Method for detecting blind areas of obstacles in front of a vehicle, monitoring system and vehicle

Abstract

A method for detecting an obstacle blind area in front of a vehicle, comprising the following steps: S1, activating an infrared detector (4, 5) when an obstacle (10) is detected in front of the vehicle by a radar (3) and / or a camera (1, 2); S2, transmitting an infrared signal of the infrared detector (4, 5) and an image signal of the camera (1, 2) to a vehicle control system (6), and the vehicle control system (6) determining whether there is an obscured object (30) in a blind area (20) of the obstacle (10) according to at least one of the infrared signal and the image signal; S3, when the obscured object (30) exists in the blind area (20), the vehicle control system (6) determines a motion state of the obscured object (30) according to the infrared signal continuously sent by the infrared detector (4, 5); S4, the vehicle control system (6) triggers warning information and / or active intervention instructions according to the motion state of the obscured object (30). The method also relates to a monitoring system and a vehicle.

Description

Technical Field

[0001] This invention relates to a method for detecting blind spots in front of a vehicle, particularly when the vehicle is traveling on a highway, enabling the driver to avoid pedestrians or other road users who may appear from the blind spot. Furthermore, this invention relates to a monitoring system capable of implementing this method. The invention also relates to a vehicle equipped with the aforementioned monitoring system. Background Technology

[0002] During vehicle operation, especially in urban areas, there are usually complex traffic conditions and various traffic participants, such as pedestrians, cyclists, motorcycles, and electric two-wheelers, in addition to vehicles on the road.

[0003] Existing vehicle driving assistance systems typically only detect road users within the vehicle's visual range, lacking the means to detect road users in blind spots, especially those obscured by obstacles in front of the vehicle. Although traffic regulations stipulate that drivers must exercise caution in complex situations, the existence of obstacles creating blind spots still poses a risk: if a pedestrian or other road user happens to cross the blind spot and approach the path directly in front of a moving vehicle (commonly known as a "ghost peek"), the vehicle may not have enough time to slow down or brake, leading to a collision with the pedestrian or other road user. Summary of the Invention

[0004] To address the above problems, a first aspect of the present invention provides a method for detecting blind spots of obstacles in front of a vehicle, comprising at least the following steps:

[0005] S1 activates the infrared detector when it detects an obstacle in front of the vehicle via radar and / or camera.

[0006] S2 transmits the infrared signal from the infrared detector and the image signal from the camera to the vehicle control system, which at least determines whether there is an obstructed object in the blind spot of the obstacle based on the infrared signal and the image signal.

[0007] S3 When an obscured object exists in the blind spot, the vehicle control system determines the motion state of the obscured object based on the infrared signals continuously sent by the infrared detector.

[0008] The vehicle control system described in S4 triggers warning information and / or active intervention commands based on the motion state of the obscured object.

[0009] Within the framework of the present invention, preferably in step S1, the presence of an obstacle in front of the vehicle is determined by combining the radar detection results and the image identified by the camera, and the infrared detector is activated.

[0010] Within the framework of this invention, the vehicle control system refers to a suitable control device or a group of control devices configured to perform at least a portion of the method according to the invention, such as including an application-specific integrated circuit (ASIC), one or more processors, and a non-transitory memory storing instructions. The vehicle control system is, for example, an electronic control unit (ECU), commonly referred to as a "vehicle computer," "on-board computer," etc.

[0011] In a preferred embodiment of the method according to the invention, the infrared detector is activated in step S1 when the obstacle is detected by radar and / or camera to be present diagonally in front of the vehicle for at least a period of time, and the vehicle and the obstacle are traveling at substantially the same speed or the obstacle is substantially stationary, and the distance between the vehicle and the obstacle is less than or equal to a first predetermined distance, particularly a first predetermined distance of 100 meters. It is also conceivable that the first predetermined distance is a distance other than 100 meters, such as 80 meters, 120 meters, or 150 meters.

[0012] Within the framework of this invention, the term "diagonally in front of the vehicle" specifically means that the obstacle is not on the vehicle's path of travel, but rather beside it. The vehicle and obstacle traveling at substantially the same speed specifically means that they are traveling in the same direction at approximately the same speed, wherein "approximately the same speed" specifically means a speed difference of no more than 10 km / h, preferably no more than 5 km / h. The obstacle being substantially stationary specifically means that the absolute speed of the obstacle relative to the ground does not exceed 10 km / h, especially no more than 5 km / h, and particularly preferably the obstacle is completely stationary on either side of the road.

[0013] Within the framework of this invention, the condition "the obstacle is detected to be present diagonally in front of the vehicle for at least a period of time" can effectively filter out some interfering factors. For example, it can filter out scenarios where another vehicle is stopped diagonally in front of the vehicle, but when the vehicle approaches the other vehicle, the other vehicle starts moving away from the vehicle, especially turning or accelerating away. However, the "period of time" in this condition should not be set too long, especially it should be set to 2 to 5 seconds, and particularly preferably 3 seconds. For example, when the vehicle is traveling at 50 km / h on a city road, it will travel approximately 42 meters in 3 seconds. If we start counting from when the obstacle is about 100 meters diagonally in front of the vehicle (i.e., the first predetermined distance), the distance between the vehicle and the obstacle after 3 seconds will be approximately 58 meters, which is sufficient to implement steps S2-S4. However, if the time period is set too long, it may not be sufficient to implement steps S2-S4, leading to an increased driving risk.

[0014] In a preferred embodiment of the method according to the invention, the time period can be dynamically and automatically adjusted according to the vehicle speed. Particularly preferably, the first predetermined distance can also be dynamically and automatically adjusted according to the vehicle speed. For example, at a vehicle speed of 80 km / h, the first predetermined distance is set to 120 meters, and the time period is set to 2 seconds. The dynamic adjustment scheme should be stored in advance in the vehicle control system, particularly in the memory of the vehicle control system.

[0015] By setting the preferred activation conditions in step S1, the frequent activation of the infrared detector can be effectively avoided, and the main scenarios in which obstacles obstruct the driver's view can be filtered out, especially the following scenarios: when the vehicle is moving forward, there are basically fixed obstacles on both sides of the road or on both sides of the vehicle. As the vehicle approaches the obstacle, the driver's view will be largely obstructed. This is especially true when there are parked vehicles at intersections. The view of drivers of vehicles coming from behind will be obstructed as they approach the parked vehicle. Therefore, it is difficult to identify whether there are pedestrians or other traffic participants crossing the intersection laterally in the blind spot blocked by the parked vehicle. This scenario poses a certain safety risk.

[0016] Within the framework of this invention, the infrared detector is specifically configured to convert thermal radiation emitted by an object in front of the vehicle into an electrical signal, and then convert the analog signal from the sensor into a digital signal via an A / D processor. Therefore, the infrared detector can detect whether an obstructed object exists behind an obstacle (i.e., the obstacle is located between the vehicle and the obstructed object). For example, in step S2, the vehicle control system simultaneously receives the infrared signal from the infrared detector and the image signal from the camera, and determines whether an obstructed object exists in the driver's blind spot based on the fused image of these two signals. For example, when there is no significant difference between the infrared signal from the infrared detector and the image signal from the camera, it indicates that there is no obstructed object in the blind spot behind the obstacle; however, if there is a significant difference between the infrared signal and the image signal, it indicates that an obstructed object exists in the blind spot behind the obstacle.

[0017] It should be noted that in step S2, when detecting whether there is an obstructed object behind the obstacle, the distance between the vehicle and the obstacle should be greater than or equal to the second pre-given distance L2. According to the calculation above, when the vehicle is traveling at 50 km / h on an urban road and the "time period" determined in S1 is 3 seconds, the second pre-given distance L2 is approximately 58 meters.

[0018] Within the framework of this invention, if it is determined in step S2 that an obstructed object exists in the driver's blind spot, in step S3, the infrared detector continues to operate and sends the detected infrared signal to the vehicle control system, or ECU. The signal received by the ECU from the infrared detector has been converted from an electrical signal to a digital signal. The ECU can analyze and process the received digital signal to convert it into thermal field image information, and determine the motion state of the obstructed object, especially the direction and speed of the obstructed object, based on the thermal field image information.

[0019] In a preferred embodiment of the method according to the present invention, in step S4, the vehicle control system triggers a warning message and / or an active intervention command based on the motion state of the obscured object continuously moving towards the front of the vehicle. Therefore, within the framework of the present invention, the triggering of the warning message and / or active intervention command in step S4 is predicated on the judgment result of step S3. That is, in step S3, if the obscured object is determined by the ECU to be moving closer to the vehicle's driving path, then a warning message and / or an active intervention command are triggered. Within the framework of the present invention, particularly in step S4, the ECU continuously collects signals from the camera, radar, and infrared detectors, and converts the collected digital signals for analysis and processing. Particularly preferably, if the obscured object is determined to be stationary or moving away from the vehicle's driving path, i.e., there is no risk of collision between the obscured object and the vehicle, then no warning message and / or active intervention command are triggered in step S4.

[0020] In a preferred embodiment of the method according to the invention, in step S4, the conditions for triggering the warning information and / or active intervention command further include that the distance between the vehicle and the obstacle is less than or equal to a third pre-given distance, particularly that the third pre-given distance is 20 meters. Since vehicles typically do not travel at high speeds in urban road environments, for example, at 50 km / h, the braking distance is usually less than 21 meters. Therefore, a third pre-given distance of 20 meters provides better risk prevention.

[0021] Within the framework of this invention, it is also preferable that, in step S3, if the ECU determines that the obscured object is moving toward the vehicle's driving path, a warning message is immediately triggered without triggering an active intervention command. The active intervention command is only triggered when the distance between the vehicle and the obstacle is less than or equal to a third pre-given distance.

[0022] In a preferred embodiment of the method according to the present invention, in step S4, the vehicle control system or ECU sends an active intervention command to the vehicle braking system, which performs braking operation according to the active intervention command to reduce the vehicle speed.

[0023] In a preferred embodiment of the method according to the invention, when the driver depresses the brake pedal, or when the vehicle speed is lower than a first predetermined speed, the vehicle control system stops sending the active intervention command and stops triggering the warning information, especially when the first predetermined speed is 20 km / h. That is, according to the method of the invention, the ECU's autonomous operation of the vehicle has a lower priority than the driver's operation of the vehicle.

[0024] In a preferred embodiment of the method according to the present invention, the warning information is visual warning information and / or auditory warning information, wherein the visual warning information is presented by an in-vehicle display and the auditory warning information is presented by an in-vehicle audio system.

[0025] In a preferred embodiment of the method according to the invention, the method is carried out when the vehicle speed is higher than a first predetermined speed and / or lower than a second predetermined speed, particularly when the first predetermined speed is 20 km / h and the second predetermined speed is 50 km / h.

[0026] Within the framework of this invention, it is also preferable that, in step S3, if the ECU determines that the obscured object is moving toward the vehicle's driving path, but the vehicle speed is lower than the first predetermined speed, then in step S4, the vehicle control system only triggers a warning message and does not trigger an active intervention command.

[0027] Within the framework of this invention, it is also preferable that, in step S3, if the ECU determines that the obscured object is moving closer to the vehicle's travel path, but the vehicle speed is higher than the second predetermined speed, then the vehicle control system only triggers a warning message and does not trigger an active intervention command. This is because triggering an active intervention command at higher speeds may bring additional risks.

[0028] According to a second aspect of the invention, a monitoring system for detecting blind spots of obstacles in front of a vehicle is provided, wherein the monitoring system is capable of implementing the method according to the invention. In particular, the monitoring system according to the invention can include at least a left fender camera, a right fender camera, an onboard radar (especially an onboard millimeter-wave radar), a left infrared detector, a right infrared detector, a vehicle control system, and a warning system.

[0029] In a preferred embodiment, since the monitoring system according to the present invention is preferably equipped with a left fender camera, a right fender camera, a left infrared detector, and a right infrared detector, when, for example, an obstacle is detected in front of the right side of the vehicle, the vehicle control system will only issue an activation command to the right infrared detector, while the left infrared detector does not need to be activated. This allows the vehicle control system to process only the signal from the right infrared detector, thereby reducing system interference and improving the efficiency of system analysis and judgment.

[0030] According to a third aspect of the invention, a vehicle is provided having a monitoring system according to the invention. Attached Figure Description

[0031] The following embodiment illustrates the method for detecting blind spots of obstacles in front of a vehicle according to the present invention.

[0032] Figure 1 An exemplary vehicle capable of implementing the method according to the invention is shown, wherein the various components are shown protruding from the vehicle body with small squares for clarity, which do not represent the actual shape or position of the sensor;

[0033] Figure 2a , Figure 2b , Figure 2c and Figure 2d Steps S1 to S4 of the method according to the present invention are shown respectively. Detailed Implementation

[0034] In the following exemplary embodiments, the scope of protection of the present invention is not limited in any way, but is merely exemplified to show a typical implementation within the scope of protection of the present invention.

[0035] It should be noted that in the specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature, unless otherwise expressly specified.

[0036] Figure 1 An exemplary vehicle capable of implementing the method according to the invention is shown, wherein the various sensors and devices are shown protruding from the vehicle body with small squares for clarity, which do not represent the actual shape or position of the sensor. Figure 1 The vehicle shown has a monitoring system according to the invention, which includes at least a left fender camera 1, a right fender camera 2, an onboard radar 3, a left infrared detector 4, a right infrared detector 5, a vehicle control system 6, and an in-vehicle warning system 7.

[0037] pass Figure 1 The vehicle shown is equipped with a monitoring system and can implement the method according to the invention. Since the monitoring system according to the invention is preferably provided with a left fender camera 1, a right fender camera 2, a left infrared detector 4, and a right infrared detector 5, when, for example, the right fender camera 2 and the vehicle radar 3 detect an obstacle in front of the right side of the vehicle, the vehicle control system will only issue an activation command to the right infrared detector 5, while the left infrared detector 4 does not need to be activated, so that the vehicle control system 6 only needs to process the signal from the right infrared detector 5.

[0038] Below, according to Figure 1 Reference Figure 2a , Figure 2b , Figure 2c and Figure 2d This describes a method for detecting blind spots of obstacles in front of a vehicle according to the present invention. For clarity reasons, in Figures 2a to 2d The components of the vehicle's monitoring system are not labeled, i.e., they are not labeled. Figure 1 The following components are already marked: left fender camera 1, right fender camera 2, vehicle radar 3, left infrared detector 4, right infrared detector 5, vehicle control system 6, and in-vehicle warning system 7. Please refer to these for further information. Figure 1 .

[0039] exist Figure 2a The diagram illustrates step S1, in which the right infrared detector 5 is activated when an obstacle 10 is detected in front of the right side of the vehicle by the vehicle radar 3 and / or the right fender camera 2. Figure 2a The angle enclosed by the dashed line in the image shows the detection range of camera 2 on the right fender. It should be noted that... Figure 2aAs shown, the conditions for activating the right infrared detector 5 in step S1 are, in particular, that when the vehicle speed is a first predetermined speed G1 (G1 is, for example, 50 km / h), the vehicle control system 6 detects, via the onboard radar 3 and the right fender camera 2, that the obstacle 10 exists in front of the vehicle on the right for a period of at least 3 seconds. This period is calculated from when the distance between the vehicle and the obstacle 10 is a first predetermined distance L1 (especially 100 meters), and the obstacle 10 is substantially stationary, i.e., the absolute speed of the obstacle 10 relative to the ground does not exceed 10 km / h, especially not more than 5 km / h, and particularly preferably the obstacle is completely stationary on the right side of the road. It is also conceivable that the obstacle 10 is another vehicle traveling in the same direction, with a speed approximately the same as the vehicle's, where "approximately the same" particularly means a speed difference of no more than 10 km / h, preferably no more than 5 km / h.

[0040] The time period can be dynamically and automatically adjusted according to the vehicle speed. Particularly preferably, the first pre-given distance L1 can also be dynamically and automatically adjusted according to the vehicle speed. For example, when the first pre-given speed G1 is 80 km / h, the first pre-given distance L1 is set to 120 meters, and the time period is set to 2 seconds. The "time period" in this condition should not be set too long, especially between 2 and 5 seconds, and particularly preferably 3 seconds.

[0041] Depend on Figure 2a and Figure 2b As the vehicle approaches obstacle 10, the driver's view is significantly obstructed, making it difficult to identify whether pedestrians or other traffic participants are crossing the intersection laterally within the blind spot 20 obstructed by obstacle 10. Figures 2b to 2d In the figure, the driver's blind spot is indicated by reference numeral 20, which is obscured by obstacle 10.

[0042] exist Figure 2a After the conditions for activating the right infrared detector 5 are met, Figure 2b The following describes step S2, in which the infrared signal from the right infrared detector 5 and the image signal from the right fender camera 2 are transmitted to the vehicle control system 6. The vehicle control system 6 determines, at least based on the infrared signal and the image signal, whether an obstructed object 30 exists within the blind spot 20 of the obstacle 10. Figure 2b (The middle is the pedestrian). Figure 2b As shown, the vehicle control system 6 simultaneously receives the infrared signal from the right infrared detector 5 and the image signal from the right fender camera 2. Figure 2bIn this context, the detection ranges of the two sensors are essentially the same (therefore, they are represented by the same angle enclosed by two dashed lines), and based on the fused image of these two signals, it is determined whether there is an obstructed object within the driver's blind spot 20. For example... Figure 2b In the case described above, because the infrared signal can include information about the obscured object 30 hidden by the obstacle 10, while the image signal from the right fender camera 2 does not include information about the obscured object 30 (infrared thermal field image information), there is a significant difference between the infrared signal and the image signal, indicating that the obscured object 30 exists in the blind spot 20 behind the obstacle 10. Figure 2b In step S2, when detecting whether there is an obstructed object 30 behind obstacle 10, the distance between the vehicle and obstacle 10 should be greater than or equal to the second pre-given distance L2. According to the calculation above, when the vehicle is traveling at 50 km / h on an urban road and the "time period" determined in S1 is 3 seconds, the second pre-given distance L2 is approximately 58 meters.

[0043] Figure 2c The diagram illustrates step S3. When an obscured object 30 exists within the blind zone 20, the vehicle control system 6 determines the motion state of the obscured object 30 based on the infrared signals continuously transmitted by the right infrared detector 5. Specifically, in step S3, the right infrared detector 5 continuously operates and transmits the detected infrared signals to the vehicle control system 6. The signals received by the vehicle control system 6 from the infrared detector are digital signals converted from electrical signals by the right infrared detector 5. The vehicle control system 6 can evaluate the received digital signals to convert them into thermal field image information and determine the motion state of the obscured object 30, particularly its direction and speed of movement, based on this thermal field image information. Figure 2c As can be seen, the obscured object 30 is moving to the left, that is, moving closer to the direction of the vehicle's travel path.

[0044] Figure 2d The diagram shows the situation in step S4, where the vehicle control system 6 determines the motion state of the obscured object 30 based on... Figure 2c and Figure 2d The movement state from center to left triggers warning messages and active intervention commands.

[0045] exist Figure 2d In the middle, the vehicle control system 6 determines the motion state of the obscured object 30 as it continues to move directly in front of the vehicle (i.e., Figure 2c and Figure 2d (The movement state from center to left) triggers warning information and active intervention commands. In step S4, the vehicle control system 6 continuously collects digital signals from the onboard radar 3, the right fender camera 2, and the right infrared detector 5, and evaluates the collected digital signals. However, in Figure 2dIf the obscured object 30 is determined to be stationary or far from the vehicle's travel path, meaning there is no risk of collision between the obscured object 30 and the vehicle, then no warning message or active intervention command will be triggered in step S4.

[0046] In addition, such as Figure 2d It is evident that the conditions for triggering the warning information and active intervention command also include that the distance between the vehicle and the obstacle 10 is less than or equal to a third pre-given distance L3, wherein the third pre-given distance L3 is specifically 20 meters. However, the vehicle control system 6 can also trigger the warning information and active intervention command sequentially in step S4, that is, the obstructed object 30 is determined by the vehicle control system 6 to be moving closer to the vehicle's travel path (i.e., Figure 2c When the vehicle moves from center to left, a warning message is immediately triggered. Then, after the warning message has been triggered, an active intervention command is triggered only after the distance between the vehicle and obstacle 10 is less than or equal to the third pre-given distance L3.

[0047] In step S4, the vehicle control system 6 sends an active intervention command to the vehicle braking system (not shown in the figure), which performs braking operation according to the active intervention command to reduce the vehicle speed, for example, to reduce the vehicle speed from a first predetermined speed G1 to a second predetermined speed G2.

[0048] exist Figure 2d In step S4, if the driver presses the brake pedal, or the vehicle speed is lower than the second preset speed G2 (especially 20 km / h), that is, if one of these two conditions is met, the vehicle control system 6 stops sending active intervention commands and stops triggering warning information.

[0049] In a special case, if the vehicle control system 6 has triggered a warning message in step S4 but has not yet triggered an active intervention command, and the driver presses the brake pedal, then the vehicle control system 6 will also stop triggering warning messages and will no longer send active intervention commands.

[0050] exist Figure 2d In step S4, the warning information is presented visually via an in-vehicle display and / or audibly via an in-vehicle audio system, particularly in a verbal manner. The in-vehicle display may include a dashboard in front of the driver, a central infotainment display, or a head-up display (HUD), etc. The in-vehicle audio system may be an existing audio system in the vehicle or a speaker specifically designed for the monitoring system according to the present invention, such as a buzzer or a voice player.

[0051] exist Figures 2a to 2dIn the diagram, the arrow on the right side of the vehicle indicates the direction of travel. In this invention, the method is particularly preferably implemented when the vehicle speed is lower than the first predetermined speed G1 and / or higher than the second predetermined speed G2, especially when the first predetermined speed G1 is 50 km / h and the second predetermined speed G2 is 20 km / h.

[0052] In addition, Figure 2c In a special case, namely in step S3, the obscured object 30 is determined by the vehicle control system 6 to be moving closer to the vehicle's travel path (i.e., Figure 2c (Moving from center to left), however, if the vehicle speed is lower than the second predetermined speed G2, especially below 20 km / h, regardless of whether the distance between the vehicle and the obstacle 10 is lower than the third predetermined distance L3, the vehicle control system 6 will only trigger a warning message and will not trigger an active intervention command.

[0053] Furthermore, it should be noted that in step S3, the obscured object 30 is determined by the vehicle control system 6 to be moving closer to the vehicle's travel path. However, if the vehicle speed is higher than the first predetermined speed G1, the vehicle control system 6 only triggers a warning message and does not trigger an active intervention command. This is because triggering an active intervention command at higher speeds may bring additional risks.

[0054] It should be understood that the embodiments shown above are exemplary and not limiting, illustrating typical implementations of the method for detecting blind spots of obstacles in front of a vehicle according to the present invention. More precisely, in addition to the embodiments described above, numerous variations that are meaningful to those skilled in the art can be derived by combining various features of the present invention.

Claims

1. A method for detecting blind spots of obstacles in front of a vehicle, comprising at least the following steps: S1 activates the infrared detectors (4, 5) when an obstacle (10) is detected in front of the vehicle by radar (3) and / or cameras (1, 2). S2 transmits the infrared signals from the infrared detectors (4, 5) and the image signals from the cameras (1, 2) to the vehicle control system (6), and the vehicle control system (6) determines, at least based on the infrared signals and the image signals, whether there is an obscured object (30) in the blind zone (20) of the obstacle (10). S3 When there is an obscured object (30) in the blind zone (20), the vehicle control system (6) determines the motion state of the obscured object (30) based on the infrared signals continuously sent by the infrared detectors (4, 5). S4 The vehicle control system (6) triggers warning information and / or active intervention commands based on the motion state of the obscured object (30), wherein, The conditions for activating the infrared detectors (4, 5) in step S1 are that the obstacle (10) is detected by radar (3) and / or camera (1, 2) to be present in front of the vehicle for at least a period of time, and the vehicle and the obstacle (10) have substantially the same speed or the obstacle (10) is substantially stationary, and the distance between the vehicle and the obstacle (10) is less than or equal to a first pre-given distance (L1).

2. The method according to claim 1, wherein, The time period can be dynamically and automatically adjusted according to the vehicle speed, and / or the first pre-given distance (L1) can be dynamically and automatically adjusted according to the vehicle speed.

3. The method according to claim 1 or 2, wherein, In step S2, when the blind spot (20) after the obstacle (10) is detected to have an obscured object (30), the distance between the vehicle and the obstacle (10) should be greater than or equal to the second pre-given distance L2.

4. The method according to claim 1 or 2, wherein, In step S4, the vehicle control system (6) triggers warning information and / or active intervention commands based on the motion state of the obscured object (30) continuously moving in front of the vehicle.

5. The method according to claim 4, wherein, In step S4, the conditions for triggering the warning information and / or active intervention command also include that the distance between the vehicle and the obstacle (10) is less than or equal to the third pre-given distance (L3).

6. The method according to claim 5, wherein, The third pre-given distance (L3) is 20 meters.

7. The method according to claim 1 or 2, wherein, In step S4, the vehicle control system (6) sends the active intervention command to the vehicle braking system, and the vehicle braking system performs braking operation according to the active intervention command to reduce the vehicle speed.

8. The method according to claim 7, wherein, When the driver presses the brake pedal, or when the vehicle speed is lower than the second pre-set vehicle speed (G2), the vehicle control system (6) stops sending the active intervention command and stops triggering the warning information.

9. The method according to claim 8, wherein, The second pre-set vehicle speed (G2) is 20 km / h.

10. The method according to claim 1 or 2, wherein, The warning information is a visual warning information and / or an auditory warning information. The visual warning information is presented by the vehicle display, and the auditory warning information is presented by the vehicle audio system.

11. The method according to claim 1 or 2, wherein, The method is implemented when the vehicle speed is below a first predetermined speed (G1) and / or above a second predetermined speed (G2).

12. The method of claim 11, wherein, The first pre-set speed (G1) is 50 km / h, and the second pre-set speed (G2) is 20 km / h.

13. A monitoring system for detecting blind spots of obstacles in front of a vehicle, wherein, The monitoring system is capable of implementing the method according to any one of claims 1 to 12.

14. A vehicle having the monitoring system according to claim 13.

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