A method and system for identifying the blind area during a right turn of a large vehicle and actively avoiding it

Abstract

The present invention relates to the technical field of vehicle driving safety, and particularly relates to a method and system for actively avoiding blind spots in the right turn of large vehicles. The method for actively avoiding blind spots in the right turn of large vehicles proposed by the present invention can actively identify the blind spots in the right turn of adjacent large vehicles by comprehensively using vehicle vision sensors, environmental perception sensors, electronic stability controllers, engine and transmission controllers, electronic power steering controllers, etc., remind and warn the driver, and can automatically select the optimal control path according to the current lane driving conditions, and then control the vehicle to avoid the blind spots in time to protect the safety of the passengers in the passenger vehicle during the driving process.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle driving safety, and particularly relates to a method and system for identifying and actively avoiding blind spots during a right turn of a large vehicle. Background Art

[0002] The right-turn blind spot, also known as the inner-wheel turning radius blind spot, refers to the area where the rear wheels of a large vehicle (including city buses, muck trucks, cement tank trucks, large buses, and heavy-duty trucks) do not follow the same path as the front wheels during a right turn. Generally, the area enclosed by the paths of the front and rear wheels is called the trajectory blind spot. When a vehicle makes a right turn, the difference between the wheel tracks of the front and rear wheels on the right side is the inner-wheel turning radius. If drivers and pedestrians are not aware enough of common sense and safety when they are within the range of the inner-wheel turning radius, traffic accidents are likely to occur.

[0003] The existing vehicle safety control systems lack the function of identifying and warning when a vehicle is in the blind spot of a large vehicle, and cannot effectively ensure the driving safety of passenger cars under corresponding conditions. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method and system for identifying and actively avoiding blind spots during a right turn of a large vehicle, which can quickly identify the right-turn blind spot of a large vehicle in the adjacent left lane, and control the vehicle to execute corresponding avoidance and warning control strategies according to the current road conditions, so as to effectively protect the driving safety of vehicle occupants.

[0005] To solve the above technical problem, the technical solution adopted by the present invention is:

[0006] A method for identifying and actively avoiding blind spots during a right turn of a large vehicle mainly includes the following steps:

[0007] S1. Identify the road network information of the current road, and determine whether there is a right turn on the current road. If so, continue to execute step S2; if not, directly execute step S7.

[0008] S2. Identify the information of adjacent vehicles around the passenger car, and determine whether there is a target large vehicle on the left side of the passenger car. If so, continue to execute step S3; if not, directly execute step S7.

[0009] S3. Compare the information of the target large vehicle (the type, brand, and model of the target large vehicle) with the vehicle database (vehicle computer data) pre-entered to determine the vehicle type information such as the wheelbase, axle distance, number of axles, and maximum steering angle of the target large vehicle (the large vehicle in the adjacent left lane of the passenger car).

[0010] S4. Obtain the vehicle speed information of the target large vehicle and the passenger vehicle, simulate the driving trajectory of the target large vehicle in the state of maximum steering angle, and compare it with the expected driving trajectory of the passenger vehicle in the current state. As Figure 2 shown, determine whether the passenger vehicle may enter the right-turn blind area of the target large vehicle. If so, the passenger vehicle enters the blind area warning state and continues to execute step S5. If not, directly execute step S7;

[0011] S5. Identify the information of the vehicles and obstacles around the passenger vehicle (the information of the adjacent vehicles or obstacles in front of, behind, and on the right side of the current passenger vehicle), and execute the corresponding vehicle blind area warning and avoidance control strategies S11 - S14;

[0012] S6. Re - execute step S4 to determine whether the blind area warning state of the passenger vehicle is lifted. If not, continue to execute step S5. If so, directly execute step S7;

[0013] S7. The passenger vehicle maintains its existing driving state.

[0014] Preferably, the vehicle blind area warning and avoidance control strategies are as follows:

[0015] If there are adjacent vehicles / obstacles in front of, behind, and on the right side of the current passenger vehicle, execute strategy S11;

[0016] If there are adjacent vehicles / obstacles in front of and behind the current passenger vehicle and no adjacent vehicles / obstacles on the right side, or there are adjacent vehicles / obstacles behind the current passenger vehicle and no adjacent vehicles / obstacles in front of and on the right side, execute strategy S12;

[0017] If there are adjacent vehicles / obstacles in front of the current passenger vehicle and no adjacent vehicles / obstacles behind, or there are no adjacent vehicles / obstacles in front of and behind the current passenger vehicle, execute strategy S13;

[0018] If there are no adjacent vehicles / obstacles in front of the current passenger vehicle and there are adjacent vehicles / obstacles behind and on the right side, execute strategy S14.

[0019] Preferably, the strategy S11 specifically includes:

[0020] 1) Obtain the current vehicle speed V 11 of the current passenger vehicle and the current vehicle speed V 12 of the current target large vehicle;

[0021] (a) The method for obtaining the current vehicle speed V 11 of the current passenger vehicle is: read the reference vehicle speed inside the Electronic Stability Controller (ESC controller);

[0022] (b) The method for obtaining the current vehicle speed V 12The acquisition method is: determining the absolute speed V of the target large vehicle according to the data collected by the vision sensor and the environment perception sensor 12 .

[0023] 2) Calculating the maximum speed V allowed for the current passenger vehicle not to drive into the right-turn blind area of the target large vehicle max ;

[0024] The calculation method of the maximum speed V max is specifically as follows: fitting the lane line equation according to the data collected by the vision sensor as: x = C0 + C1*y + C2*K1 + C3*K2;

[0025] In the formula, C0 is the offset distance of the vehicle from the lane boundary, C1 is the yaw angle of the lane line, C2 is the curvature of the lane line and is positive for rightward bending, C3 is the curvature change rate of the lane line and represents that the curvature radius gradually becomes smaller when it is positive and gradually becomes larger when it is negative, and K1 and K2 are both calculation constants.

[0026] Assuming that the vehicle strictly follows the lane line and drives in the middle, without changing the current driving speed, calculating whether there is a risk of collision of the vehicle on the X-axis and Y-axis respectively according to the lane line equation; if there is a risk of collision, then according to the driving trajectory in the state of the maximum steering angle of the target large vehicle simulated in step S4, determining the time T2 required for the target large vehicle to complete the turn at the vehicle speed V12; and according to the simulated expected driving trajectory of the passenger vehicle, determining the maximum driving distance Smax for the passenger vehicle not to drive into the right-turn blind area of the target large vehicle;

[0027] Then V max = S max / T2.

[0028] 3) Obtaining the vehicle speed V of the adjacent vehicle behind 13 ;

[0029] The acquisition method of the vehicle speed V of the adjacent vehicle behind 13 is: determining the absolute speed V of the adjacent vehicle behind according to the data collected by the vision sensor and the environment perception sensor 13 .

[0030] 4) Obtaining the relative distance S3 between the current passenger vehicle and the vehicle behind;

[0031] The acquisition method of the relative distance S3 is: measuring the relative distance S2 between the current passenger vehicle and the vehicle behind through a distance detection radar.

[0032] 5) Calculating the relative distance S4 between the passenger vehicle and the vehicle behind after T2 time at the speed V max ;

[0033] The calculation method of the relative distance S4 is: S4 = S3 - (V13 -V max ) × T2.

[0034] 6) Determine whether the relative distance S4 is still greater than the safety distance S0 after the passenger car decelerates to V max . If so, send an active braking signal to the Electronic Stability Control (ESC) controller to decelerate the passenger car to V max ; if not, send a warning message to the following vehicle through the vehicle warning device to remind the driver of the following vehicle to pay attention to decelerating and avoiding.

[0035] Preferably, the strategy S12 is specifically to send a right turn signal to the Electric Power Steering (EPS) controller, and control the passenger car to immediately turn right and drive away through the Electric Power Steering (EPS) controller, thereby avoiding the blind area.

[0036] Preferably, the strategy S13 is specifically to send a deceleration signal to the Engine and Transmission Control Unit (EMS / TCU) controller, and control the passenger car to immediately decelerate to V max , thereby avoiding the blind area.

[0037] Preferably, the strategy S14 specifically includes:

[0038] 1) Obtain the current speed V of the passenger car 11 and the current speed V of the target large vehicle 12 ;

[0039] 2) Calculate the minimum speed V required for the current passenger car to overtake the right-turn blind area of the target large vehicle min ;

[0040] The calculation method of the minimum speed V min is specifically as follows: Assume that the vehicle strictly follows the center line of the lane and drives. Without changing the current driving speed, calculate whether there is a risk of collision of the vehicle on the X-axis and Y-axis according to the lane departure equation; if there is a risk of collision, then according to the driving trajectory of the target large vehicle in the state of the maximum steering angle simulated in step S4, determine the time T2 required for the target large vehicle to complete the turn at the speed V 12 ; and according to the simulated expected driving trajectory of the passenger car, determine the minimum driving distance S for the passenger car to overtake the right-turn blind area of the target large vehicle min ;

[0041] Then V min = S min / T2.

[0042] 3) Send an active braking signal to the engine and transmission controller (EMS / TCU controller), and control the vehicle to accelerate to V through the engine and transmission controller (EMS / TCU controller). min Then quickly drive away from the blind spot.

[0043] Based on the same inventive concept, the present invention also provides a large vehicle right-turn blind spot recognition and active avoidance control system for implementing the above control method, mainly including:

[0044] 1) A vision sensor (specifically, a vehicle front camera) for obtaining information about adjacent vehicles around the passenger vehicle and identifying the road network information of the current road in combination with the in-vehicle map system. The adjacent vehicle information specifically includes: whether there are adjacent vehicles, the types of adjacent vehicles, the brands and models of adjacent vehicles. The road network information specifically includes: road turning information;

[0045] 2) An environmental perception sensor (specifically, a distance detection radar) for obtaining the distance information between the passenger vehicle and adjacent vehicles around it;

[0046] 3) An electronic stability controller (ESC controller) for obtaining the current vehicle speed information of the passenger vehicle and vehicle deceleration control;

[0047] 4) An engine and transmission controller (EMS / TCU controller) for controlling the vehicle speed of the passenger vehicle and realizing the acceleration control of the passenger vehicle;

[0048] 5) An electronic power steering controller (EPS controller) for controlling the driving direction of the passenger vehicle;

[0049] 6) A vehicle warning device for sending warning information to adjacent vehicles around the passenger vehicle;

[0050] The vision sensor, environmental perception sensor, automotive electronic stability controller, engine and transmission controller, electronic power steering controller, and vehicle warning device are all electrically connected to the blind spot warning and avoidance controller to execute the above control method.

[0051] Furthermore, the blind spot warning and avoidance controller specifically includes a vehicle recognition module, a vehicle warning judgment module, and a vehicle control module;

[0052] The vehicle recognition module: for receiving the adjacent vehicle information sent by the vision sensor and comparing it with the pre-entered database to determine the wheelbase, axle distance, number of axles, and maximum steering angle information of the adjacent vehicle;

[0053] The vehicle warning judgment module: for receiving the information sent by the vehicle recognition module, vision sensor, environmental perception sensor, and electronic stability controller, calculating and judging, and generating corresponding control instructions;

[0054] Vehicle control module: configured to generate corresponding vehicle speed control signals, vehicle steering control signals, and vehicle warning signals according to the control instructions, and send them to the engine and transmission controller, electronic power steering controller, and vehicle warning device of the passenger vehicle respectively.

[0055] Based on the same inventive concept, the present invention also provides a manual and automatic vehicle, which is provided with the control system as described above.

[0056] The present invention has the following main advantages compared with the prior art:

[0057] 1. The present invention proposes an active avoidance control method for identifying the blind area of a large vehicle turning right. By comprehensively using vehicle vision sensors, environmental perception sensors, electronic stability controllers, engine and transmission controllers, electronic power steering controllers, etc., it can actively identify the blind area of an adjacent large vehicle turning right, remind and warn the driver, and can automatically select the optimal control path according to the current lane driving conditions, and then control the vehicle to avoid the blind area in time, protecting the safety of the passengers in the passenger vehicle during the driving process;

[0058] 2. The control method of the present invention can accurately simulate the driving trajectory of the target large vehicle in the state of the maximum steering angle and the expected driving trajectory of the current state of the passenger vehicle by identifying the information of adjacent vehicles around the passenger vehicle and comparing it with the driving computer database pre-entered, and combining with the road network information. And according to the information of vehicles and obstacles around the passenger vehicle, execute the corresponding blind area early warning and avoidance control strategy, and can efficiently and intelligently realize the identification, early warning and avoidance control of the blind area of the large vehicle turning right. Brief Description of the Drawings

[0059] Figure 1 It is the overall flowchart of the control method in the embodiment of the present invention;

[0060] Figure 2 It is a schematic diagram of simulating the driving trajectories of the target large vehicle and the passenger vehicle in the embodiment of the present invention;

[0061] Figure 3 It is the schematic diagram of the principle of vehicle blind area early warning and avoidance control in the embodiment of the present invention. Detailed Embodiments

[0062] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0063] It should be noted that according to the implementation needs, each step / component described in this application can be split into more steps / components, or two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0064] Embodiment 1. A method for actively avoiding blind spots in the right turn of a large vehicle provided in this embodiment is used to actively remind the driver to identify the blind spots in the right turn of a large vehicle, select the optimal control path according to the current lane driving conditions, and execute corresponding operations through an actuator, such as Figure 1 As shown, it mainly includes the following steps:

[0065] S1. Identify the road network information of the current road, and determine whether there is a right turn on the current road. If so, continue to execute step S2; if not, directly execute step S7.

[0066] S2. Identify the information of adjacent vehicles around the passenger vehicle, and determine whether there is a target large vehicle on the left side of the passenger vehicle. If so, continue to execute step S3; if not, directly execute step S7.

[0067] S3. Compare the target large vehicle information (target large vehicle type, brand and model) with the vehicle database (vehicle computer data) entered in advance to determine the vehicle type information such as the wheelbase, axle distance, number of axles, and maximum steering angle of the target large vehicle (the large vehicle in the adjacent lane on the left side of the passenger vehicle).

[0068] S4. Obtain the vehicle speed information of the target large vehicle and the passenger vehicle, simulate the driving trajectory of the target large vehicle under the state of the maximum steering angle, and compare it with the expected driving trajectory of the current state of the passenger vehicle. As Figure 2 shown, determine whether the passenger vehicle may enter the right turn blind spot of the target large vehicle. If so, the passenger vehicle enters the blind spot warning state and continues to execute step S5; if not, directly execute step S7.

[0069] S5. Identify the information of vehicles and obstacles around the passenger vehicle (the information of adjacent vehicles or obstacles in front of, behind, and on the right side of the current passenger vehicle), and execute the vehicle blind spot warning and avoidance control.

[0070] S6. Re-execute step S4 to determine whether the blind spot warning state of the passenger vehicle is lifted. If not, continue to execute step S5; if so, directly execute step S7.

[0071] S7. The passenger vehicle maintains its existing driving state.

[0072] Furthermore, in step S2, the adjacent vehicle information specifically includes: whether there are adjacent vehicles, adjacent vehicle types, adjacent vehicle brands and models.

[0073] Furthermore, asFigure 3 As shown, in step S5, the vehicle blind area warning and avoidance control has the following specific control strategies:

[0074] If there are adjacent vehicles / obstacles in front of, behind, and on the right side of the current passenger vehicle, then execute the S11 vehicle speed real-time control and avoidance strategy;

[0075] If there are adjacent vehicles / obstacles in front of and behind the current passenger vehicle and there are no adjacent vehicles / obstacles on the right side, or if there are adjacent vehicles / obstacles behind the current passenger vehicle and there are no adjacent vehicles / obstacles in front of and on the right side, then execute the S12 right-turn avoidance control strategy;

[0076] If there are adjacent vehicles / obstacles in front of the current passenger vehicle and no adjacent vehicles / obstacles behind, or if there are no adjacent vehicles / obstacles in front of and behind the current passenger vehicle, then execute the S13 deceleration avoidance control strategy;

[0077] If there are no adjacent vehicles / obstacles in front of the current passenger vehicle and there are adjacent vehicles / obstacles behind and on the right side, then execute the S14 acceleration avoidance control strategy.

[0078] Furthermore, the specific steps of the S11 vehicle speed real-time control strategy are as follows:

[0079] 1) Obtain the speed V of the current passenger vehicle 11 and the speed V of the current target large vehicle 12 ;

[0080] (a) The method for obtaining the speed V of the current passenger vehicle 11 is: read the reference vehicle speed inside the electronic stability controller (ESC controller);

[0081] (b) The method for obtaining the speed V of the current target large vehicle 12 is: determine the absolute speed V of the target large vehicle according to the data collected by the vision sensor and the environment perception sensor 12 .

[0082] 2) Calculate the maximum speed V that the current passenger vehicle is allowed to not drive into the right-turn blind area of the target large vehicle max ;

[0083] The calculation method of the maximum speed V max is specifically: fit the lane line equation according to the data collected by the vision sensor as: x = C0 + C1*y + C2*K1 + C3*K2;

[0084] Wherein, C0 is the offset distance of the vehicle from the lane boundary, C1 is the yaw angle of the lane line, C2 is the curvature of the lane line and is positive for rightward bending, C3 is the rate of change of the curvature of the lane line and is positive when the radius of curvature gradually decreases and negative when the radius of curvature gradually increases, and K1 and K2 are both calculation constants.

[0085] Assume that the host vehicle strictly follows the lane line and drives in the center. Without changing the current driving speed, calculate whether there is a risk of collision of the host vehicle on the X-axis and Y-axis according to the lane departure equation; if there is a risk of collision, then according to the driving trajectory of the target large vehicle in the state of the maximum steering angle simulated in step S4, determine the time T2 required for the target large vehicle to complete the turn at the speed V12; and according to the simulated expected driving trajectory of the passenger vehicle, determine the maximum driving distance Smax for the passenger vehicle not to enter the right-turn blind area of the target large vehicle;

[0086] Then V max = S max / T2.

[0087] 3) Obtain the speed V 13 ;

[0088] The method for obtaining the speed V 13 of the adjacent vehicle behind is: determine the absolute speed V 13 of the adjacent vehicle behind according to the data collected by the vision sensor and the environmental perception sensor.

[0089] 4) Obtain the relative distance S3 between the current passenger vehicle and the vehicle behind;

[0090] The method for obtaining the relative distance S3 is: measure the relative distance S2 between the current passenger vehicle and the vehicle behind through the distance detection radar.

[0091] 5) Calculate the relative distance S4 between the passenger vehicle and the vehicle behind after T2 time at the speed V max ;

[0092] The calculation method of the relative distance S4 is: S4 = S3 - (V 13 - V max ) × T2.

[0093] 6) Judge whether the relative distance S4 is still greater than the safety distance S0 after the passenger vehicle decelerates to V max . If so, send an active braking signal to the electronic stability controller (ESC controller) to decelerate the passenger vehicle to V max ; if not, send a warning message to the vehicle behind through the vehicle warning device to remind the driver of the vehicle behind to pay attention to decelerating and avoiding.

[0094] Further, the S12 right-turn avoidance control strategy specifically involves sending a right-turn signal to the Electric Power Steering Controller (EPS controller), and controlling the passenger vehicle to immediately turn right and drive away through the Electric Power Steering Controller (EPS controller), so as to avoid the blind area.

[0095] Further, the S13 deceleration avoidance control strategy specifically involves sending a deceleration signal to the Engine and Transmission Controller (EMS / TCU controller), and controlling the passenger vehicle to immediately decelerate to V max , so as to avoid the blind area.

[0096] Further, the specific steps of the S14 acceleration avoidance control strategy are as follows:

[0097] 1) Obtain the current speed V of the passenger vehicle 11 and the current speed V of the target large vehicle 12 ;

[0098] 2) Calculate the minimum speed V required for the current passenger vehicle to overtake the right-turn blind area of the target large vehicle min ;

[0099] The calculation method of the minimum speed V min is specifically as follows: Assume that the vehicle strictly follows the center of the lane line and drives. Without changing the current driving speed, calculate whether there is a risk of collision of the vehicle on the X-axis and Y-axis according to the lane departure equation; if there is a risk of collision, then according to the driving trajectory of the target large vehicle in the state of the maximum steering angle simulated in step S4, determine the time T2 required for the target large vehicle to complete the turn at the speed V 12 ; And according to the simulated expected driving trajectory of the passenger vehicle, determine the minimum driving distance S for the passenger vehicle to overtake the right-turn blind area of the target large vehicle min ;

[0100] Then V min = S min / T2.

[0101] 3) Send an active braking signal to the Engine and Transmission Controller (EMS / TCU controller), and control the vehicle to accelerate to V min , so as to quickly drive away and avoid the blind area.

[0102] Embodiment 2, based on the same inventive concept, this embodiment also provides a large vehicle right-turn blind area recognition and active avoidance control system for implementing the above control method, mainly including:

[0103] 1) A vision sensor (specifically, a vehicle front camera) for obtaining information about adjacent vehicles around a passenger vehicle and identifying road network information of the current road in combination with an in-vehicle map system. The adjacent vehicle information specifically includes: whether there are adjacent vehicles, the types of adjacent vehicles, the brands and models of adjacent vehicles. The road network information specifically includes: road turning information;

[0104] 2) An environmental perception sensor (specifically, a distance detection radar) for obtaining distance information between the passenger vehicle and adjacent vehicles around it;

[0105] 3) An electronic stability controller (ESC controller) for obtaining the current vehicle speed information of the passenger vehicle and vehicle deceleration control;

[0106] 4) An engine and transmission controller (EMS / TCU controller) for controlling the vehicle speed of the passenger vehicle to achieve acceleration control of the passenger vehicle;

[0107] 5) An electronic power steering controller (EPS controller) for controlling the driving direction of the passenger vehicle;

[0108] 6) A vehicle warning device for sending warning information to adjacent vehicles around the passenger vehicle;

[0109] The vision sensor, environmental perception sensor, automotive electronic stability controller, engine and transmission controller, electronic power steering controller, and vehicle warning device are all electrically connected to a blind spot warning and avoidance controller to execute the control method described above.

[0110] Further, the blind spot warning and avoidance controller specifically includes a vehicle identification module, a vehicle warning judgment module, and a vehicle control module;

[0111] The vehicle identification module: for receiving the adjacent vehicle information sent by the vision sensor and comparing it with a pre-entered database to determine the wheelbase, axle distance, number of axles, and maximum steering angle information of the adjacent vehicle;

[0112] The vehicle warning judgment module: for receiving the information sent by the vehicle identification module, vision sensor, environmental perception sensor, and electronic stability controller, performing calculations and judgments, and generating corresponding control instructions;

[0113] The vehicle control module: for generating corresponding vehicle speed control signals, vehicle steering control signals, and vehicle warning signals according to the control instructions and sending them to the engine and transmission controller, electronic power steering controller, and vehicle warning device of the passenger vehicle respectively.

[0114] Further, the parts not described in detail in this application are the same as or implemented using the prior art.

[0115] In summary:

[0116] 1. The present invention proposes a method for actively identifying and avoiding blind spots during the right turn of large vehicles. By comprehensively utilizing vehicle vision sensors, environmental perception sensors, electronic stability controllers, engine and transmission controllers, electronic power steering controllers, etc., it can actively identify the blind spots during the right turn of adjacent large vehicles, alert the driver, and automatically select the optimal control path according to the current lane driving conditions, and then control the vehicle to avoid the blind spots in a timely manner, protecting the safety of passengers in the passenger car during vehicle driving;

[0117] 2. The control method of the present invention can accurately simulate the driving trajectory of the target large vehicle under the maximum steering angle state and the expected driving trajectory of the current state of the passenger car by identifying the information of adjacent vehicles around the passenger car and comparing it with the driving computer database pre-entered, and combining with road network information. According to the information of vehicles and obstacles around the passenger car, it executes the corresponding blind spot warning and avoidance control strategy, and can efficiently and intelligently realize the identification, warning and avoidance control of the blind spots during the right turn of large vehicles.

[0118] It is easy for those skilled in the art to understand that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An active avoidance control method for identifying the blind area during the right turn of a large vehicle, characterized in that, It includes the following strategies: Identify the road network information of the current road and the information of adjacent vehicles around the passenger car, and respectively determine whether there is a right turn on the current road and whether there is a target large vehicle on the left side of the passenger car; If there is a right turn on the current road and there is a target large vehicle on the left side of the passenger car, obtain the vehicle type information of the target large vehicle by comparing with the pre-entered vehicle database; Obtain the vehicle speed information of the passenger car and the target large vehicle, simulate the driving trajectory under the state of the maximum steering angle of the target large vehicle, and compare it with the expected driving trajectory of the passenger car under the current state to determine whether the passenger car may enter the right turn blind area of the target large vehicle. If so, the passenger car enters the blind area warning state; When the passenger car enters the blind area warning state, identify the information of surrounding vehicles and obstacles of the passenger car, and execute the corresponding vehicle blind area warning and avoidance control strategy; The vehicle blind area warning and avoidance control strategy specifically includes: If there are adjacent vehicles or obstacles in front of, behind, and on the right side of the current passenger car, execute the vehicle speed real-time control and avoidance strategy; If there are adjacent vehicles or obstacles behind the current passenger car and there are no adjacent vehicles or obstacles on the right side, execute the right turn avoidance control strategy; If there are no adjacent vehicles or obstacles behind the current passenger car, execute the deceleration avoidance control strategy; If there are adjacent vehicles or obstacles behind and on the right side of the current passenger car and there are no adjacent vehicles or obstacles in front, execute the acceleration avoidance control strategy; The vehicle speed real-time control and avoidance strategy specifically includes: Read the current speed V of the passenger car through the electronic stability controller 11 , and combines the data from the visual sensor and the environmental perception sensor to determine the current speed V of the target large vehicle 12 ; According to the data collected by the vision sensor, fit the lane line equation as: x = C0 + C1 * y + C2 * K1 + C3 * K2; In the formula, C0 is the offset distance of the vehicle from the lane boundary, C1 is the lane line yaw angle, C2 is the lane line curvature and is positive for right bending, C3 is the lane line curvature change rate and is positive when the curvature radius gradually becomes smaller and negative when the curvature radius gradually becomes larger, and K1 and K2 are both calculation constants; Determine whether there is a collision risk for the passenger vehicle on the x-axis or y-axis in combination with the lane line equation. In the case where there is a collision risk for the passenger vehicle, determine the speed V of the target large vehicle according to the driving trajectory of the target large vehicle in the state of the maximum steering angle 12 to complete the steering required time T2, and determine the maximum driving distance S for the passenger vehicle not to drive into the right-turn blind area of the target large vehicle according to the simulated expected driving trajectory of the passenger vehicle max , calculate and determine the maximum speed V allowed for the current passenger vehicle not to drive into the right-turn blind area of the target large vehicle max , V max = S max / T2; Determine the vehicle speed V of the adjacent vehicle behind by combining the data of the vision sensor and the environmental perception sensor 13 ; Measure the relative distance S3 between the current passenger car and the following vehicle through the distance detection radar; Calculate and determine the relative distance S4 between the passenger car and the following vehicle after traveling for a time T2 at a speed V, S4 = S3 - (V max - V 13 - V max ) × T2; Determine whether the relative distance S4 is greater than the safety distance S0. If so, send an active braking signal to the electronic stability controller to decelerate the passenger vehicle to V max , if not, send a warning message to the following vehicle through the vehicle warning device.

2. The active avoidance control method for identifying the right-turn blind area of a large vehicle according to claim 1, characterized in that, The adjacent vehicle information specifically includes: whether there is an adjacent vehicle, the type of adjacent vehicle, the brand and model of the adjacent vehicle; The vehicle type information of the target large vehicle specifically includes: the wheelbase, axle distance, number of axles, and maximum steering angle of the target large vehicle; 3. A method for actively avoiding and controlling the recognition of the right-turn blind area of a large vehicle according to claim 1, characterized in that The right turn avoidance control strategy is specifically to send a right turn signal to the electronic power steering controller, and control the passenger car to immediately turn right and drive away through the electronic power steering controller; The deceleration and avoidance control strategy is specifically to send a deceleration signal to the engine and transmission controller, and control the passenger vehicle to immediately decelerate to V through the engine and transmission controller max .

4. The active avoidance control method for identifying the right-turn blind area of a large vehicle according to claim 1, wherein, The acceleration avoidance control strategy specifically includes: Determine whether there is a collision risk for the passenger car on the x-axis or y-axis in combination with the lane line equation. In the case where there is a collision risk for the passenger car, determine the minimum driving distance S for the passenger car to exceed the right-turn blind area of the target large vehicle according to the simulated expected driving trajectory of the passenger car min , calculate and determine the minimum speed V required for the current passenger car to exceed the right-turn blind area of the target large vehicle min , V min =S min / T2; Send an active braking signal to the engine and transmission controllers to accelerate the passenger vehicle to V min .

5. A blind area recognition and active avoidance control system for large vehicles turning right, which is used to implement the control method described in any one of claims 1 to 4, characterized in that, It includes: A vision sensor, which is used to obtain the information of adjacent vehicles around the passenger car and identify the road network information of the current road in combination with the in-vehicle map system. The adjacent vehicle information specifically includes: whether there is an adjacent vehicle, the type of adjacent vehicle, the brand and model of the adjacent vehicle, and the road network information specifically includes: road turning information; An environment perception sensor, which is used to obtain the distance information between the passenger car and surrounding adjacent vehicles; An electronic stability controller, which is used to obtain the current vehicle speed information of the passenger car and vehicle deceleration control; An engine and transmission controller, which is used to control the vehicle speed of the passenger car and realize the acceleration control of the passenger car; An electronic power steering controller for controlling the driving direction of a passenger vehicle; A vehicle warning device for sending warning information to adjacent vehicles around the passenger vehicle; The visual sensor, the environment perception sensor, the electronic stability controller of the vehicle, the engine and transmission controller, the electronic power steering controller, and the vehicle warning device are all electrically connected to the blind spot warning and avoidance controller to execute the control method described in any one of claims 1 to 4.

6. The active avoidance control system for identifying the blind area during the right turn of a large vehicle according to claim 5, characterized in that, The blind spot warning and avoidance controller specifically includes a vehicle recognition module, a vehicle warning judgment module, and a vehicle control module; The vehicle recognition module is configured to receive information of adjacent vehicles sent by the visual sensor and compare it with a pre-entered database to determine the wheelbase, axle distance, number of axles, and maximum steering angle information of the adjacent vehicles; The vehicle warning judgment module is configured to receive information sent by the vehicle recognition module, the visual sensor, the environment perception sensor, and the electronic stability controller, perform calculations and judgments, and generate corresponding control instructions; The vehicle control module is configured to generate corresponding vehicle speed control signals, vehicle steering control signals, and vehicle warning signals according to the control instructions, and send them to the engine and transmission controller, the electronic power steering controller, and the vehicle warning device of the passenger vehicle respectively.

7. A non-transitory readable storage medium having a program stored thereon, characterized in that, When the program is executed by the control system, it implements the control method described in any one of claims 1 to 4.

8. A vehicle with both manual and automatic transmission, characterized in that: It includes the control system described in claim 5.

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