A tractor blind spot safety control system and method

Abstract

The present application relates to a kind of tractor lateral blind area safety control system and method, including radar sensor, alarm module, system controller and vehicle travel execution module;Vehicle both sides are respectively provided with the radar sensor, the alarm module is set in the cab inside both sides A column;The system controller includes blind area safety calculation module;The system controller is electrically connected with the alarm module and the execution module;The radar sensor is electrically connected with the system controller, suitable for the lateral blind area safety monitoring of the tractor and non-trailer of hanging travel, for tractor, can avoid the interference of system alarm when towing trailer enters radar monitoring area, and can according to the blind area range of the fixed distance in the side of trailer of main trailer articulation angle dynamic monitoring;The present application not only can realize the alarm function under the risk of collision, when the degree of danger increases, can further carry out limit torque and brake operation, enhances the safety ability of blind area monitoring.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, and in particular to a tractor-trailer side blind spot safety control system and method. Background Technology

[0002] Blind spots exist on both sides of a vehicle when it is in motion, which cannot be seen in the rearview mirrors. This can easily cause scrapes or collisions when turning or changing lanes. In particular, the blind spots on both sides of a tractor-trailer increase when turning, limiting visibility. Furthermore, the difference in the inner wheel difference caused by the folding motion between the tractor-trailer and the trailer increases the risk of collision. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a tractor-trailer lateral blind spot safety control system and method. This solves the problems of increased blind spot area on both sides of the tractor-trailer when turning, limited visibility, and increased collision risk due to the larger inner wheel difference caused by the turning state formed with the trailer.

[0004] This invention is achieved using the following technical solution:

[0005] A lateral blind spot safety control system for a tractor unit includes a radar sensor, an alarm module, a system controller, and a vehicle driving execution module. The radar sensor is installed on both sides of the vehicle, and the alarm module is installed on the A-pillars on both sides of the driver's cab. The system controller includes a blind spot safety calculation module. The system controller is electrically connected to the alarm module and the execution module. The radar sensor is electrically connected to the system controller.

[0006] A control method for a tractor's lateral blind spot safety control system.

[0007] The radar sensor monitors the blind spots on both sides of the vehicle, identifies and tracks dynamic targets, identifies the shape, position and physical size of the trailer through feature recognition algorithm, and calculates the size of the articulation angle between the tractor and the trailer in real time based on the trailer position information.

[0008] The radar sensor provides dynamic obstacle target position information and hinge angle to determine whether the target has entered the specified blind zone. When the target obstacle enters the specified blind zone on one side, the system controller sends a signal to the alarm module to remind the driver to pay attention to the safety of the side of the vehicle.

[0009] If the driver does not take any action after the alarm module issues a warning, and the target obstacle moves closer to the vehicle and enters the blind spot, a collision risk is determined. The system controller then sends a signal to the execution module to limit the vehicle's torque and apply light braking to prevent a collision.

[0010] Preferably, the blind spot safety calculation module takes the midpoint of the foremost point of the vehicle front as the origin of the coordinate system. Let the current target position be (x, y). When (x, y) satisfies formula (1), it is determined that the target is within the blind spot range of the tractor's main vehicle or the non-tractor's side. When calculating the tractor's main vehicle position, K4 = 0. or

[0011] When (x,y) satisfies formula (2) or (3), it is determined that the target object is within the blind zone of the trailer side. Figure 3 )Inside:

[0012] When α≠0,

[0013]

[0014] or

[0015] When α = 0,

[0016] or

[0017] Where α is the angle between the centerlines of the main trailer and the trailer detected by the radar sensor, m is the distance from the articulation point of the main trailer to the foremost point of the trailer, n is the distance from the articulation point to the rear end of the tractor, L11 is the width of the front of the vehicle, L21 is the width of the rear of the vehicle, L12 is the distance from the front of the vehicle to the articulation point, and L22 is the distance from the rear of the vehicle to the articulation point.

[0018] Compared with the prior art, the present invention has the following beneficial technical effects:

[0019] This invention has a certain degree of versatility and is applicable to lateral blind spot safety monitoring of tractor-trailers and non-tractor-trailers traveling with trailers. When used with tractor-trailers, it can avoid interference with the system alarm when the trailer enters the radar monitoring area, and can dynamically monitor the blind spot range within a fixed distance on the side of the trailer based on the articulation angle of the tractor and trailer. This invention can not only realize the alarm function under collision risk, but also further perform torque limiting and braking operations when the degree of danger increases, thereby enhancing the safety capability of blind spot monitoring. Attached Figure Description

[0020] The utility invention will be further described below with reference to the accompanying drawings:

[0021] Figure 1 This is a diagram of the lateral blind zone safety control system of the present invention;

[0022] Figure 2 This is a schematic diagram of the blind zone range of the present invention;

[0023] Figure 3This is a schematic diagram illustrating the calculation of the blind zone range of the present invention. Detailed Implementation

[0024] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise explicitly specified and limited, the embodiments and features described in the embodiments of this application can be combined with each other. In the description of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0025] Example 1:

[0026] like Figures 1 to 3 As shown, a lateral blind spot safety control system and method for a tractor unit includes a radar sensor, an alarm module, a system controller, and a vehicle driving execution module; the radar sensor is respectively installed on both sides of the vehicle, and the alarm module is installed on the A-pillars on both sides of the driver's cab; the system controller includes a blind spot safety calculation module; the system controller is electrically connected to the alarm module and the execution module; the radar sensor is electrically connected to the system controller.

[0027] The radar sensor monitors the blind spots on both sides of the vehicle, identifies and tracks dynamic targets, identifies the shape, position and physical size of the trailer through feature recognition algorithm, and calculates the size of the articulation angle between the tractor and the trailer in real time based on the trailer position information.

[0028] The radar sensor provides dynamic obstacle target position information and hinge angle to determine whether the target has entered the specified blind zone. When the target obstacle enters the specified blind zone on one side, the system controller sends a signal to the alarm module to remind the driver to pay attention to the safety of the side of the vehicle.

[0029] If the driver does not take any action after the alarm module issues a warning, and the target obstacle moves closer to the vehicle and enters the blind spot, a collision risk is determined. The system controller then sends a signal to the execution module to limit the vehicle's torque and apply light braking to prevent a collision.

[0030] The blind spot safety calculation module takes the midpoint of the frontmost part of the vehicle as the origin of the coordinate system. Let the current position of the target object be (x, y). When (x, y) satisfies formula (1), it is determined that the target object is within the blind spot range of the tractor's main vehicle or the non-tractor's vehicle. When calculating the tractor's main vehicle, K4 = 0.

[0031] or

[0032] When (x,y) satisfies formula (2) or (3), it is determined that the target object is within the blind zone of the trailer side. Figure 3 )Inside:

[0033] When α≠0,

[0034]

[0035] or

[0036] When α = 0,

[0037] or

[0038] Where α is the angle between the centerlines of the main trailer and the trailer detected by the radar sensor, m is the distance from the articulation point of the main trailer to the foremost point of the trailer, n is the distance from the articulation point to the rear end of the tractor, L11 is the width of the front of the vehicle, L21 is the width of the rear of the vehicle, L12 is the distance from the front of the vehicle to the articulation point, and L22 is the distance from the rear of the vehicle to the articulation point.

[0039] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0040] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications 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 the present invention.

Claims

1. A method for controlling the lateral blind spot of a tractor, characterized in that: The system includes a tractor-trailer side blind spot safety control system for implementing the method described above. The system comprises radar sensors, an alarm module, a system controller, and a vehicle driving execution module. The radar sensors are respectively located on both sides of the vehicle. The alarm module is mounted on the A-pillars on both sides of the driver's cab. The system controller includes a blind spot safety calculation module. The system controller is electrically connected to the alarm module and the execution module. The radar sensors are electrically connected to the system controller. The method includes: Radar sensors monitor the blind spots on both sides of the vehicle, identify and track dynamic targets, and use feature recognition algorithms to identify the shape, position and physical size of the trailer. Based on the trailer position information, the hinge angle between the tractor and the trailer is calculated in real time. The radar sensor provides dynamic obstacle target position information and hinge angle to determine whether the target has entered the specified blind zone. When the target obstacle enters the specified blind zone on one side, the system controller sends a signal to the alarm module to remind the driver to pay attention to the safety of the side of the vehicle. If the driver does not take any action after the alarm module issues a warning, and the target obstacle moves closer to the vehicle and enters the blind spot, it is determined that there is a risk of collision. The system controller then sends a signal to the execution module to limit the vehicle's torque and apply light braking to prevent a collision. The blind spot safety calculation module takes the midpoint of the frontmost part of the vehicle as the origin of the coordinate system. Let the current position of the target object be (x, y). When (x, y) satisfies formula (1), it is determined that the target object is within the blind spot range of the tractor's main vehicle or the non-tractor's side. When calculating the tractor's main vehicle, K4=0: (Left side) or (Right side) (1) When (x, y) satisfies formula (2) or (3), it is determined that the target object is within the blind zone of the trailer side (Figure 3): When α≠0, (Left side) or (Right side) (2) When α=0, (Left side) or (Right side) (3) Where α is the angle between the centerlines of the main trailer and the trailer detected by the radar sensor, m is the distance from the articulation point of the main trailer to the foremost point of the trailer, n is the distance from the articulation point to the rear end of the tractor, L11 is the width of the front of the vehicle, L21 is the width of the rear of the vehicle, L12 is the distance from the front of the vehicle to the articulation point, and L22 is the distance from the rear of the vehicle to the articulation point.

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