A laser warning collision avoidance control method for heavy trucks in blind turning areas

Abstract

The present invention discloses a laser warning and collision avoidance control method for heavy trucks turning blind spots, which includes avoiding accidents by means of active warning. First, when the vehicle turns, the turning angle is obtained by a steering wheel angle sensor, and the vehicle ECU controller calculates the range of the danger zone. Then, a laser projector is used to dynamically illuminate the boundary of the danger zone on the ground to remind surrounding pedestrians or vehicles to avoid it. At the same time, a laser detector on the side of the vehicle is started. When a person enters the danger zone, the alarm can simultaneously send an alarm signal to the driver and the pedestrian so that emergency measures can be taken. The electronic camera outside the vehicle body and the electronic display screen inside the vehicle body enable the driver to observe abnormal positions in the blind spot without moving, thereby eliminating safety hazards in a timely manner and improving the safety of heavy trucks.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle driving safety, and in particular to a laser early warning collision avoidance control method for a heavy truck turning blind spot. Background Art

[0002] In recent years, the rate of traffic accidents caused by large vehicles has been steadily increasing. Heavy trucks, due to their height and length, have numerous blind spots, the most dangerous of which is the "inner wheel difference" blind spot during turns. When a large vehicle turns, the front wheels traverse one arc, while the rear wheels traverse another. The two arcs do not overlap, creating a difference known as the "inner wheel difference." This blind spot is difficult for the driver to observe through traditional rearview mirrors. Pedestrians or vehicles entering this blind spot are highly likely to be run over by the heavy truck, resulting in serious consequences. Therefore, designing a blind spot warning system for heavy trucks is crucial for improving traffic safety. Summary of the Invention

[0003] The present invention provides a laser early warning collision avoidance control method for a heavy truck turning blind area.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a laser warning collision avoidance control method for heavy trucks in blind spots during turns, comprising the following steps:

[0005] S1: The vehicle starts turning, obtains the turning angle through the steering wheel angle sensor, and calculates the danger zone through the vehicle ECU controller;

[0006] S2. During the turn, the laser projector dynamically projects a laser line to illuminate the boundary of the danger zone to warn surrounding pedestrians or vehicles not to approach the danger zone;

[0007] S3. During the turn, the laser detector is used to determine whether there are pedestrians or vehicles intruding into the danger zone, and whether to take corresponding measures;

[0008] S4. During the turning process, the rearview system is determined to take corresponding measures based on the result of the judgment of the dangerous area in step S3.

[0009] Preferably, when a heavy truck turns, the vehicle ECU controller obtains the vehicle turning angle information through the angle sensor installed inside the steering wheel, and calculates the expected steering trajectory of the vehicle body based on the vehicle body parameters. The specific calculation process is as follows:

[0010] The inner front wheel turning radius R is:

[0011] The inner rear wheel turning radius R' is:

[0012] The trajectory equation of the inner front wheel is:

[0013] The trajectory equation of the inner rear wheel is:

[0014] The equation of the outer boundary curve GG1 of the dangerous area is: β∈(π / 2,π)

[0015] Where R is the inner front wheel turning radius; R' is the inner rear wheel turning radius; R" is (R'-3); r is the turning radius, α is the inner front wheel turning angle, θ is the outer front wheel turning angle, d is the track width, and l is the wheelbase.

[0016] Preferably, the vehicle ECU controller determines the range of the danger zone according to the wheel steering trajectory, and divides the range of the danger zone into levels of a first-level danger zone and a second-level danger zone.

[0017] Preferably, the vehicle ECU controller activates the laser projector according to the turn signal. The laser projector projects a red laser line to the boundary of the dangerous area according to the calculated range of the dangerous area, illuminating the boundary of the dangerous area to warn pedestrians to stay away from the dangerous area. The laser projector projection angle calculation process is:

[0018] The vehicle ECU controller simulates a three-dimensional rectangular coordinate system in the system according to the dangerous area in step S1. The coordinates of the projection point M of the laser projector on the side of the truck are (x m ,y m ,z m ), the vertical height of the laser projection point M from the ground is L1, the intersection of the vertical line segment MN and the ground is N, and its coordinates are (x n ,y n ,z n ), the coordinates of any point Q on the outer boundary curve GG1 of the dangerous area are (x q ,y q ,z q ), then the line segment distance L2 between a point Q on the outer boundary curve and the intersection point N of the laser projection point and the ground is:

[0019]

[0020] The laser projection angle γ is calculated as:

[0021] In order to enable the light emitted by the laser projector to illuminate the boundary of the danger area, the calculation method of the angle between each laser line projected by the laser projector and the connection line corresponding to a certain point on the boundary curve of the danger area is as shown in the above formula.

[0022] Preferably, when the heavy truck turns, the vehicle ECU controller completes the acquisition and processing of the signals of the truck angle sensor, calculates the range of the danger area, and activates the laser detector at the same time to detect whether there are pedestrians or vehicles entering the danger area. The calculation process is as follows:

[0023] Suppose the laser detector emits a beam of laser into the danger area, and its speed is the speed of light c. When there are no obstacles in the danger area, the distance from the laser projection point to the ground is d1. At this time, the time for the laser detector to receive the returned laser is:

[0024]

[0025] When there are pedestrians or vehicles in the danger area, the distance from the laser projection point to the obstacle is d2. At this time, the time for the laser detector to receive the returned laser is:

[0026]

[0027] If the laser projector detects that the actual reception time t2 < t1 - k, it is regarded that there are pedestrians or vehicles invading the danger area;

[0028] Where k is the allowable error threshold.

[0029] Preferably, in a laser early warning and collision avoidance control method for the blind area when a heavy truck turns, alarm devices are provided on both sides of the left and right body of the truck and in the cab. When the vehicle turns, if the laser detector detects that there are pedestrians or vehicles entering the danger area, the laser detector sends a signal to the vehicle ECU controller, and at the same time the vehicle ECU controller activates the alarm device, and the alarms inside and outside the vehicle emit an alarm sound to prompt the driver and warn and drive away pedestrians or vehicles.

[0030] Preferably, through the intelligent recognition of the danger area status and vehicle speed control system, it assists the driver to avoid danger in time, and the specific implementation process of the intelligent recognition of the danger area status and vehicle speed control system includes the following steps:

[0031] 1) Set different states of the danger area. The different states of the danger area refer to the state of pedestrians or vehicles entering the secondary danger area and the state of pedestrians or vehicles entering the primary danger area;

[0032] 2) The vehicle ECU controller judges the current danger area status by receiving the output signal of the laser detector;

[0033] 3) If the vehicle ECU controller determines that a pedestrian or vehicle is in the secondary danger zone, the ECU controller sends a fuel cut-off signal to the engine ECU, causing it to control the electromagnetic injector to stop injecting fuel. At this time, the vehicle speed begins to decrease until the vehicle stops;

[0034] 4) If the vehicle ECU controller determines that a pedestrian or vehicle is in the first-level dangerous area, the vehicle ECU controller sends an oil cut-off signal to the engine ECU, causing it to control the electromagnetic injector to stop injecting oil, and at the same time start the brake signal PT. After the electromagnet PT1 of the two-position four-way electromagnetic reversing valve is energized, the left position of the two-position four-way electromagnetic reversing valve works, oil enters the right chamber of the brake hydraulic cylinder, the piston rod is pushed to move rapidly to the left, and the flexible cable pulls the brake pedal to rotate rapidly clockwise. The effect is exactly the same as if the driver slams on the brake pedal, causing the vehicle to achieve emergency braking.

[0035] Preferably, the output signal of the laser detector refers to a signal that a vehicle or pedestrian enters a secondary danger zone, or a signal that a vehicle or pedestrian enters a primary danger zone.

[0036] Preferably, the laser detector determines whether a pedestrian or vehicle enters a first-level or second-level danger zone by:

[0037] Assume that the projection point P coordinate of the laser detector on the side of the truck is (x p ,y p ,z p ), the vertical height of the laser projection point P from the ground is H1, the intersection of the vertical line segment P and the ground is S, and the coordinate of S is (x s ,y s ,z s ), the coordinates of any point W on the boundary curve of the first-level dangerous area are (x w ,y w ,z w ), the coordinates of any point Q on the secondary dangerous area boundary curve (i.e., the outer boundary curve) GG1 are (x q ,y q ,z q ), the U coordinate of any point on the ground of a pedestrian or vehicle in the intrusion danger zone is (x u ,y u ,z u ); then the line segment distance H2 between a point W on the boundary curve of the first-level dangerous area and the intersection S of the laser projection point and the ground is:

[0038]

[0039] The laser projection angle δ1 is calculated as:

[0040]

[0041] Then the line segment distance H3 between a point Q on the boundary curve of the secondary hazardous area and the intersection S of the laser projection point and the ground is:

[0042]

[0043] The laser projection angle δ2 is calculated as:

[0044]

[0045] Then the line segment distance H4 between a point U on the ground where the pedestrian or vehicle is located and the intersection S of the laser projection point and the ground is:

[0046]

[0047] The laser projection angle σ is calculated as:

[0048]

[0049] If δ1<σ≤δ2, it means that the vehicle or pedestrian has entered the secondary danger zone;

[0050] If σ≤δ1, it means that the vehicle or pedestrian has entered the first-level danger zone.

[0051] Preferably, cameras are respectively provided above the left and right doors of the truck vehicle, and an electronic display screen is provided on the A-pillar on the left side of the cab. When the laser detector detects an abnormality in the dangerous area, the laser detector will send a signal to the ECU controller to inform it of the abnormal position. After receiving the signal, the ECU controller adjusts the 720° camera to the visualization position of the abnormal object, and then the ECU controller transmits the image of the abnormal position captured by the camera to the LED electronic display screen in the vehicle, so that the driver can see the abnormal position clearly without moving, and eliminate safety hazards in time.

[0052] Compared with the existing technology, the beneficial effects of the present invention are as follows: the present invention avoids accidents by active early warning. First, when the vehicle turns, the turning angle is obtained through the steering wheel angle sensor, and the system ECU controller calculates the range of the danger zone, and then the laser projector dynamically illuminates the boundary of the danger zone on the ground to remind surrounding pedestrians or vehicles to avoid it; at the same time, the active detector on the side of the vehicle is started. Once someone enters the danger zone, the alarm can send an alarm signal to the driver and pedestrians at the same time so that emergency measures can be taken; the electronic camera outside the vehicle body and the electronic display screen inside the vehicle body enable the driver to observe abnormal positions in the blind spot without moving, eliminate safety hazards in time, and improve the safety of heavy trucks. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0054] In the attached figure:

[0055] Figure 1 This is a simplified model diagram of the vehicle inner wheel differential system of the present invention;

[0056] Figure 2 This is a schematic diagram of the installation of the laser detector and laser projector of the present invention;

[0057] Figure 3 This is a schematic diagram of the infrared laser line projection angle of the present invention;

[0058] Figure 4 This is a schematic diagram of the structure of the vehicle ECU controller of the present invention;

[0059] Figure 5 This is a diagram of the automatic braking system of the present invention and its working principle;

[0060] Figure 6 This is a schematic diagram of the position of the 720° camera on the outside of the truck of the present invention;

[0061] Figure 7 It is a block diagram of the overall structure of the present invention;

[0062] Numbers in the figure: 1. Brake pedal; 2. Vacuum booster; 3. Flexible cable; 4. Brake hydraulic cylinder; 5. Two-position four-way solenoid reversing valve; 6. Hydraulic pump; 7. Filter; 8. Fuel tank; 9. Overflow valve. DETAILED DESCRIPTION

[0063] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0064] Example: Figure 7 As shown, a laser warning collision avoidance control method for heavy truck turning blind spots includes the following steps:

[0065] Step 1: The heavy truck starts turning and determines the turning angle and the extent of the danger zone.

[0066] Step 2: During the turn, the laser projector illuminates the danger zone to warn pedestrians not to approach the danger zone;

[0067] Step 3: During the turn, the laser detector determines whether there are pedestrians or vehicles intruding into the danger zone and decides whether to take corresponding measures;

[0068] Step 4: During the turn, the rearview system determines whether to take corresponding measures based on the judgment of the dangerous area in step 3.

[0069] Step 1 contains the following sub-steps:

[0070] When a heavy truck starts to turn, the vehicle ECU controller will obtain the relevant data of the wheel steering angle transmitted by the angle sensor installed inside the steering wheel, and at the same time calculate the expected turning trajectory of the vehicle body and the dangerous area of the inner wheel difference according to the relevant parameters of the vehicle body. When the heavy truck is in the turning lane, the vehicle ECU controller will turn to the inner road as the target and perform relevant calculations, such as Figure 1 Shown is a simplified model for calculating the vehicle's inner wheel differential system.

[0071] In sub-step 1.1, when a heavy truck begins to turn, the vehicle's ECU automatically obtains the wheel steering angle data transmitted by the angle sensor installed inside the steering wheel. Based on the vehicle's own parameters, it calculates the expected steering trajectory and the danger zone of the inner wheel difference. The specific calculation process is as follows:

[0072] Ideally, the truck's inner front wheel performs uniform circular motion. The wheel paths of the inner front and inner rear wheels are the paths of circles with the wheel's rotation center O as the center and radii R and R' as the radius, respectively. In this article, the curve formed with radius R' is referred to as the outer boundary curve of the danger zone.

[0073] The inner front wheel turning radius OD (ie R) is:

[0074]

[0075] The inner rear wheel turning radius OC (i.e. R') is:

[0076]

[0077] The trajectory equation of the inner front wheel is:

[0078]

[0079] The trajectory equation of the inner rear wheel is:

[0080]

[0081] The equation of the outer boundary curve GG1 of the dangerous area is:

[0082]

[0083] Where R is the inner front wheel turning radius; R' is the inner rear wheel turning radius; R" is (R'-3); r is the turning radius, α is the inner front wheel turning angle, θ is the outer front wheel turning angle, d is the track width, and l is the wheelbase;

[0084] In sub-step 1.2, the danger zone described in the present invention is divided into two parts: a secondary danger zone (outer) and a primary danger zone (inner). The primary danger zone is the annular area enclosed by the inner front wheel trajectory curve DE1 and the inner rear wheel trajectory curve CC1; the secondary danger zone is the area enclosed by the inner rear wheel trajectory line CC1 and the outer boundary curve GG1 of the danger zone.

[0085] As can be seen from the above, the turning inner wheel difference danger zone is the area enclosed by the inner front wheel turning trajectory curve DE1 and the danger zone outer boundary curve GG1.

[0086] Step 2 contains the following sub-steps:

[0087] In sub-step 2.1, when a heavy truck turns, the vehicle ECU controller collects and processes the truck's angle sensor signals and calculates the corresponding danger zone range. Based on the turning signal, the vehicle ECU controller activates the laser projector, which projects the danger zone on the ground to warn pedestrians not to approach the danger zone.

[0088] like Figure 2 As shown, three laser projectors are installed between the front and rear wheels on the left and right sides of the truck body. The laser projectors can project countless red laser lines onto the ground. The steering gear drive calculates the projection angle required to illuminate the boundary of the ground danger zone based on the range of the danger zone simulated in the vehicle ECU controller. Each laser line emitted by the laser projector is calculated in this way, so the laser projector can illuminate the boundary of the danger zone simulated in the system controller to warn pedestrians and passing vehicles. The laser projector projection angle calculation process is as follows:

[0089] The vehicle ECU controller simulates the following in the system based on the above dangerous areas: Figure 3 The three-dimensional rectangular coordinate system shown in the figure, the coordinates of the projection point M of the laser projector on the side of the truck are (x m ,y m ,z m ), the vertical height of the laser projection point M from the ground is L1, the intersection of the vertical line segment MN and the ground is N, and its coordinates are (x n ,y n ,z n ), the coordinates of any point Q on the outer boundary curve GG1 of the dangerous area are (x q ,y q ,z q ), then the line segment distance L2 between a point Q on the outer boundary curve and the intersection point N of the laser projection point and the ground is:

[0090]

[0091] The laser projection angle γ can be calculated as follows:

[0092]

[0093] In order to make the light emitted by the laser projector illuminate the boundary of the danger area, the calculation method of the angle between each laser line projected by the laser projector and the connection line corresponding to a certain point on the boundary curve of the danger area is as shown above.

[0094] Step 3 includes the following sub-steps:

[0095] Sub-step 3.1, when the heavy truck is turning, the vehicle ECU controller completes the acquisition and processing of the signals of the truck's angle sensors, calculates the range of the danger area, and at the same time activates the laser detector to detect whether there are pedestrians or vehicles entering the danger area.

[0096] As Figure 2 shown, a laser detector is installed at the position directly above the front wheels of the vehicle. When the large vehicle is turning, the vehicle ECU controller will simultaneously activate the laser detector to make it start working. The laser detector emits countless laser beams within the danger area through the range of the danger area simulated by the vehicle ECU controller. The laser detector can receive the reflected laser and automatically judge whether there are obstacles invading through the reflection time; the calculation process is as follows:

[0097] Suppose a laser beam is emitted by the laser detector into the danger area, and its speed is the speed of light c. When there are no obstacles in the danger area, the distance from the laser projection point to the ground is d1. At this time, the time for the laser detector to receive the returned laser is:

[0098]

[0099] When there are pedestrians or vehicles in the danger area, the distance from the laser projection point to the obstacle is d2. At this time, the time for the laser detector to receive the returned laser is:

[0100]

[0101] If the laser projector detects that the actual reception time t2 < t1 - k, it is regarded that there are pedestrians or vehicles invading the danger area;

[0102] where k is the allowable error threshold.

[0103] Sub-step 3.2, in order to be able to timely remind the driver, pedestrians and vehicles when the dangerous moment comes, an alarm device will be installed on the large vehicle in this article. The alarms are installed on both sides of the vehicle body on the left and right and in the cab respectively.

[0104] When a large vehicle turns, if the laser detector detects a pedestrian or vehicle entering the danger zone, the laser detector sends a signal to the ECU controller. At the same time, the ECU controller activates the alarm, and the alarms inside and outside the vehicle sound an alarm to prompt the driver and warn and drive away the pedestrian or vehicle.

[0105] Sub-step 3.3: In order to enable the driver to avoid dangerous situations in time, the present invention is equipped with an intelligent identification of the dangerous area status and a vehicle speed control system. When pedestrians or vehicles enter the secondary dangerous area, the large vehicle will stop accelerating and gradually reduce the vehicle speed until it stops; when pedestrians or vehicles enter the primary dangerous area, the large vehicle will immediately perform emergency braking to avoid traffic accidents.

[0106] The intelligent identification and control system includes an ECU controller, a laser detector, an injection control system, and an automatic braking system. The automatic braking system comprises a brake pedal, a vacuum booster, a brake cylinder, a two-position, four-way electromagnetic directional valve, a hydraulic pump, a filter, a fuel tank, and a relief valve. The vacuum booster's plunger push rod is mechanically hinged to the brake pedal, and the brake cylinder is located on the back of the brake pedal. The automatic braking system also includes a flexible cable. The back of the brake pedal is connected to the piston rod in the brake cylinder via a flexible zipper. The left and right oil chambers of the brake cylinder are connected to the hydraulic pump, relief valve, and fuel tank, respectively, via a two-position, four-way electromagnetic directional valve. The hydraulic pump is connected to the fuel tank via a filter. The brake signal output terminal PT of the ECU controller is connected to the electromagnet PT1 of the two-position, four-way electromagnetic directional valve.

[0107] The specific implementation process of the intelligent identification and braking system includes the following steps:

[0108] (1) setting different states of the danger zone, wherein the different states of the danger zone refer to the state where a pedestrian or vehicle enters a secondary danger zone and the state where a pedestrian or vehicle enters a primary danger zone;

[0109] (2) The vehicle ECU controller determines the current state of the danger zone by receiving the output signal of the laser detector; the output signal of the laser detector is a signal indicating that the vehicle or pedestrian has entered the secondary danger zone, or a signal indicating that the vehicle or pedestrian has entered the primary danger zone;

[0110] (3) If the ECU controller determines that a pedestrian or vehicle is in the secondary danger zone, the ECU controller sends a fuel cut-off signal to the engine ECU, causing it to control the electromagnetic injector to stop injecting fuel. At this time, the vehicle speed begins to decrease until the vehicle stops;

[0111] (4) If the ECU controller determines that a pedestrian or vehicle is in the first-level dangerous area, the ECU controller sends an oil cut-off signal to the engine ECU, causing it to control the electromagnetic injector to stop injecting oil and simultaneously start the brake signal PT. After the electromagnet PT1 of the two-position four-way electromagnetic reversing valve is energized, the left position of the two-position four-way electromagnetic reversing valve works, oil enters the right chamber of the brake hydraulic cylinder, the piston rod is pushed to move rapidly to the left, and the flexible cable pulls the brake pedal to rotate rapidly clockwise. The effect is exactly the same as if the driver slams on the brake pedal, causing the vehicle to achieve emergency braking.

[0112] Among them, the method by which the laser detector determines whether a pedestrian or vehicle enters the first or second level danger zone is:

[0113] The coordinates of the projection point P of the laser detector on the side of the truck are (x p ,y p ,z p ), the vertical height of the laser projection point P from the ground is H1, the intersection of the vertical line segment P and the ground is S, and the coordinate of S is (x s ,y s ,z s ), the coordinates of any point W on the boundary curve of the first-level dangerous area are (x w ,y w ,z w ), the coordinates of any point Q on the secondary dangerous area boundary curve (i.e., the outer boundary curve) GG1 are (x q ,y q ,z q ), the U coordinate of any point on the ground of a pedestrian or vehicle in the intrusion danger zone is (x u ,y u ,z u );

[0114] Then the line segment distance H2 between a point W on the boundary curve of the first-level dangerous area and the intersection S of the laser projection point and the ground is:

[0115]

[0116] The laser projection angle δ1 can be calculated as:

[0117]

[0118] Then the line segment distance H3 between a point Q on the boundary curve of the secondary hazardous area and the intersection S of the laser projection point and the ground is:

[0119]

[0120] The laser projection angle δ2 can be calculated as:

[0121]

[0122] Then the line segment distance H4 between a point U on the ground where the pedestrian or vehicle is located and the intersection S of the laser projection point and the ground is:

[0123]

[0124] The laser projection angle σ can be calculated as:

[0125]

[0126] If δ1<σ≤δ2, it means that the vehicle or pedestrian has entered the secondary danger zone;

[0127] If σ≤δ1, it means that the vehicle or pedestrian has entered the first-level danger zone.

[0128] Among them, Figure 4 The figure shows the structure of the vehicle ECU controller, i.e., the electrical interface control circuit schematic diagram of the intelligent identification and control system. YJWXQ is the input signal port for vehicles or pedestrians entering the first-level danger zone, EJWXQ is the input signal port for vehicles or pedestrians entering the second-level danger zone, DY is the engine fuel cut-off control signal output port, and PT is the intelligent braking signal output port.

[0129] Among them, Figure 5 The figure shows an automatic brake system and its working principle, which includes a brake pedal 1, a vacuum booster 2, a flexible cable 3, a brake hydraulic cylinder 4, a two-position four-way electromagnetic reversing valve 5, a hydraulic pump 6, a filter 7, a fuel tank 8 and a relief valve 9;

[0130] The plunger push rod of the vacuum booster 2 is connected to the brake pedal 1 through a mechanical hinge. The brake hydraulic cylinder 4 is arranged on the back side of the brake pedal 1. The back side of the brake pedal 1 is connected to the piston rod in the brake hydraulic cylinder 4 through a flexible cable 3. The left and right oil chambers of the brake hydraulic cylinder 4 are respectively connected to the hydraulic pump 6, the overflow valve 9 and the oil tank through a two-position four-way electromagnetic reversing valve 5 (if the left chamber of the hydraulic cylinder is connected to the hydraulic pump and the overflow valve, the right chamber is connected to the oil tank; or the right chamber is connected to the hydraulic pump and the overflow valve, and the left chamber is connected to the oil tank), the hydraulic pump 6 is connected to the oil tank 8 through a filter 7; the brake signal output terminal PT of the ECU controller is connected to the electromagnet PT1 of the two-position four-way electromagnetic reversing valve 5.

[0131] Step 4 includes the following sub-steps:

[0132] Sub-step 4.1: In order to enable the driver to quickly and easily observe the abnormal position in the blind spot of the turning area in the cab, the upper part of the left and right doors on the outside of the truck is marked as follows: Figure 6 As shown, a 720° camera is installed on each side, and an electronic display screen is installed on the A-pillar on the left side of the cab.

[0133] When the laser detector detects an abnormality in the dangerous area, the laser detector will send a signal to the ECU controller to inform it of the abnormal location. After receiving the signal, the ECU controller adjusts the 720° camera to the visual position of the abnormal object. The ECU controller then transmits the image of the abnormal location captured by the camera to the LED electronic display screen inside the car, allowing the driver to see the abnormal location clearly without moving and eliminate safety hazards in a timely manner.

[0134] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A laser warning collision avoidance control method for heavy trucks turning blind spots, characterized in that: The following steps are involved: S1: The vehicle starts turning, obtains the turning angle through the steering wheel angle sensor, and calculates the danger zone through the vehicle ECU controller; S2. During the turn, the laser projector dynamically projects a laser line to illuminate the boundary of the danger zone to warn surrounding pedestrians or vehicles not to approach the danger zone; S3. During the turn, the laser detector is used to determine whether there are pedestrians or vehicles intruding into the danger zone, and whether to take corresponding measures; S4. During the turning process, based on the result of the determination of the dangerous area in step S3, the rearview system is determined to take corresponding measures. When a heavy truck turns, the vehicle's ECU controller obtains the vehicle's turning angle information through the angle sensor inside the steering wheel. At the same time, based on the vehicle's own parameters, it calculates the expected turning trajectory of the vehicle. The specific calculation process is as follows: The inner front wheel turning radius R is: ; The inner rear wheel turning radius R' is: ; The trajectory equation of the inner front wheel is: , ; The trajectory equation of the inner rear wheel is: , ; The equation of the outer boundary curve GG1 of the dangerous area is: , ; Where R is the turning radius of the inner front wheel; R' is the turning radius of the inner rear wheel; for( ); r is the turning radius, ; is the inner front wheel turning angle, ; θ is the outer front wheel turning angle, d is the track width, and l is the wheelbase; The vehicle ECU controller determines the scope of the danger zone based on the wheel steering trajectory and divides the danger zone into level one and level two. Cameras are installed above the doors on both sides of the truck, and an electronic display screen is installed on the A-pillar on the left side of the cab. When the laser detector detects an abnormality in the dangerous area, the laser detector will send a signal to the ECU controller to inform it of the abnormal location. After receiving the signal, the ECU controller adjusts the camera to the visual position of the abnormal object, and then the ECU controller transmits the image of the abnormal location captured by the camera to the LED electronic display screen inside the vehicle, so that the driver can see the abnormal location without moving and eliminate safety hazards in time.

2. The laser warning collision avoidance control method for heavy trucks in blind turning areas according to claim 1 is characterized by: The vehicle ECU controller activates the laser projector based on the turn signal. The laser projector projects a red laser line toward the boundary of the danger zone based on the calculated danger zone range, illuminating the boundary of the danger zone to warn pedestrians to stay away from the danger zone. The laser projector projection angle calculation process is as follows: The vehicle ECU controller simulates a three-dimensional rectangular coordinate system in the system according to the dangerous area in step S1. The coordinates of the projection point M of the laser projector on the side of the truck are ( ), the vertical height of the laser projection point M from the ground is , the intersection of the vertical line segment MN and the ground is N, and its coordinates are ( ), the coordinates of any point Q on the outer boundary curve GG1 of the dangerous area are ( ), The distance between a point Q on the outer boundary curve and the intersection point N of the laser projection point and the ground is for: = ； Calculate the laser projection angle for: .

3. The laser warning and collision avoidance control method for heavy trucks in blind turning areas according to claim 2 is characterized in that: When a heavy truck turns, the vehicle's ECU collects and processes the truck's angle sensor signals, calculates the danger zone, and activates the laser detector to detect whether there are pedestrians or vehicles entering the danger zone. The calculation process is as follows: Assume that the laser detector emits a laser beam into the danger zone at a speed of light c. When there are no obstacles in the danger zone, the distance from the laser projection point to the ground is d1. At this time, the time it takes for the laser detector to receive the returning laser is: ； When there are pedestrians or vehicles in the danger zone, the distance from the laser projection point to the obstacle is d2. At this time, the time it takes for the laser detector to receive the return laser is: ； If the laser detector detects the actual receiving time < -k is considered as a pedestrian or vehicle intrusion into the danger zone; Where k is the allowed error threshold.

4. The laser warning and collision avoidance control method for heavy trucks turning blind spots according to claim 3 is characterized by: Alarm devices are installed on the left and right sides of the truck body and in the cab. When the vehicle turns, if the laser detector detects pedestrians or vehicles entering the danger zone, the laser detector sends a signal to the vehicle ECU controller. At the same time, the vehicle ECU controller activates the alarm device. The alarms inside and outside the vehicle sound to prompt the driver and warn and drive away pedestrians or vehicles.

5. The laser warning and collision avoidance control method for heavy trucks in blind turning areas according to claim 4 is characterized in that: The intelligent recognition of dangerous area status and vehicle speed control system is used to assist the driver in avoiding danger in a timely manner. The specific implementation process of the intelligent recognition of dangerous area status and vehicle speed control system includes the following steps: 1) Setting different states of the danger zone, where the states refer to the state where a pedestrian or vehicle enters a secondary danger zone and the state where a pedestrian or vehicle enters a primary danger zone; 2) The vehicle ECU controller determines the current state of the dangerous area by receiving the output signal of the laser detector; 3) If the vehicle ECU controller determines that a pedestrian or vehicle is in the secondary danger zone, the vehicle ECU controller sends a fuel cut-off signal to the engine ECU, causing it to control the electromagnetic injector to stop injecting fuel. At this time, the vehicle speed begins to decrease until the vehicle stops; 4) If the vehicle ECU controller determines that a pedestrian or vehicle is in the first-level danger zone, the vehicle ECU controller sends an oil cut-off signal to the engine ECU, causing it to control the electromagnetic injector to stop injecting oil and simultaneously start the brake signal PT. After the electromagnet PT1 of the two-position four-way electromagnetic reversing valve is energized, the left position of the two-position four-way electromagnetic reversing valve works, oil enters the right chamber of the brake hydraulic cylinder, the piston rod is pushed to move rapidly to the left, and the flexible cable pulls the brake pedal to rotate rapidly clockwise. The effect is exactly the same as if the driver slams on the brake pedal, causing the vehicle to achieve emergency braking.

6. The laser warning and collision avoidance control method for heavy trucks turning blind spots according to claim 5 is characterized by: The output signal of the laser detector refers to the signal that a vehicle or pedestrian enters the secondary danger zone, and the signal that a vehicle or pedestrian enters the primary danger zone.

7. The laser warning collision avoidance control method for heavy trucks turning blind spots according to claim 6 is characterized by: The laser detector determines whether a pedestrian or vehicle enters the first or second danger zone by: Assume that the coordinates of the projection point P of the laser detector on the side of the truck are ( ), the vertical height of the laser projection point P from the ground is , the intersection of the vertical line segment P and the ground is S, and the coordinates of S are ( ), the coordinates of any point W on the boundary curve of the first-level dangerous area are ( ), the coordinates of any point Q on the boundary curve GG1 of the secondary danger zone are ( ), the U coordinate of any point on the ground of a pedestrian or vehicle in the intrusion danger zone is ( ); then the line segment distance between a point W on the boundary curve of the first-level dangerous area and the intersection S of the laser projection point and the ground is for: = ； Calculate the laser projection angle for: ； The distance between a point Q on the boundary curve of the secondary danger zone and the intersection S of the laser projection point and the ground is for: = ； Calculate the laser projection angle for: ； Then the distance between a point U on the ground where the pedestrian or vehicle is located and the intersection S of the laser projection point and the ground is for: = ； Calculate the laser projection angle for: ； like ≤ , indicating that a vehicle or pedestrian has entered a secondary danger zone; like , indicating that the vehicle or pedestrian has entered the first-level danger zone.

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