Method and vehicle for pedestrian alerting in a vehicle blind spot

Abstract

The application discloses a kind of vehicle blind area pedestrian prompting method and vehicle, wherein the vehicle blind area pedestrian prompting method includes: obtaining vehicle driving information, vehicle intrinsic parameter information and the position information of driver's eyes;According to vehicle driving information, the position information of driver's eyes and vehicle intrinsic parameter information, the visual field blind area of driver under current driving state is determined;The visual field blind area of driver under current driving state is prompted to pedestrian.According to the vehicle blind area pedestrian prompting method of embodiment of the application, the visual field blind area of driver under current driving state is prompted to pedestrian, the protection to pedestrian is improved, and the driving condition of driver and vehicle is fully considered, and it is more intelligent.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a method and vehicle for pedestrian warning in vehicle blind spots. Background Technology

[0002] Vehicle design inevitably creates blind spots for the driver. While drivers can use radar and cameras to obtain information, pedestrians cannot perceive whether they have entered a vehicle's blind spot. This is especially true for large vehicles like trucks. Even when a pedestrian is at a safe distance from the vehicle, they may still be within the driver's blind spot. If the pedestrian is unaware of this, the vehicle's movement could threaten their safety. Providing pedestrian warnings can, to some extent, prevent situations where pedestrians enter a vehicle's blind spot without realizing it.

[0003] In related technologies, vehicles only have prompting functions, with limited functionality and no intelligent design, and there are no specific methods for applying them to vehicles. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of this invention is to provide a method for pedestrian alerts in vehicle blind spots, which can obtain the driver's blind spot information during the current driving state and alert pedestrians, thus improving pedestrian protection and taking into full account the driving conditions of both the driver and the vehicle, making it more intelligent.

[0005] The second objective of this invention is to provide a vehicle.

[0006] To achieve the above objectives, a method for pedestrian alerting in vehicle blind spots is proposed in a first aspect embodiment of the present invention. The method includes: acquiring vehicle driving information, vehicle intrinsic parameter information, and driver's eye position information; determining the driver's blind spot in the current driving state based on the vehicle driving information, the driver's eye position information, and the vehicle intrinsic parameter information; and alerting pedestrians to the driver's blind spot in the current driving state.

[0007] The method for vehicle blind spot pedestrian alerts proposed in this embodiment of the invention, by collecting vehicle driving information, vehicle intrinsic parameter information, and driver's eye position information and calculating them, can obtain the driver's blind spot in real time under the current driving state. The obtained driver's blind spot varies from person to person, from vehicle to vehicle, and from vehicle driving state, and the calculation results are highly accurate, thus meeting the driving needs of different vehicles and different drivers, making it more intelligent. By alerting pedestrians to the driver's blind spot under the current driving state, the safety of vehicle driving can be ensured, and pedestrian safety can be significantly improved.

[0008] Furthermore, data acquisition can be based on the vehicle's basic hardware configuration, making it highly feasible and universal. It can also integrate existing data acquisition and control modules in the vehicle for data acquisition and processing, resulting in low development costs and convenient application.

[0009] In some embodiments of the present invention, obtaining vehicle driving information includes at least: obtaining vehicle gear information or steering wheel steering information; obtaining the driver's eye position information, including: capturing the driver's eye coordinates in a set three-dimensional coordinate system, and obtaining the eye point coordinates of the driver based on the eye coordinates, wherein the Y reference plane in the set three-dimensional coordinate system is the vehicle's longitudinal symmetry plane, the X reference plane is a vertical plane perpendicular to the Y reference plane, and the Z reference plane is a horizontal plane perpendicular to the Y reference plane and the X reference plane; obtaining vehicle intrinsic parameter information, including: obtaining at least one of the driver's direct field blind spot parameters, direct field semi-blind spot parameters, and exterior rearview mirror field blind spot parameters in the set three-dimensional coordinate system, wherein the direct field blind spot parameters include the vehicle's A-pillar coordinates, the direct field semi-blind spot parameters include at least one of the vehicle's side window edge coordinates, the windshield lower edge coordinates, and the foremost point coordinates of the hood, and the exterior rearview mirror field blind spot parameters include the exterior rearview mirror intrinsic parameters and the current position information of the exterior rearview mirror.

[0010] In some embodiments of the present invention, determining the driver's blind spot in the current driving state based on the vehicle driving information, the driver's eye position information, and the vehicle's intrinsic parameter information includes at least one of the following: determining the vehicle's forward movement based on the vehicle gear information or determining the vehicle's turning direction based on the steering wheel information, and obtaining the driver's direct blind spot corresponding to the vehicle's forward or turning direction based on the driver's eye point coordinates and the vehicle's A-pillar coordinates; determining the vehicle's forward movement based on the vehicle gear information or determining the vehicle's turning direction based on the steering wheel information, and obtaining the driver's direct semi-blind spot corresponding to the vehicle's forward or turning direction based on the driver's eye point coordinates, the vehicle's side window edge coordinates, the windshield's lower edge coordinates, and the hood's foremost point coordinates, wherein the direct semi-blind spot includes at least one of the vehicle's side window semi-blind spot and the vehicle's front semi-blind spot; determining the vehicle's reverse movement based on the vehicle gear information, and determining the driver's exterior rearview mirror blind spot based on the driver's eye point coordinates, the exterior rearview mirror's intrinsic parameters, and the exterior rearview mirror's current position information.

[0011] In some embodiments of the present invention, obtaining the driver's direct visual blind spot corresponding to the vehicle's forward or turning direction based on the driver's eye-point coordinates and the vehicle's A-pillar coordinates includes: determining a S1 section and a S2 section, wherein a first plane is drawn forward from the eye-point position at a first preset standard angle upward to the horizontal plane, and a horizontal section is drawn at the foremost point where the first plane intersects with the vehicle's A-pillar as the S1 section; a second plane is drawn forward from the eye-point position at a second preset standard angle downward to the horizontal plane, and a horizontal section is drawn at the foremost point where the second plane intersects with the vehicle's A-pillar as the S2 section; wherein the vehicle's A-pillar includes a left A-pillar and a right A-pillar; wherein the horizontal plane is a plane parallel to the Z-reference plane where the eye-point is located; obtaining the left edge coordinate of the S1 section of the left A-pillar and the right edge coordinate of the S1 section of the right A-pillar; and obtaining the right edge coordinate of the S2 section of the left A-pillar. The driver obtains the left edge point coordinates of the right A-pillar's S2 section by obtaining the left edge point coordinates of the left A-pillar's S1 section and the right edge point coordinates of the left A-pillar's S2 section onto the Z-plane containing the driver's eye's eye coordinates, and obtains the driver's left A-pillar blind spot based on the first projection coordinates; the driver obtains the right edge point coordinates of the right A-pillar's S1 section and the left edge point coordinates of the right A-pillar's S2 section onto the Z-plane containing the driver's eye's eye coordinates, and obtains the driver's right A-pillar blind spot based on the second projection coordinates; wherein, when the vehicle is moving forward, the driver's direct blind spot includes the left A-pillar blind spot and the right A-pillar blind spot; when the vehicle is turning left, the driver's direct blind spot includes the left A-pillar blind spot; and when the vehicle is turning right, the driver's direct blind spot includes the right A-pillar blind spot.

[0012] In some embodiments of the present invention, obtaining the driver's direct visual semi-blind spot corresponding to the vehicle's forward or turning direction based on the driver's eye-point coordinates, the vehicle side window edge coordinates, the windshield lower edge coordinates, and the hood's foremost point coordinates includes: determining the driver's left-side window semi-blind spot corresponding to the vehicle's forward or left-turning direction based on the eye-point coordinates and the vehicle's left-side window edge coordinates; and determining the driver's right-side window semi-blind spot corresponding to the vehicle's forward or right-turning direction based on the eye-point coordinates and the vehicle's right-side window edge coordinates; and / or obtaining a first forward visual semi-blind angle based on the eye-point coordinates and the windshield lower edge coordinates; and obtaining a second forward visual semi-blind angle based on the eye-point coordinates and the hood's foremost point coordinates; and determining the final forward visual semi-blind spot based on the smaller of the first and second forward visual semi-blind angles.

[0013] In some embodiments of the present invention, determining the blind spot of the driver's external rearview mirror based on the driver's eye-point coordinates, the intrinsic parameters of the external rearview mirror, and the current position information of the external rearview mirror includes: the intrinsic parameters of the external rearview mirror include the rotation center coordinates of the external rearview mirror, the coordinates of the center point of the mirror surface at the current position of the external rearview mirror, the mirror length, and the mirror width; determining the outermost point of the external rearview mirror surface based on the mirror length and mirror width, obtaining the third projection coordinates of the outermost point of the external rearview mirror surface in the plane where the rotation center coordinates of the external rearview mirror are located, obtaining the fourth projection coordinates of the eye-point coordinates in the plane where the rotation center coordinates of the external rearview mirror are located, and obtaining the coordinates of the center point of the mirror surface in the plane where the external rearview mirror is rotated. The fifth projected coordinate in the plane containing the center coordinates, wherein the plane containing the rotation center coordinates of the exterior rearview mirror is a plane parallel to the Z reference plane. A first calculated angle is obtained based on the third, fourth, and fifth projected coordinates, and a second calculated angle is obtained based on the third and fourth projected coordinates. The first calculated angle is the angle between the line connecting the center point of the left exterior rearview mirror and the outermost point of the left exterior rearview mirror, and the line connecting the driver's eye point and the outermost point of the left exterior rearview mirror. The second calculated angle is the angle between the line connecting the driver's eye point and the outermost point of the left exterior rearview mirror, and the X reference plane. The blind spot of the first exterior rearview mirror is determined based on the first and second calculated angles.

[0014] In some embodiments of the present invention, the vehicle does not have a rear window. The step of determining the driver's blind spot of the rearview mirror based on the driver's eye point coordinates, the intrinsic parameters of the rearview mirror, and the current position information of the rearview mirror further includes: determining the innermost point of the rearview mirror surface based on the mirror length and the mirror width of the rearview mirror, obtaining the sixth projection coordinate of the innermost point of the rearview mirror surface in the plane where the rotation center coordinates of the rearview mirror are located; and determining the second blind spot of the rearview mirror based on the fourth projection coordinate, the fifth projection coordinate, and the sixth projection coordinate.

[0015] In some embodiments of the present invention, the method further includes at least one of the following: the vehicle driving information also includes vehicle speed; when the vehicle speed is greater than or equal to a set vehicle speed threshold, the vehicle blind spot pedestrian warning function is activated; if a person is detected in the driver's blind spot under the current driving state and the distance between the person and the vehicle is less than a preset distance, an audible warning is given.

[0016] In some embodiments of the present invention, the vehicle is equipped with a blind spot warning light emitter to alert pedestrians to the driver's blind spot in the current driving state, including: obtaining a target adjustment angle of the light emitter based on the driver's blind spot in the current driving state; adjusting the light emitter according to the target adjustment angle; and controlling the light emitter to emit light onto the ground corresponding to the blind spot to alert pedestrians.

[0017] To achieve the above objectives, a second aspect of the present invention provides a vehicle comprising: a data acquisition module for acquiring vehicle driving information and driver eye position information; a storage module for storing vehicle intrinsic parameter information and a computer program; at least one processor communicatively connected to the data acquisition module and the storage module for executing the computer program to implement the vehicle blind spot pedestrian warning method described above; and a warning module connected to the at least one processor for warning pedestrians of the driver's blind spot under the current driving state of the vehicle.

[0018] The vehicle proposed in this embodiment of the invention, based on an architecture comprising a data acquisition module, a storage module, at least one processor, and a prompting module, employs the vehicle blind spot pedestrian prompting method described in the above embodiment. It can provide pedestrian prompts based on vehicle driving information, driver's eye position information, and vehicle intrinsic parameter information, making it applicable to different vehicles, different drivers, and different driving conditions. This significantly improves pedestrian safety and enhances intelligence. Furthermore, the hardware components of the data acquisition module and the prompting module can be based on the vehicle's basic configuration, exhibiting high feasibility and versatility. Additionally, the storage module and at least one processor can be integrated with existing vehicle computing and control modules, resulting in low development costs and convenient application.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0021] Figure 1 A flowchart illustrating a method for pedestrian alerting in vehicle blind spots according to an embodiment of the present invention;

[0022] Figure 2 A flowchart of a method for pedestrian alerting in vehicle blind spots according to another embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of a three-dimensional coordinate system according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of an exterior rearview mirror according to an embodiment of the present invention;

[0025] Figure 5 A flowchart of a method for vehicle blind spot pedestrian warning according to yet another embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of a driver's blind spot according to an embodiment of the present invention;

[0027] Figure 7 A flowchart of a method for vehicle blind spot pedestrian warning according to yet another embodiment of the present invention;

[0028] Figure 8 This is a schematic diagram of the blind spot of the A-pillar of a vehicle according to an embodiment of the present invention;

[0029] Figure 9 A flowchart of a method for vehicle blind spot pedestrian warning according to yet another embodiment of the present invention;

[0030] Figure 10 This is a schematic diagram of the driver's left-side window semi-blind spot and right-side window semi-blind spot according to an embodiment of the present invention;

[0031] Figure 11 This is a schematic diagram of the semi-blind spot directly in front of a vehicle according to an embodiment of the present invention;

[0032] Figure 12 A flowchart of a method for vehicle blind spot pedestrian warning according to yet another embodiment of the present invention;

[0033] Figure 13 This is a schematic diagram of the blind spot of a driver's exterior rearview mirror according to an embodiment of the present invention;

[0034] Figure 14 A flowchart of a method for vehicle blind spot pedestrian warning according to yet another embodiment of the present invention;

[0035] Figure 15 A flowchart of a method for vehicle blind spot pedestrian warning according to yet another embodiment of the present invention;

[0036] Figure 16 A flowchart of a method for vehicle blind spot pedestrian warning according to yet another embodiment of the present invention;

[0037] Figure 17 This is a block diagram of a vehicle according to an embodiment of the present invention.

[0038] Figure label:

[0039] 10 vehicles;

[0040] Acquisition module 1, storage module 2, processor 3, prompting module 4. Detailed Implementation

[0041] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0042] The following is for reference. Figures 1-16 A method for providing pedestrian alerts in vehicle blind spots according to an embodiment of the present invention is described.

[0043] In some embodiments of the present invention, such as Figure 1 The diagram shows a flowchart of a method for providing pedestrian alerts in vehicle blind spots according to an embodiment of the present invention. The method includes steps S1-S3, as detailed below.

[0044] S1 acquires vehicle driving information, vehicle intrinsic parameter information, and driver eye position information.

[0045] In this embodiment, the acquired vehicle driving information includes at least vehicle gear information or steering wheel steering information, which allows the vehicle's operating status to be determined. For example, the vehicle's gear information can be used to determine whether the vehicle is moving forward or backward, and the steering wheel steering information can be used to determine whether the vehicle is moving forward or turning, as well as the direction of the turn.

[0046] It is understandable that drivers will have blind spots around the vehicle while driving, especially for vehicles with high cabs such as trucks or vans, where the blind spots are relatively large. Therefore, vehicle intrinsic parameter information can include the driver's blind spot parameters, which is the vehicle's own characteristic data.

[0047] Acquiring driver eye position information can include collecting data on the driver's eye positions in a normal sitting posture, as well as the position of the driver's eye point. The acquired eye position information will differ for different drivers. Furthermore, electrically adjustable seats and adjustment buttons can be installed in the vehicle, allowing the driver to adjust the seat height and other settings to suit their driving habits and field of vision needs.

[0048] S2 determines the driver's blind spot under the current driving condition based on vehicle driving information, driver's eye position information, and vehicle intrinsic parameter information.

[0049] Specifically, by combining real-time data on the vehicle's actual operating status, the driver's eye position, and the vehicle's own characteristics, calculations can be performed to obtain the driver's blind spot in the current vehicle state, or in specific vehicle states. For example, the driver's blind spot can be obtained when the vehicle is moving forward, backward, or turning, thus meeting the blind spot calculation needs of different vehicles and operating states, as well as the driving needs of different drivers. The calculation results are highly accurate and more intelligent.

[0050] S3 alerts pedestrians to the driver's blind spots while the vehicle is in motion.

[0051] Specifically, visual and auditory alerts can be used to indicate the driver's blind spots while the vehicle is in motion. For example, blind spot information can be converted into the angle and direction of a laser beam projected onto the ground, thus providing a visual alert for the blind spot. Another example is the simultaneous auditory alert when a pedestrian is detected entering the blind spot and is close to the vehicle.

[0052] The method for vehicle blind spot pedestrian alerts proposed in this embodiment of the invention, by collecting vehicle driving information, vehicle intrinsic parameter information, and driver's eye position information and calculating them, can obtain the driver's blind spot in real time under the current driving state. The obtained driver's blind spot varies from person to person, from vehicle to vehicle, and from vehicle driving state, and the calculation results are highly accurate, thus meeting the driving needs of different vehicles and different drivers, making it more intelligent. By alerting pedestrians to the driver's blind spot under the current driving state, the safety of vehicle driving can be ensured, and pedestrian safety can be significantly improved.

[0053] Furthermore, data acquisition can be based on the vehicle's basic hardware configuration, making it highly feasible and universal. It can also integrate existing data acquisition and control modules in the vehicle for data acquisition and processing, resulting in low development costs and convenient application.

[0054] In some embodiments of the present invention, such as Figure 2 The diagram shown is a flowchart of a method for vehicle blind spot pedestrian warning according to another embodiment of the present invention, wherein obtaining vehicle driving information includes at least step S11.

[0055] S11, obtain vehicle gear information or steering wheel steering information.

[0056] For example, a position sensor can be installed inside the vehicle's gear shift lever to obtain the vehicle's gear position information, which can then be used to determine the vehicle's direction of travel. As another example, a steering angle sensor can be installed in the steering column to obtain the steering wheel angle, thereby determining the vehicle's turning angle.

[0057] Furthermore, obtaining the driver's eye position information specifically includes step S12, wherein, it can be combined with Figure 3 Understand the process of obtaining the driver's eye position information in this embodiment. Figure 3 This is a schematic diagram of a three-dimensional coordinate system according to an embodiment of the present invention.

[0058] S12, capture the driver's eye coordinates in the set three-dimensional coordinate system, and obtain the eye point coordinates of the driver based on the eye coordinates.

[0059] The three-dimensional coordinate system can be selected from the three-dimensional coordinate systems specified in national standards. For example... Figure 3 As shown, in the three-dimensional coordinate system, the Y-reference plane is set as the longitudinal symmetry plane of the vehicle, the X-reference plane is a vertical plane perpendicular to the Y-reference plane, and the Z-reference plane is a horizontal plane perpendicular to both the Y-reference plane and the X-reference plane.

[0060] Specifically, an eye-tracking system can be installed in the vehicle to capture the coordinates of the driver's eyes in a normal sitting posture within a defined three-dimensional coordinate system. For example, the fore-aft position of the driver's eyes, captured by the eye-tracking system, is denoted as x, and the height position of the eyes is denoted as z. Based on the fore-aft position x and the height position z, combined with the vehicle's own R-point, the left-right position of the eyes is calculated and denoted as y. The vehicle's own R-point is a "cross point" determined during the initial overall layout design based on the overall layout requirements when the seat is adjusted to its rearmost and lowest position. Furthermore, the driver's eye-center coordinates can be directly calculated based on the acquired fore-aft position x, left-right position y, and height position z.

[0061] For example, the obtained coordinates of the driver's eyes are denoted as E1(x1, y1, z1) and E2(x2, y2, z2), respectively. The point of view in the driver's eyes is located between the eyes, so the coordinates of the point of view in the driver's eyes can be directly obtained and denoted as (x', y', z').

[0062] In addition, obtaining the vehicle's intrinsic parameter information includes step S13.

[0063] S13, obtain at least one of the following parameters in the driver's direct field of vision blind spot, direct field of vision semi-blind spot, and external rearview mirror blind spot in the set three-dimensional coordinate system.

[0064] Among them, the parameters for the direct field of vision blind spot include the coordinates of the vehicle's A-pillar.

[0065] Specifically, in this embodiment, the vehicle's A-pillar is located between the vehicle's side window and the windshield, including a left A-pillar and a right A-pillar, and the coordinates of the vehicle's A-pillar in a set three-dimensional coordinate system can be directly obtained. For example, under the same Z-reference plane, the coordinates of the left edge point of the A-pillar can be obtained and denoted as (x... ai y ai , z ai Obtain the coordinates of the right edge point of pillar A and denote them as (x...). aj y aj , z ai ).

[0066] In addition, the direct field-of-view semi-blind spot parameters include at least one of the following: the coordinates of the vehicle's side window edge, the coordinates of the lower edge of the windshield, and the coordinates of the foremost point of the hood. For example... Figure 3 As shown, in the established three-dimensional coordinate system, the edges of the vehicle's left side window and right side window are symmetrical about the Y-reference plane. Specifically, the coordinates of the vehicle's side window edges, the coordinates of the lower edge of the windshield, and the coordinates of the foremost point of the hood can be directly obtained. The coordinates of the vehicle's left side window edge and right side window edge are denoted as (x...). w y w , z w ), (x w , -y w , z w Obtain the coordinates of the lowest point below the line of sight in front as the coordinates of the lower edge of the windshield and record it as (x). fw y fw , z fw ), and obtain the coordinates of the foremost point of the hood and record them as (x d y d , z d ).

[0067] Furthermore, the blind spot parameters of the exterior rearview mirror include the intrinsic parameters of the exterior rearview mirror and the current position information of the exterior rearview mirror. For example, Figure 4 As shown, Figure 4 This is a schematic diagram of an exterior rearview mirror according to an embodiment of the present invention. Specifically, the exterior rearview mirror includes a left exterior rearview mirror and a right exterior rearview mirror. The left and right exterior rearview mirrors are identical in shape and size, and are symmetrical about the Y-reference plane in a set three-dimensional coordinate system. Therefore, the rotation center point and the center of the mirror sphere of the left exterior rearview mirror are also symmetrical about the Y-reference plane with the rotation center point and the center of the mirror sphere of the right exterior rearview mirror.

[0068] In this embodiment, the intrinsic parameters of the exterior rearview mirror may include parameters such as the length and width of the exterior rearview mirror and the radius of the mirror sphere, and based on the above and in combination with... Figure 4It can be seen that when the length, width and spherical radius of the two exterior rearview mirrors are the same, the length of the left exterior rearview mirror and the length of the right exterior rearview mirror can be obtained and recorded as l2, the width of the left exterior rearview mirror and the width of the right exterior rearview mirror can be obtained and recorded as w2, and the spherical radius of the left exterior rearview mirror and the spherical radius of the right exterior rearview mirror can be obtained and recorded as r.

[0069] In other embodiments, the current position information of the exterior rearview mirror may include the current position information of the exterior rearview mirror's rotation center and the current position information of the center point of the mirror's sphere. Here, the exterior rearview mirror's rotation center is located at the center of the exterior rearview mirror; it can be understood that, as... Figure 4 As shown, since the mirrors of the exterior rearview mirrors are all curved surfaces, which are equivalent to a part of a sphere, the center point of the mirror sphere refers to the center of the sphere on which the mirror sphere is located. This point is not on the mirror surface, and the distance between the center of rotation and the center point of the mirror sphere is the radius of the mirror sphere.

[0070] Based on the above content and in combination Figure 4 It can be seen that when both exterior rearview mirrors are identical and their rotation center coordinates and mirror center point coordinates are symmetrical about the Y-reference plane, the rotation center coordinates of the left exterior rearview mirror can be obtained and denoted as (x... l y l , z l ), and obtain the coordinates of the center point of the left outer rearview mirror under different adjustment angles, such as angle i, and record them as O. 1i (x 1i y 1i , z 1i Obtain the coordinates of the rotation center of the right exterior rearview mirror and record them as (x). r y r , z r ), and obtain the coordinates of the center point of the right exterior rearview mirror under different adjustment angles i and record them as O. 2i (x 2i y 2i , z 2i ).

[0071] In some embodiments of the present invention, such as Figure 5 The diagram shows a flowchart of a method for pedestrian warning in vehicle blind spots according to another embodiment of the present invention. In this method, the driver's blind spot in the current driving state is determined based on vehicle driving information, driver's eye position information, and vehicle intrinsic parameter information. That is, step S2 above includes at least one of steps S21-S23, as follows.

[0072] Among them, can be combined Figure 6 Understanding the blind spots of the driver in the embodiments of the present invention, Figure 6This is a schematic diagram of a driver's blind spot according to an embodiment of the present invention.

[0073] S21 determines whether the vehicle is moving forward based on the vehicle gear information or whether the vehicle is turning based on the steering wheel information and determines the turning direction. It obtains the driver's direct blind spot for the corresponding vehicle's forward or turning direction based on the driver's eye point coordinates and the vehicle's A-pillar coordinates.

[0074] The direct blind spot is the area that cannot be seen by the driver's direct field of vision. The A-pillar blind spot is the driver's direct blind spot. The A-pillar blind spot includes the left A-pillar blind spot and the right A-pillar blind spot, and the left A-pillar blind spot and the right A-pillar blind spot are asymmetrical.

[0075] Since the driver's seat in China is generally located near the left-side window of the vehicle, the following embodiments will all use... Figure 6 The driving position shown in the figure is used as an example for description. For cases where the driving position is set near the right window of the vehicle or in other positions in the vehicle, the method of this embodiment can also be used for calculation, which will not be elaborated here.

[0076] For example, when a driver is controlling the vehicle to go straight or turn, it is necessary to pay attention to pedestrians on both sides and in front of the vehicle to avoid causing injury. This can be achieved by first obtaining the left and right A-pillar obstruction angles corresponding to the vehicle's forward or turning direction based on the driver's eye-point coordinates and the vehicle's A-pillar coordinates. Then, based on these angles, the left and right A-pillar blind spots, which are the driver's direct blind spots, can be calculated.

[0077] S22 determines whether the vehicle is moving forward based on the vehicle gear information or whether the vehicle is turning based on the steering wheel information and determines the turning direction. It obtains the driver's direct visual semi-blind zone for the corresponding vehicle's forward or turning direction based on the coordinates of the driver's eye point, the vehicle's side window edge, the lower edge of the windshield, and the foremost point of the hood.

[0078] The direct field-of-view semi-blind spot includes at least one of the vehicle's side window semi-blind spot and the vehicle's frontal semi-blind spot. Specifically, the vehicle's side window semi-blind spot and the vehicle's frontal semi-blind spot are mainly caused by obstruction from the front and sides of the vehicle, especially for trucks with relatively high cab heights, where the side window semi-blind spots and the vehicle's frontal semi-blind spot are relatively large. For example, when the vehicle is a truck, the side window semi-blind spot and / or the vehicle's frontal semi-blind spot will be generated when the height of the lower edge of the side window is greater than 1.8 meters and / or the lower edge of the windshield / the foremost point of the front engine compartment is greater than 1.8 meters.

[0079] Depend on Figure 6As we know, a vehicle's side windows generally include the left side window and the right side window. Therefore, the semi-blind spot of a vehicle's side windows includes the semi-blind spot of the left side window and the semi-blind spot of the right side window. Since the driver's driving position is close to the left side window of the vehicle, the semi-blind spot of the driver's left side window and the semi-blind spot of the right side window will be different. The semi-blind spot of the right side window will be larger than that of the left side window. It will also cause the semi-blind spot in front of the vehicle to be irregular.

[0080] For example, when a driver is controlling the vehicle to go straight or turn, they need to be aware of pedestrians on both sides and in front of the vehicle to avoid causing injury. This involves first calculating the driver's direct field of vision semi-blind angle for the corresponding direction of travel or turning, based on the coordinates of the driver's eye point, the edge of the vehicle's side windows, the lower edge of the windshield, and the foremost point of the hood. Then, the driver's direct field of vision semi-blind zone is calculated based on this semi-blind angle.

[0081] S23, determine the vehicle's reverse direction based on the vehicle's gear information, and determine the driver's blind spot in the external rearview mirror based on the driver's eye position coordinates, the intrinsic parameters of the external rearview mirror, and the current position information of the external rearview mirror.

[0082] The blind spot of the exterior rearview mirror mainly refers to the area that the driver cannot see through the rearview mirror and is also not visible in the driver's direct field of vision. Figure 6 As can be seen, the exterior rearview mirrors of a vehicle generally include the left exterior rearview mirror and the right exterior rearview mirror. Therefore, the blind spots of the exterior rearview mirrors include the blind spots of the left exterior rearview mirror and the blind spots of the right exterior rearview mirror.

[0083] For example, when a driver is reversing, they need to be aware of pedestrians on both sides and behind the vehicle to avoid causing injury. This involves first determining the blind spot angles of the left and right side mirrors based on the driver's eye position coordinates, the intrinsic parameters of the side mirrors, and the current position information of the side mirrors. Then, based on these blind spot angles, the blind spots of the left and right side mirrors are calculated, thus determining the driver's entire blind spot area.

[0084] Based on the above, the vehicle blind spot pedestrian warning method according to the embodiments of the present invention can calculate the corresponding direct field blind spot, direct field semi-blind spot and external rearview mirror blind spot by combining the eye point coordinates of different drivers under the operating conditions such as vehicle forward, reverse or turning. The data collection and calculation process is highly accurate, and can obtain the vehicle driver's direct field blind spot, direct field semi-blind spot and external rearview mirror blind spot in real time. The calculation results are highly accurate and more intelligent, thus improving the protection of pedestrians.

[0085] In some embodiments of the present invention, such as Figure 7 The diagram shows a flowchart of a method for pedestrian warning in vehicle blind spots according to another embodiment of the present invention. In step S21 above, obtaining the driver's direct visual blind spot corresponding to the vehicle's forward or turning direction based on the driver's eye point coordinates and the vehicle's A-pillar coordinates includes steps S211-S214, as detailed below.

[0086] Specifically, it can be combined with Figure 6 and Figure 8 This invention describes the process of calculating the driver's direct blind spot according to an embodiment of the invention. Figure 8 This is a schematic diagram of the blind spot of the A-pillar of a vehicle according to an embodiment of the present invention.

[0087] S211, determine sections S1 and S2.

[0088] Specifically, a first plane is drawn forward from the driver's eye position, forming a first preset standard angle with the horizontal plane. The value of the first preset standard angle can be set as needed, for example, 2°. A horizontal section is drawn at the foremost point where the first plane intersects with the vehicle's A-pillar as section S1. The horizontal plane is the plane parallel to the Z-reference plane where the eye position is located.

[0089] From the eyepoint, draw a second plane forward at a second preset standard angle downwards from the horizontal plane. The value of the second preset standard angle can be set as needed, for example, to 5°. Draw a horizontal section, S2, at the foremost point where the second plane intersects the vehicle's A-pillar. Both the left and right A-pillars of the vehicle include sections S1 and S2. The horizontal plane is the plane parallel to the Z-reference plane where the eyepoint is located.

[0090] S212, obtain the coordinates of the left edge point of the S1 section of the left A column and the coordinates of the right edge point of the S1 section of the right A column, and obtain the coordinates of the right edge point of the S2 section of the left A column and the coordinates of the left edge point of the S2 section of the right A column.

[0091] Taking a first preset standard angle of 2° as an example, in the set three-dimensional coordinate system, the coordinates of the left edge point of the S1 section of the left A column are marked as (x ax2 y ax2 , z ax2 The coordinates of the left edge point of the S1 section of the left A-pillar and the coordinates of the point in the driver's eye (x', y', z') satisfy the relationship shown in equation (1-1).

[0092]

[0093] Specifically, for each known coordinate of the right edge point of the left A-pillar, there is a one-to-one correspondence between the Y-reference plane and the X-reference plane. Therefore, the coordinates of the right edge point (x-x) of the S1 section of the left A-pillar, which satisfy the proportional relationship shown in equation (1-1), can be obtained. ax2 y ax2 , z ax2 Therefore, the coordinates of the left edge point of section S1 of the left column A are (x ay5 y ay5 , z ax5 Furthermore, such as Figure 8 As shown, the left edge point of section S1 of the left A column is symmetrical to the right edge point of section S1 of the right A column about the Y-reference plane. Therefore, the coordinates of the left edge point of section S1 of the right A column are (x... ax2 , -y ax2 , z ax2 The coordinates of the right edge point of section S1 of the right column A are (x ay2 , -y ay2 , z ax2 ).

[0094] Taking a second preset standard angle of 5° as an example, the coordinates of the left edge point of the S2 section of the left A-pillar are marked as (x ax5 y ax5 , z ax5 Furthermore, under the established three-dimensional coordinate system, the coordinates of the left edge point of the S2 section of the left A-pillar and the point coordinates (x', y', z') in the driver's eye satisfy the relationship shown in equation (1-2).

[0095]

[0096] Specifically, for each known coordinate of the left edge point of the left A-pillar, there is a one-to-one correspondence between the Y-reference plane and the X-reference plane. Therefore, the coordinates of the right edge point (x-x) of the S2 section of the left A-pillar, which satisfy the proportional relationship shown in equation (1-2), can be obtained. ax2 y ax2 , z ax2 Therefore, the coordinates of the left edge point of section S2 of the left A column are (x ay5 y ay5 , z ax5 Furthermore, such as Figure 8 As shown, the right edge point of section S2 of the left A column is symmetrical to the left edge point of section S2 of the right A column about the Y-reference plane. Therefore, the coordinates of the left edge point of section S2 of the right A column are (x... ax5 , -y ax5 , z ax5 The coordinates of the right edge point of the S2 section of the right column A are (x ay5 , -y ay5 , z ax5).

[0097] S213, obtain the coordinates of the left edge point of the S1 section of the left A-pillar and the coordinates of the right edge point of the S2 section of the left A-pillar, project them onto the first projection coordinates of the eye point coordinates on the Z-plane, and obtain the driver's left A-pillar blind spot based on the first projection coordinates.

[0098] The coordinates (x) of the left edge point of section S1 of the left A-pillar ay5 y ay5 , z ax5 Project the coordinates of the eye's point (x', y', z') onto the z-reference plane, and obtain the projected coordinates (x', y', z') of that point on the Z-plane. ay5 y ay5 , z') is the first projected coordinate. And, the coordinates of the left edge point (x, z') of the S2 section of the left A pillar. ax2 y ax2 , z ax2 Project the coordinates of the eye's point (x', y', z') onto the z-reference plane, and obtain the projected coordinates (x', y', z') of that point on the Z-plane. ax2 y ax2 ,z') is the first projected coordinate.

[0099] Furthermore, the obstruction angle ∠A of the left A-pillar can be calculated according to equation (1-3). ai Furthermore, based on the obstacle angle ∠A of the left A-pillar... ai Calculate the driver's left A-pillar blind spot. A first ray is formed by connecting the driver's eye point to the left edge of section S1 of the left A-pillar, with the driver's eye point as the starting point. A second ray is formed by connecting the driver's eye point to the right edge of section S2 of the left A-pillar, with the driver's eye point as the starting point. The angle between the first and second rays is the left A-pillar obstruction angle ∠A. ai The area outside the vehicle, located outside the left A-pillar and between the first and second rays, is the driver's left A-pillar blind spot.

[0100]

[0101] S214, obtain the coordinates of the right edge point of the S1 section of the right A-pillar and the coordinates of the left edge point of the S2 section of the right A-pillar, projected onto the Z-plane where the eye's eye point is located, and obtain the driver's right A-pillar blind spot based on the second projection coordinates.

[0102] The coordinates (x) of the right edge point of section S1 of the right A pillar. ay5 , -y ay5 , z ax5 Project the coordinates of the eye's point (x', y', z') onto the z-reference plane, and obtain the projected coordinates (x', y', z') of that point on the Z-plane.ay5 , -y ay5 The coordinates are z', which are the second projected coordinates. Also, the coordinates of the left edge point (x, z') of the S2 section of the right A column are... ax2 , -y ax2 , z ax2 Project the coordinates of the eye's point (x', y', z') onto the z-reference plane, and obtain the projected coordinates (x', y', z') of that point on the Z-plane. ax2 , -y ax2 ,z') is the second projected coordinate.

[0103] Furthermore, the obstruction angle ∠A of the right A-pillar can be calculated according to equation (1-4). aj Furthermore, based on the obstacle angle ∠A of the right A-pillar... aj Calculate the driver's right A-pillar blind spot. A third ray is formed by connecting the driver's eye point to the right edge of section S1 of the right A-pillar, with the driver's eye point as the starting point. A fourth ray is formed by connecting the driver's eye point to the left edge of section S2 of the right A-pillar, with the driver's eye point as the starting point. The angle between the third and fourth rays is the right A-pillar obstruction angle ∠A. aj The area outside the right A-pillar of the vehicle and between the third and fourth rays is the driver's right A-pillar blind spot.

[0104]

[0105] In this embodiment, when the vehicle is moving forward, the driver's direct blind spots include the left A-pillar blind spot and the right A-pillar blind spot. Specifically, when the vehicle is moving forward, the driver mainly needs to pay attention to the road conditions on both sides and in front of the vehicle. If a pedestrian is located within this blind spot, it may affect driving safety. Therefore, it is necessary to alert pedestrians located in the left A-pillar blind spot and the right A-pillar blind spot.

[0106] When a vehicle turns left, the driver's direct blind spot includes the left A-pillar blind spot. Specifically, when turning left, the driver mainly needs to pay attention to the road conditions in front of and to the left of the vehicle. If a pedestrian is within this blind spot, it may affect driving safety; therefore, pedestrians within the left A-pillar blind spot need to be alerted. When a vehicle turns right, the driver's direct blind spot includes the right A-pillar blind spot. Specifically, when turning right, the driver mainly needs to pay attention to the road conditions in front of and to the right of the vehicle. If a pedestrian is within this blind spot, it may affect driving safety; therefore, pedestrians within the right A-pillar blind spot need to be alerted.

[0107] In some embodiments of the present invention, such as Figure 9The diagram shows a flowchart of a method for pedestrian warning in vehicle blind spots according to another embodiment of the present invention. In step S22 above, obtaining the driver's direct field of vision semi-blind spot corresponding to the vehicle's forward or turning direction based on the driver's eye point coordinates, the vehicle side window edge coordinates, the lower edge of the windshield coordinates, and the foremost point coordinates of the hood includes steps S221 and / or S222, as detailed below.

[0108] Among them, can be combined Figure 6 , Figure 10 and Figure 11 This invention describes the process of obtaining the driver's direct field of vision semi-blind spot according to an embodiment of the invention. Figure 10 This is a schematic diagram of the driver's left-side window semi-blind spot and right-side window semi-blind spot according to an embodiment of the present invention.

[0109] S221, determine the semi-blind spot of the driver's left window corresponding to the vehicle moving forward or turning left based on the eye-point coordinates and the left window edge coordinates, and determine the semi-blind spot of the driver's right window corresponding to the vehicle moving forward or turning right based on the eye-point coordinates and the right window edge coordinates.

[0110] When a vehicle is moving forward or turning left, the driver mainly needs to pay attention to the road conditions in front of and to the left of the vehicle. When a vehicle is moving forward or turning right, the driver mainly needs to pay attention to the road conditions in front of and to the right of the vehicle, in order to prevent affecting the safety of pedestrians in the semi-blind spots of the left or right windows.

[0111] Specifically, the driver's left-side semi-blind angle can be calculated using equation (1-5), and the driver's right-side semi-blind angle can be calculated using equation (1-6). Wherein, as Figure 10 As shown, based on a defined three-dimensional coordinate system, the driver's left-side window semi-blind angle is the angle between the line connecting the bottom edge of the vehicle's left-side window and the driver's eye level, and the extension direction of the Y-reference plane. The driver's left-side window semi-blind area is the area outside the vehicle body, below the bottom edge of the vehicle's left-side window, and the area between the line connecting the bottom edge of the vehicle's left-side window and the driver's eye level. The driver's right-side window semi-blind angle is the angle between the line connecting the bottom edge of the vehicle's right-side window and the driver's eye level, and the extension direction of the Y-reference plane. The driver's right-side window semi-blind area is the area outside the vehicle body, below the bottom edge of the vehicle's right-side window, and the area between the line connecting the bottom edge of the vehicle's right-side window and the driver's eye level.

[0112] The coordinates (x, y) of the left side window edge of the vehicle obtained in the above embodiment w y w , z w ) and the coordinates of the right side window edge of the vehicle (x w , -y w , z wTaking the driver's eye coordinates (x', y', z') as an example, the driver's left and right window semi-blind zones are then calculated based on the driver's left and right window semi-blind angles.

[0113]

[0114]

[0115] S222, the first forward semi-blind angle is obtained based on the eye point coordinates and the lower edge coordinates of the windshield, and the second forward semi-blind angle is obtained based on the eye point coordinates and the foremost point coordinates of the hood, and the final forward semi-blind zone of the vehicle is determined based on the smaller semi-blind angle between the first and second forward semi-blind angles.

[0116] Among them, can be combined Figure 11 This invention describes the process of calculating the semi-blind spot directly in front of a vehicle according to an embodiment of the invention. Figure 11 This is a schematic diagram of the semi-blind spot directly in front of a vehicle according to an embodiment of the present invention.

[0117] The first forward semi-blind angle is the angle between the straight line connecting the lower edge of the windshield and the driver's eye level, and a plane parallel to the X-reference plane within the plane containing the lower edge of the windshield. The second forward semi-blind angle is the angle between the straight line connecting the foremost point of the hood and the driver's eye level, and a plane parallel to the X-reference plane within the plane containing the foremost edge of the hood. The forward semi-blind spot is located in front of the vehicle, in the area between the lower edge of the windshield and the plane containing the lower edge of the windshield and the driver's eye level, or in front of the vehicle, in the area between the lower edge of the hood and the plane containing the foremost point of the hood and the driver's eye level.

[0118] Specifically, using the coordinates (x, y) of the lower edge of the windshield obtained in the above embodiment... fw y fw , z fw ), coordinates of the foremost point of the hood (x d y d , z d Taking the coordinates of the driver's eye (x', y', z') as an example, the first forward visual field semi-blind angle can be calculated according to equation (1-7), and the second forward visual field semi-blind angle can be calculated according to equation (1-8).

[0119]

[0120]

[0121] Furthermore, the angle with the smallest value between the first and second forward visual field semi-blind angles is taken as the forward visual field semi-blind angle, and then the driver's forward visual field semi-blind zone is calculated based on the forward visual field semi-blind angle.

[0122] In some embodiments of the present invention, such as Figure 12 The diagram shows a flowchart of a method for pedestrian warning in vehicle blind spots according to another embodiment of the present invention. In step S23 above, determining the driver's blind spot in the external rearview mirror based on the driver's eye coordinates, the intrinsic parameters of the external rearview mirror, and the current position information of the external rearview mirror includes steps S231-S234, as follows.

[0123] Among them, the blind spot of the exterior rearview mirror is the area that the driver cannot see through the exterior rearview mirror and is also not visible in the driver's direct field of vision.

[0124] Specifically, by Figure 6 It can be seen that the blind spots of vehicle exterior rearview mirrors include the blind spots of the left and right exterior rearview mirrors. For details, please refer to... Figure 13 Describe the process of calculating the blind spot of the driver's exterior rearview mirror. Figure 13 This is a schematic diagram of the blind spot of the driver's exterior rearview mirror according to an embodiment of the present invention.

[0125] S231, the intrinsic parameters of the exterior rearview mirror include the coordinates of the rotation center of the exterior rearview mirror, the coordinates of the center point of the mirror surface of the exterior rearview mirror in the current position, the mirror length of the exterior rearview mirror, and the mirror width of the exterior rearview mirror.

[0126] In this embodiment, the exterior rearview mirrors include a left exterior rearview mirror and a right exterior rearview mirror. Under a defined three-dimensional coordinate system, the left and right exterior rearview mirrors are identical and their positions within the vehicle are symmetrical about the Y-plane. Figure 4 Based on the above related content, it can be seen that, given that the left and right exterior rearview mirror lengths are both l2, the left and right exterior rearview mirror widths are both w2, and the coordinates of the left exterior rearview mirror rotation center (x... l y l , z l ), The coordinates of the center point O of the left exterior rearview mirror under its current position. 1i (x 1i y 1i , z 1i ), coordinates of the rotation center of the right exterior rearview mirror (x r y r , z r ), The coordinates of the center point O of the right exterior rearview mirror under its current position. 2i (x 2i y 2i , z 2iLet's take ) as an example to describe it.

[0127] S232, determine the outermost point of the rearview mirror based on the mirror length and the mirror width of the rearview mirror, obtain the third projected coordinates of the outermost point of the rearview mirror in the plane where the rotation center coordinates of the rearview mirror are located, obtain the fourth projected coordinates of the eye point in the plane where the rotation center coordinates of the rearview mirror are located, and obtain the fifth projected coordinates of the mirror sphere center point in the plane where the rotation center coordinates of the rearview mirror are located.

[0128] Based on the established three-dimensional coordinate system, let's take obtaining the driver's eye-point coordinates (x', y', z') as an example. The rotation center of the exterior rearview mirror is located at the center of the mirror surface. The plane containing the coordinates of the exterior rearview mirror rotation center refers to a plane within the plane containing the rotation center that is parallel to the Z-reference plane. In the following explanations, the plane containing the coordinates of the exterior rearview mirror rotation center will be an example of a plane within the plane containing the rotation center that is parallel to the Z-reference plane.

[0129] For the left exterior rearview mirror, the coordinates (x, y) of the outermost point of the left exterior rearview mirror surface at the rotation center of the left exterior rearview mirror can be obtained. l y l , z l The projection of (x) onto the plane is (x) l y l -l2 / 2, z l This refers to the third projection coordinates. Projecting the eye-point coordinates (x', y', z') onto the plane containing the left outer rearview mirror's rotation center coordinates (x1, y1, z1) yields the coordinates (x', y', z'). l This refers to the fourth projection coordinates, and the coordinates of the center point O of the left outer rearview mirror. 1i (x 1i y 1i , z 1i Projected onto the left exterior rearview mirror rotation center coordinates (x l y l , z l The coordinates obtained after the plane containing the ) are (x 1i y 1i , z l That is, the fifth projection coordinate.

[0130] For the right exterior rearview mirror, the coordinates (x, y) of the outermost point of the right exterior rearview mirror surface at the center of rotation of the right exterior rearview mirror can be obtained. r y r , z r The projection of (x) onto the plane is (x) r y r +l2 / 2, z rThis refers to the third projection coordinates. The coordinates of the point in the eye (x', y', z') are projected onto the rotation center coordinates of the right outer rearview mirror (x', y', z'). r y r , z r The coordinates obtained after the plane is located are (x', y', z). r This refers to the fourth projection coordinate. And the coordinates of the center point O of the right outer rearview mirror mirror. 2i (x 2i y 2i , z 2i Projected onto the right exterior rearview mirror rotation center coordinates (x r y r , z r The coordinates obtained after the plane containing the ) are (x 2i y 2i , z r That is, the fifth projection coordinate.

[0131] S233, obtain the first calculated angle based on the third, fourth, and fifth projected coordinates, and obtain the second calculated angle based on the third and fourth projected coordinates.

[0132] For the left exterior rearview mirror, the first calculation angle can be calculated according to formula (1-9), and the second calculation angle can be calculated according to formula (1-10), where... Figure 13 As shown, ∠M o1 This is the first calculated angle corresponding to the left exterior rearview mirror. The first calculated angle is the angle between the line connecting the center point of the left exterior rearview mirror and the outermost point of the left exterior rearview mirror and the line connecting the center point of the driver's eye and the outermost point of the left exterior rearview mirror. ∠M1 is the second calculated angle corresponding to the left exterior rearview mirror. The second calculated angle is the angle between the line connecting the center point of the driver's eye and the outermost point of the left exterior rearview mirror and the X reference plane.

[0133]

[0134]

[0135] Furthermore, for the right exterior rearview mirror, the first calculation angle can be calculated according to formula (1-11), and the second calculation angle can be calculated according to formula (1-12), where... Figure 13 As shown, ∠M or This is the first calculated angle corresponding to the right exterior rearview mirror. The first calculated angle is the angle between the line connecting the center point of the right exterior rearview mirror and the outermost point of the right exterior rearview mirror and the line connecting the center point of the driver's eye and the outermost point of the right exterior rearview mirror. ∠M3 is the second calculated angle corresponding to the right exterior rearview mirror. The second calculated angle is the angle between the line connecting the center point of the driver's eye and the outermost point of the right exterior rearview mirror and the X reference plane.

[0136]

[0137]

[0138]

[0139] S234, determine the blind spot of the first external rearview mirror based on the first calculated angle and the second calculated angle.

[0140] Specifically, for the left exterior rearview mirror, the blind spot angle ∠M2 can be calculated according to formula (1-13), and for the right exterior rearview mirror, the blind spot angle ∠M4 can be calculated according to formula (1-14). Specifically, further... Figure 13 It is known that the sum of the first calculated angle, the second calculated angle, and the blind spot of the exterior rearview mirror is 180°. Therefore, the blind spot angles ∠M2 and ∠M4 of the left and right exterior rearview mirrors can be directly calculated based on the first and second calculated angles. Furthermore, the blind spot angles ∠M2 and ∠M4 of the left and right exterior rearview mirrors can be vector-calculated to obtain the blind spots of the left and right exterior rearview mirrors. The overlapping portion of the blind spots of the left and right exterior rearview mirrors is recorded as the first blind spot of the exterior rearview mirror.

[0141] ∠M² = 180° - ∠M o1 *2-∠M1 Equation (1-13)

[0142] ∠M4=180°-∠M or *2-∠M3 Equation (1-14)

[0143] In other embodiments of the present invention, by Figure 6 It is known that even for vehicles without a rear window, such as trucks, there is a blind spot in the rear view mirror. This can be further explained by combining... Figure 12 and Figure 13 Describe the process of calculating the blind spot of the exterior rearview mirror in the supply section.

[0144] Among them, such as Figure 12 As shown, the blind spot of the driver's external rearview mirror is determined based on the driver's eye point coordinates, the intrinsic parameters of the external rearview mirror, and the current position information of the external rearview mirror. That is, step S23 above also includes steps S235 and S236 below.

[0145] S235, determine the innermost point of the outer rearview mirror surface based on the mirror length and width of the outer rearview mirror, and obtain the sixth projection coordinate of the innermost point of the outer rearview mirror surface in the plane where the rotation center coordinates of the outer rearview mirror are located.

[0146] Among them, by Figure 13It can be seen that the blind spots of the exterior rearview mirrors in this part also include the blind spots of the left exterior rearview mirror and the right exterior rearview mirror.

[0147] For the left exterior rearview mirror, the projection of the innermost point of the left exterior rearview mirror surface onto the plane containing the coordinates (x1, y1, z1) of the left exterior rearview mirror's rotation center is (x l y l +l2 / 2, z l This refers to the sixth projection coordinate. For the right exterior rearview mirror, the coordinates (x, y) of the innermost point of the right exterior rearview mirror surface at the center of rotation of the right exterior rearview mirror are obtained. r y r , z r The projection of (x) onto the plane is (x) r y r -l2 / 2, z r That is, the sixth projection coordinate.

[0148] S236, determine the blind spot of the second external rearview mirror based on the fourth projection coordinate, the fifth projection coordinate, and the sixth projection coordinate.

[0149] For the left exterior rearview mirror, based on the fourth projection coordinates (x', y', z) corresponding to the left exterior rearview mirror obtained in the above embodiment... l ), fifth projection coordinates (x) 1i y 1i , z l ) and the sixth projected coordinates (x l y l +l2 / 2, z l The blind spot angle ∠M corresponding to the left outer rearview mirror can be calculated according to formula (1-15). o11 and ∠M o12 , and by Figure 13 It can be known that ∠M o11 Equal to ∠M o12 Among them, ∠M o11 ∠M is the angle between the line connecting the center of the left side mirror and the innermost point of the left side mirror, and the line connecting the center of the driver's eye and the innermost point of the left side mirror. o12 It is the angle between the line connecting the center point of the left exterior rearview mirror and the innermost point of the left exterior rearview mirror, and the line containing the incident light ray that is projected onto the innermost point of the left exterior rearview mirror and, after reflection, is just projected onto the point in the driver's eye.

[0150]

[0151] For the right exterior rearview mirror, based on the fourth projection coordinates (x', y', z) corresponding to the left and right exterior rearview mirrors obtained in the above embodiment... r ), fifth projection coordinates (x) 2iy 2i , z r ) and the sixth projected coordinates (x l y l -l2 / 2, z r The blind spot angle ∠M corresponding to the right exterior rearview mirror can be calculated according to formula (1-16). or1 and ∠M or2 And by Figure 13 It can be known that ∠M or1 Equal to ∠M or2 , where ∠M or1 ∠M is the angle between the line connecting the center of the right exterior rearview mirror and the innermost point of the right exterior rearview mirror, and the line connecting the center of the driver's eye and the innermost point of the right exterior rearview mirror. or2 Let be the angle between the line connecting the center point of the right exterior rearview mirror and the innermost point of the right exterior rearview mirror, and the line containing the incident light ray that is projected onto the innermost point of the right exterior rearview mirror and, after reflection, is just projected onto the point in the driver's eye.

[0152]

[0153] Furthermore, by Figure 13 It can be seen that ∠M o11 With ∠M o12 The sum of ∠M and ∠M is the angle between the line connecting the driver's eye point and the innermost point of the left exterior rearview mirror, and the line containing the incident light ray projected onto the innermost point of the left exterior rearview mirror and, after reflection, just reaching the driver's eye point. The area corresponding to this angle is the area that the driver cannot observe through the left exterior rearview mirror; that is, the blind spot angle of the left exterior rearview mirror at the rear of a vehicle without a rear window. or1 With ∠M or2 The sum of ∠M is the angle between the line connecting the driver's eye point and the innermost point of the right exterior rearview mirror, and the line containing the incident light ray projected onto the innermost point of the right exterior rearview mirror and, after reflection, just projected onto the driver's eye point. The area corresponding to this angle is the area that the driver cannot observe through the right exterior rearview mirror, which is the blind spot angle of the right exterior rearview mirror at the rear of a vehicle without a rear window. In summary, the area at the rear of the vehicle that the driver cannot visually detect through either the left or right exterior rearview mirror is denoted as the second exterior rearview mirror blind spot. Furthermore, ∠M o11 、∠M o12 、∠M or1 and ∠M or2 By performing vector calculations, the blind spot at the rear of the vehicle, which is also the blind spot of the second exterior rearview mirror, can be obtained.

[0154] In some embodiments of the present invention, such as Figure 14The diagram shown is a flowchart of a method for vehicle blind spot pedestrian warning according to another embodiment of the present invention, wherein the method for vehicle blind spot pedestrian warning further includes at least one of steps S4 and S5, as detailed below.

[0155] S4, vehicle driving information also includes vehicle speed. When the vehicle speed is greater than or equal to the set speed threshold, the vehicle blind spot pedestrian warning function is activated.

[0156] Specifically, wheel-side sensors can be installed at the vehicle's tires to obtain the vehicle's current speed in real time. A speed threshold can be set as needed; for example, the speed threshold can be set to 0. That is, when the speed is 0, it means the vehicle is stationary. Even if a pedestrian approaches the vehicle and enters the blind spot, the vehicle will not affect the pedestrian's safety, so the system does not work and the blind spot pedestrian warning function is not activated. When the speed is not 0, the vehicle is in motion, and the blind spot pedestrian warning function needs to be activated to prevent pedestrians from affecting the vehicle's movement and / or the vehicle's movement from potentially causing injury to pedestrians.

[0157] S5 If a person is detected in the driver's blind spot while the vehicle is in the current driving state and the distance between the person and the vehicle is less than a preset distance, an audible prompt will be issued.

[0158] One approach is to install an audible alarm in the vehicle to alert pedestrians in response to audible commands. For example, the audible alarm can be combined with the vehicle's reversing warning system or low-speed alarm, or it can be used independently. Specifically, a preset distance can be set based on vehicle driving information, vehicle intrinsic parameters, and the driver's eye position, for example, a preset distance of 2 meters. When the vehicle's radar detects a pedestrian within the blind spot and the distance between the pedestrian and the vehicle is ≤2 meters, the audible alarm activates and emits a sound such as "Please leave" to alert the pedestrian.

[0159] In some embodiments of the present invention, the vehicle is further equipped with multiple light emitters for blind spot warning, used to project lasers onto the ground to warn pedestrians. Specifically, the multiple light emitters can be arranged around the perimeter of the vehicle body, and the placement of any one of the light emitters should ensure that the blind spot boundary is visible in any state of the vehicle. Furthermore, the light emitters can be embedded inside the vehicle body, thereby maintaining the rounded and relatively flat surface of the vehicle body.

[0160] Based on the above, such as Figure 15 The diagram shows a flowchart of a method for providing pedestrian alerts in vehicle blind spots according to another embodiment of the present invention. In this method, the driver's blind spots in the current driving state are alerted to pedestrians. That is, step S3 above may include steps S31 and S32, as detailed below.

[0161] S31, the target adjustment angle of the light emitter is obtained based on the driver's blind spot under the current driving condition.

[0162] Specifically, after the processor in the vehicle obtains the driver's blind spot under the current driving condition, it calculates the target adjustment angle of the light emitter and sends a laser adjustment command containing the target adjustment angle.

[0163] S32, adjust the light emitter according to the target adjustment angle, and control the light emitter to emit light onto the ground in the corresponding blind spot to alert pedestrians.

[0164] The system includes a light emitter angle adjuster connected to at least one light emitter, used to adjust the angle and direction of the light emitter according to laser adjustment commands. Specifically, each light emitter has an initial angle setting, and the light emitter angle adjuster can acquire the initial angle information of the light emitter. After acquiring the target adjustment angle, the light emitter angle adjuster compares the acquired target adjustment angle with the initial angle of the light emitter and obtains the angle difference between the two. Then, based on the angle difference, it adjusts the angle of the light emitter to the target adjustment angle from the initial position and controls the light emitter to emit light onto the ground in the corresponding blind spot to alert pedestrians.

[0165] In some embodiments of the present invention, such as Figure 16 The diagram shown is a flowchart of a method for pedestrian warning in vehicle blind spots according to another embodiment of the present invention, wherein the method includes steps S101-S115, as detailed below.

[0166] S101, vehicle starts.

[0167] S102, determine whether the vehicle speed is greater than 0. If the result is "yes", then execute step S103. If the result is "no", then the system does not work and continues to execute step S102 until the vehicle speed is greater than 0, then continue to execute the following steps.

[0168] S103, determine whether the vehicle is in reverse gear. If the result is "yes", proceed to step S104. If the result is "no", proceed to step S107.

[0169] S104, calculate the driver's blind spot and the target adjustment angle of the light emitter under the current driving conditions.

[0170] S105, adjust the angle of the light emitter.

[0171] S106, activate the light emitter to alert pedestrians. And, proceed to step S115, activate the sound alarm to alert pedestrians.

[0172] S107, determine whether the vehicle is in a forward gear. If the result is "yes", proceed to step S108. If the result is "no", return to step S102.

[0173] S108, determine whether the vehicle speed is less than 20 km / h. If the result is "yes", proceed to step S109. If the result is "no", return to step S102.

[0174] S109, calculate the driver's blind spot and the target adjustment angle of the light emitter under the current driving conditions.

[0175] S110, adjust the angle of the light emitter.

[0176] S111, determine whether the steering wheel angle is 0. If the result is "yes", proceed to step S112. If the result is "no", return to step S102.

[0177] S112, determine whether there is a pedestrian within 5m of the vehicle in the driver's blind spot. If the result is "yes", proceed to step S113 to activate the light emitter and alert the pedestrian. If the result is "no", return to step S102.

[0178] S114. Determine if there is a pedestrian within 2 meters of the vehicle in the driver's blind spot. If the result is "yes", proceed to step S115 to activate the audible alarm to alert the pedestrian. If the result is "no", return to step S102.

[0179] The vehicle blind spot pedestrian warning method of this invention obtains the driver's blind spot in the current state, converts the blind spot information into the angle and direction of laser line projection onto the ground, and then realizes blind spot light warning. At the same time, when a pedestrian enters the blind spot and is close to the vehicle, an audible warning will be given, thereby ensuring the safety of vehicle driving and greatly improving pedestrian safety.

[0180] In some embodiments of the present invention, a vehicle is also proposed, such as Figure 17 The diagram shown is a block diagram of a vehicle according to an embodiment of the present invention, wherein the vehicle 10 includes a data acquisition module 1, a storage module 2, at least one processor 3, and a prompting module 4.

[0181] The acquisition module 1 is used to collect vehicle driving information and driver eye position information. For example, the acquisition module 1 may include an eye-point capture system to obtain the driver's eye position information. Specifically, the eye-point capture system can capture the position of the driver's eyes and the position of the eye point in the driver's eyes under normal sitting posture.

[0182] For example, the data acquisition module 1 may also include sensors installed in the vehicle 10, such as displacement sensors, angle sensors, wheel-side sensors, and position sensors, for collecting vehicle driving information. Specifically, the displacement sensor can obtain the current position of the interior and exterior rearview mirrors, and then calculate the angle of the rearview mirrors. The angle sensor can be installed in the steering column to obtain the steering wheel angle, and then obtain the turning angle of the vehicle. Wheel-side sensors are installed at the tires of the vehicle 10 to obtain the current speed of the vehicle 10. The position sensor can be installed in the gear shift lever to obtain the gear information of the vehicle 10, and then the driving direction of the vehicle 10 can be obtained based on the gear information, such as determining whether the vehicle 10 is moving forward or backward.

[0183] Storage module 2 stores vehicle intrinsic parameter information and computer programs. Among them, the vehicle intrinsic parameter information may include at least the position information of the interior and exterior rearview mirrors of the vehicle 10, the size information of the rearview mirrors, the length, width and height information of the vehicle body, the position and size information of the side windows of the vehicle 10, the position and size information of the rear windshield, and the position and size information of the A-pillar of the vehicle 10.

[0184] Storage module 2 also stores algorithm formulas, etc. When the computer program runs, it can call the appropriate algorithm formula based on the collected information. The stored algorithm formulas may include formulas for calculating the driver's eye position data based on the collected driver's eye position information, and formulas for calculating visual cues, i.e., laser ray adjustment angle and sound cues, based on the driver's eye position data and vehicle intrinsic parameter information.

[0185] At least one processor 3 is communicatively connected to the acquisition module 1 and the storage module 2 to execute a computer program to implement any of the above-mentioned methods for vehicle blind spot pedestrian warning.

[0186] Specifically, at least one processor 3 acquires vehicle driving information and driver eye position information acquired by the acquisition module 1, as well as vehicle intrinsic parameter information stored in the storage module 2, and executes a computer program to analyze and process the acquired data information, thereby calculating the driver's blind spot under the current driving state.

[0187] Furthermore, at least one processor 3 can calculate the projection angle and direction of the laser onto the ground based on the driver's blind spot in the current driving state, and send out laser adjustment commands and sound reminder commands.

[0188] The prompting module 4 is connected to at least one processor 3 and is used to prompt pedestrians about the driver's blind spots in the current driving state of the vehicle 10.

[0189] The prompting module 4 may include at least one light emitter capable of providing blind spot prompts. The light emitter projects laser light onto the ground to form the blind spot boundary of the vehicle 10, providing visual prompts to pedestrians. Specifically, at least one light emitter may be multiple light emitters, arranged around the perimeter of the vehicle body. Each blind spot corresponds to at least one light emitter, and the placement of any light emitter should ensure that the blind spot boundary is visible in all states of the vehicle 10. Furthermore, the light emitter can be embedded inside the vehicle body, thereby maintaining a rounded and relatively flat surface.

[0190] Specifically, the laser beam emitted by the light emitter can be set to a brightly colored and easily distinguishable light, such as red and / or green, to easily attract pedestrians' attention and better serve its warning function. Furthermore, since excessively high-power light sources can harm pedestrians' eyes, it is recommended that the power of the laser beam emitted by the light emitter be less than 5mW to avoid affecting pedestrians' health and ensure both effective warning and pedestrian comfort. In addition to delineating blind spot boundaries, the laser beam emitted by the light emitter can also project "Do Not Stop" and prohibition symbols onto the ground to warn pedestrians.

[0191] Furthermore, the prompting module 4 may also include a light emitter angle adjuster. The light emitter angle adjuster and the light emitter are connected to at least one processor 3 and are used to adjust the angle and direction of the laser emitted by the laser emitter onto the ground in response to a laser adjustment command. At least one processor 3 obtains the target adjustment angle of the light emitter based on the driver's blind spot in the current driving state, and then sends a laser adjustment command containing the target adjustment angle to the light emitter angle adjuster. The light emitter has an initial angle setting. The light emitter angle adjuster obtains the initial angle information of the light emitter, compares the calculated target adjustment angle with the initial angle of the light emitter and obtains the angle difference between the two. Then, based on the angle difference, it adjusts the angle of the light emitter to the target adjustment angle from the initial position and controls the light emitter to emit light onto the ground in the corresponding blind spot to prompt pedestrians.

[0192] The alert module 4 also includes an audible alarm for responding to audible alert commands to alert pedestrians. This audible alarm can be combined with the reversing warning device or low-speed alarm of vehicle 10, or it can be a standalone audible alarm. The audible alarm is connected to at least one processor 3 and is used to respond to audible alert commands to alert pedestrians. Specifically, when a person is detected in the driver's blind spot during the current driving state and the distance between the person and vehicle 10 is less than a preset distance, an audible alert command is sent to the audible alarm. For example, when the radar in vehicle 10 detects a pedestrian standing within the blind spot and the distance between the pedestrian and vehicle 10 is ≤2 meters, processor 3 sends an audible alert command to the audible alarm, which responds to the command and activates, emitting an audible alert such as "Please leave."

[0193] The vehicle 10 proposed in this embodiment of the invention, based on an architecture comprising a data acquisition module 1, a storage module 2, at least one processor 3, and a prompting module 4, employs the vehicle blind spot pedestrian prompting method described in the above embodiment. It can provide pedestrian prompts based on vehicle driving information, driver's eye position information, and vehicle intrinsic parameter information, making it applicable to different vehicles 10, different drivers, and different driving conditions. This significantly improves pedestrian safety and enhances intelligence. Furthermore, the hardware components of the data acquisition module 1 and the prompting module 4 can be based on the vehicle's basic configuration, exhibiting high feasibility and versatility. Additionally, the storage module 2 and at least one processor 3 can integrate with the vehicle 10's existing computing and control modules, resulting in low development costs and convenient application.

[0194] Other configurations and operations of the vehicle 10 and the like according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0195] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0196] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for pedestrian warning in vehicle blind spots, characterized in that, The method includes: Acquire vehicle driving information, vehicle intrinsic parameter information, and driver's eye position information, wherein the position information includes the coordinates of the driver's eye point; The driver's blind spot in the current driving state is determined based on the vehicle driving information, the driver's eye position information and the vehicle intrinsic parameter information. The blind spot includes at least the left A-pillar blind spot. The driver's blind spots under the current driving conditions are highlighted to pedestrians; The blind spot of the left A-pillar is obtained through the following steps: Determine sections S1 and S2, wherein a first plane is drawn forward from the eye point position, forming a first preset standard angle with the horizontal plane upward, and a horizontal section is drawn through the foremost point where the first plane intersects with the vehicle A-pillar as section S1; a second plane is drawn forward from the eye point position, forming a second preset standard angle with the horizontal plane downward, and a horizontal section is drawn through the foremost point where the second plane intersects with the vehicle A-pillar as section S2; wherein the horizontal plane is the plane parallel to the Z reference plane where the eye point is located; Obtain the coordinates of the left edge point of section S1 of the left A pillar and the coordinates of the right edge point of section S2 of the left A pillar; The coordinates of the left edge point of the S1 section of the left A-pillar and the coordinates of the right edge point of the S2 section of the left A-pillar are projected onto the first projection coordinates on the Z-plane where the eye point coordinates are located. The blind spot of the driver's left A-pillar is obtained based on the first projection coordinates.

2. The method for pedestrian warning in vehicle blind spots according to claim 1, characterized in that, Obtaining vehicle driving information includes at least: obtaining vehicle gear information or steering wheel steering information; Obtaining the position information of the driver's eyes includes: capturing the coordinates of the driver's eyes in a set three-dimensional coordinate system, and obtaining the coordinates of the driver's eye point based on the coordinates of the eyes, wherein the Y reference plane in the set three-dimensional coordinate system is the longitudinal symmetry plane of the vehicle, the X reference plane is a vertical plane perpendicular to the Y reference plane, and the Z reference plane is a horizontal plane perpendicular to the Y reference plane and the X reference plane. Obtaining vehicle intrinsic parameter information includes: obtaining at least one of the driver's direct field blind spot parameters, direct field semi-blind spot parameters, and exterior rearview mirror field blind spot parameters in the set three-dimensional coordinate system, wherein the direct field blind spot parameters include the vehicle A-pillar coordinates, the direct field semi-blind spot parameters include at least one of the vehicle side window edge coordinates, the windshield lower edge coordinates, and the foremost point coordinates of the hood, and the exterior rearview mirror field blind spot parameters include the exterior rearview mirror intrinsic parameters and the current position information of the exterior rearview mirror.

3. The method for pedestrian warning in vehicle blind spots according to claim 2, characterized in that, Determining the driver's blind spot in the current driving state based on the vehicle driving information, the driver's eye position information, and the vehicle's intrinsic parameter information includes at least one of the following: The vehicle's forward movement is determined based on the vehicle's gear information, or the vehicle's turning direction is determined based on the steering wheel information. The driver's direct blind spot corresponding to the vehicle's forward or turning direction is obtained based on the driver's eye point coordinates and the vehicle's A-pillar coordinates. The vehicle is determined to move forward based on the vehicle gear information or to turn based on the steering wheel information and the turning direction is determined. The driver's direct visual field semi-blind zone for the corresponding vehicle forward or turning direction is obtained based on the coordinates of the driver's eye point, the coordinates of the vehicle side window edge, the coordinates of the lower edge of the windshield, and the coordinates of the foremost point of the hood. The direct visual field semi-blind zone includes at least one of the vehicle side window semi-blind zone and the vehicle front semi-blind zone. The vehicle reverses based on the vehicle gear information, and the driver's blind spot in the rearview mirror is determined based on the driver's eye position coordinates, the intrinsic parameters of the rearview mirror, and the current position information of the rearview mirror.

4. The method for pedestrian warning in vehicle blind spots according to claim 3, characterized in that, The step of obtaining the driver's direct blind spot in the direction of the vehicle's forward movement or turning, based on the driver's eye-point coordinates and the vehicle's A-pillar coordinates, includes: Obtain the coordinates of the right edge point of the S1 section of the right column A, and obtain the coordinates of the left edge point of the S2 section of the right column A; The coordinates of the right edge point of the S1 section of the right A-pillar and the coordinates of the left edge point of the S2 section of the right A-pillar are projected onto the Z-plane where the eye's eye point is located, and the blind spot of the driver's right A-pillar is obtained based on the second projection coordinates. Specifically, when the vehicle is moving forward, the driver's direct blind spot includes the left A-pillar blind spot and the right A-pillar blind spot; when the vehicle is turning left, the driver's direct blind spot includes the left A-pillar blind spot; and when the vehicle is turning right, the driver's direct blind spot includes the right A-pillar blind spot.

5. The method for pedestrian warning in vehicle blind spots according to claim 3, characterized in that, The method of obtaining the driver's direct visual semi-blind zone corresponding to the vehicle's forward or turning direction based on the driver's eye-point coordinates, the vehicle side window edge coordinates, the windshield lower edge coordinates, and the foremost point coordinates of the hood includes: The driver’s left-side window semi-blind spot is determined based on the eye-point coordinates and the left-side window edge coordinates of the vehicle, corresponding to the vehicle moving forward or turning left. The driver’s right-side window semi-blind spot is determined based on the eye-point coordinates and the right-side window edge coordinates of the vehicle, corresponding to the vehicle moving forward or turning right. And / or, a first forward semi-blind angle is obtained based on the eye point coordinates and the lower edge coordinates of the windshield, and a second forward semi-blind angle is obtained based on the eye point coordinates and the foremost point coordinates of the hood, and the final forward semi-blind zone of the vehicle is determined based on the smaller semi-blind angle between the first and second forward semi-blind angles.

6. The method for pedestrian warning in vehicle blind spots according to claim 3, characterized in that, The step of determining the driver's blind spot in the rearview mirror based on the driver's eye position coordinates, the intrinsic parameters of the rearview mirror, and the current position information of the rearview mirror includes: The intrinsic parameters of the exterior rearview mirror include the coordinates of the rotation center of the exterior rearview mirror, the coordinates of the center point of the mirror surface of the exterior rearview mirror in the current position, the mirror length of the exterior rearview mirror, and the mirror width of the exterior rearview mirror. The outermost point of the rearview mirror is determined based on the mirror length and the mirror width. The third projected coordinate of the outermost point of the rearview mirror is obtained in the plane where the rotation center coordinates of the rearview mirror are located. The fourth projected coordinate of the eye center is obtained in the plane where the rotation center coordinates of the rearview mirror are located. The fifth projected coordinate of the mirror sphere center is obtained in the plane where the rotation center coordinates of the rearview mirror are located. The plane where the rotation center coordinates of the rearview mirror are located is a plane parallel to the Z reference plane. A first calculated angle is obtained based on the third projection coordinates, the fourth projection coordinates, and the fifth projection coordinates; and a second calculated angle is obtained based on the third projection coordinates and the fourth projection coordinates. The first calculated angle is the angle between the line connecting the center point of the left exterior rearview mirror and the outermost point of the left exterior rearview mirror and the line connecting the center point of the driver's eye and the outermost point of the left exterior rearview mirror. The second calculated angle is the angle between the line connecting the center point of the driver's eye and the outermost point of the left exterior rearview mirror and the X reference plane. The blind spot of the first external rearview mirror is determined based on the first calculated angle and the second calculated angle.

7. The method for pedestrian warning in vehicle blind spots according to claim 6, characterized in that, The vehicle does not have a rear window. The step of determining the driver's blind spot in the exterior rearview mirror based on the driver's eye position coordinates, the intrinsic parameters of the exterior rearview mirror, and the current position information of the exterior rearview mirror further includes: The innermost point of the outer rearview mirror is determined based on the mirror length and the mirror width of the outer rearview mirror, and the sixth projection coordinate of the innermost point of the outer rearview mirror is obtained in the plane where the rotation center coordinates of the outer rearview mirror are located. The blind spot of the second exterior rearview mirror is determined based on the fourth projection coordinate, the fifth projection coordinate, and the sixth projection coordinate.

8. The method for pedestrian warning in vehicle blind spots according to claim 1, characterized in that, The method further includes at least one of the following: Vehicle driving information also includes vehicle speed. When the vehicle speed is greater than or equal to a set vehicle speed threshold, the vehicle blind spot pedestrian warning function is activated. If a person is detected in the driver's blind spot during the current driving state and the distance between the person and the vehicle is less than a preset distance, an audible alert will be issued.

9. The method for pedestrian warning in vehicle blind spots according to any one of claims 1-8, characterized in that, The vehicle is equipped with a blind spot warning light emitter to alert pedestrians to the driver's blind spots during the current driving state, including: The target adjustment angle of the light emitter is obtained based on the driver's blind spot under the current driving condition; The light emitter is adjusted according to the target angle, and the light emitter is controlled to emit light onto the ground corresponding to the blind spot in the field of vision, so as to alert pedestrians.

10. A vehicle, characterized in that, include: The acquisition module is used to acquire vehicle driving information and driver eye position information; The storage module stores vehicle intrinsic parameter information and computer programs; At least one processor, the at least one processor being communicatively connected to the acquisition module and the storage module, for executing the computer program to implement the vehicle blind spot pedestrian warning method according to any one of claims 1-9; A prompting module, connected to the at least one processor, is used to prompt pedestrians about the driver's blind spots during the current driving state of the vehicle.

Images