Processor 41 exchanges data with external memory 422 through main memory 421. When the electronic device 400 is running, processor 41 and memory 42 communicate through bus 43, enabling processor 41 to execute... Figure 1 and Figure 2 The steps of the blind spot obstacle warning method.

[0122] This disclosure also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the blind spot obstacle warning method described in the above-described method embodiments. The storage medium may be a volatile or non-volatile computer-readable storage medium.

[0123] This disclosure also provides a computer program product, which includes computer instructions. When the computer instructions are executed by a processor, they can perform the steps of the blind spot obstacle warning method described in the above method embodiments. For details, please refer to the above method embodiments, which will not be repeated here.

[0124] The aforementioned computer program product can be implemented through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied in a computer storage medium; in another optional embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0125] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided in this disclosure, it should be understood that the disclosed device and method can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0126] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0127] In addition, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0128] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0129] Finally, it should be noted that the above-described embodiments are merely specific implementations of this disclosure, used to illustrate the technical solutions of this disclosure, and not to limit it. The protection scope of this disclosure is not limited thereto. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this disclosure. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure, and should all be covered within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be determined by the protection scope of the claims.

Claims

1. A method for early warning of blind spot obstacles, characterized in that, include: The blind spot radar is installed at the top of the driver's cab in front of the vehicle. It transmits blind spot radar signals perpendicular to the ground and receives the corresponding echo signals. The blind spot radar is an ultrasonic radar. Determine the installation height of the blind spot radar and the corresponding chassis height of the vehicle; The presence of a target object in front of the vehicle is determined based on the echo signal; if it is present, the vertical distance between the blind spot radar and the target object is determined. Based on the installation height and the vertical distance, the height of the target object is determined. If the height of the target object is greater than or equal to the height of the chassis, the target object is determined to be an obstacle. The system controls a horizontal radar positioned in front of the vehicle to emit horizontal radar signals parallel to the ground and receive corresponding echo signals; it determines the horizontal distance between the obstacle and the vehicle based on the echo signals corresponding to the horizontal radar signals; and it sends obstacle distance warning information to the vehicle when the horizontal distance is less than a preset distance threshold. Send blind spot obstacle warning information to the vehicle; Before the blind spot radar, positioned in front of the vehicle, transmits blind spot radar signals perpendicular to the ground and receives the corresponding echo signals, the method further includes: The vehicle is positioned on a flat, unobstructed road surface; the blind spot radar is controlled to emit blind spot radar signals perpendicular to the ground and receive the corresponding echo signals, separating the vehicle body echo signals from the echo signals; the receiving function of the blind spot radar is enabled only to receive interference signals generated by the vehicle itself; the vehicle body echo signals and the interference signals are recorded.

2. The method according to claim 1, characterized in that, After determining whether a target object exists in front of the vehicle based on the echo signal, and if so, determining the vertical distance between the blind spot radar and the target object, the method further includes: If there is no target object in front of the vehicle, the target height between the blind zone radar and the ground is determined based on the echo signal; The chassis height is compared with the height difference between the target height and the installation height. If the height difference is greater than or equal to the chassis height, a road pothole warning message is sent to the vehicle.

3. The method according to claim 1, characterized in that, After the blind spot radar, located in front of the vehicle, transmits blind spot radar signals perpendicular to the ground and receives the corresponding echo signals, the method further includes: The vehicle body echo signal and the interference signal are filtered from the echo signal.

4. The method according to claim 1, characterized in that, Determining the object height of the target object based on the installation height and the vertical distance specifically includes: Determine the distance difference between the installation height and the vertical distance; The distance difference is determined as the height of the object.

5. A blind spot obstacle warning device, characterized in that, include: The radar detection module is used to control the blind spot radar installed at the top of the driver's cab in front of the vehicle. It transmits blind spot radar signals perpendicular to the ground and receives the corresponding echo signals. The blind spot radar is an ultrasonic radar. A height determination module is used to determine the installation height of the blind spot radar and the corresponding chassis height of the vehicle; The vertical distance determination module is used to determine whether there is a target object in front of the vehicle based on the echo signal; if there is, it determines the vertical distance between the blind spot radar and the target object. An obstacle determination module is used to determine the height of the target object based on the installation height and the vertical distance. If the object height is greater than or equal to the chassis height, the target object is determined to be an obstacle. An obstacle warning module is used to send blind spot obstacle warning information to the vehicle; The device is also used to control a horizontal radar located in front of the vehicle to transmit horizontal radar signals parallel to the ground and receive corresponding echo signals; determine the horizontal distance between the obstacle and the vehicle based on the echo signals corresponding to the horizontal radar signals; and send obstacle distance warning information to the vehicle when the horizontal distance is less than a preset distance threshold. The vehicle is positioned on a flat, unobstructed road surface; the blind spot radar is controlled to emit blind spot radar signals perpendicular to the ground and receive the corresponding echo signals, separating the vehicle body echo signals from the echo signals; the receiving function of the blind spot radar is enabled only to receive interference signals generated by the vehicle itself; the vehicle body echo signals and the interference signals are recorded.

6. The apparatus according to claim 5, characterized in that, The device further includes a road information early warning module, which is used for: If there is no target object in front of the vehicle, the target height between the blind zone radar and the ground is determined based on the echo signal; The chassis height is compared with the height difference between the target height and the installation height. If the height difference is greater than or equal to the chassis height, a road pothole warning message is sent to the vehicle.

7. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, the steps of the blind spot obstacle warning method as described in any one of claims 1 to 4 are performed.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the blind spot obstacle warning method as described in any one of claims 1 to 4.

Images