A vehicle blind area active protection device and a protection method thereof

Abstract

The application discloses a kind of vehicle turning blind area active protection device and its protection method, including processing module, drive module, setting in the active protection baffle of tractor side face, processing module obtains vehicle turning angle, based on tractor and trailer attribute and positional relationship, constructs the inner wheel difference model with the straight line of vehicle rear wheel as turning center, according to inner wheel difference, the blind area when vehicle turns;Based on the length of active protection baffle and its installation position with corresponding tire, inner wheel difference and vehicle turning angle, the relationship between vehicle turning angle and the opening angle of active protection baffle is constructed, so that drive module adjusts opening angle by turning angle, so that active protection baffle covers blind area in the process of vehicle turning.Thereby avoid the accident caused by driver subjective oversight, replace passive warning by active protection baffle, reduce the risk of pedestrian or car being rolled into the bottom of car.

Description

Technical Field

[0001] This invention belongs to the field of vehicle turning safety protection and computer processing technology, specifically relating to an active protection device for blind spots when turning a vehicle and its protection method. Background Technology

[0002] Large trucks have very large blind spots when turning right, which can easily cause accidents. Existing solutions include installing cameras and blind spot monitoring radar systems. These systems mainly use radar technology to monitor and warn of targets in the blind spot of large trucks, providing real-time warnings and helping drivers notice obstacles in the blind spot, thereby reducing the occurrence of accidents.

[0003] However, these measures can still cause accidents due to driver negligence or excessive speed of cars in blind spots. Furthermore, these measures rely heavily on driver judgment and passive warnings, and do not provide corresponding active protective measures when an accident occurs. Summary of the Invention

[0004] To address the shortcomings of existing technologies and achieve the goal of actively protecting vehicles and pedestrians in blind spots when vehicles are turning, this invention adopts the following technical solution:

[0005] An active protection method for vehicle blind spot when turning includes the following steps:

[0006] Step S1: Obtain the vehicle's turning angle. Based on the attributes and positional relationship of the tractor and trailer, construct an inner wheel difference model with the straight line where the vehicle's rear wheels are located as the turning center. Calculate the blind spot when the vehicle is turning based on the inner wheel difference, including the following steps:

[0007] Step S1.1: Based on the tractor wheelbase L and the tractor turning angle θ, obtain the tractor turning radius R;

[0008] The formula for the turning radius of a medium-sized tractor is as follows:

[0009]

[0010] Where R represents the turning radius of the tractor, θ represents the turning angle of the tractor, and L represents the wheelbase of the tractor.

[0011] Step S1.2: Based on the turning radius R of the tractor, the track width d1 of the tractor front wheel, and the turning angle θ of the tractor, obtain the motion radius b of the tractor front wheel;

[0012] The formula for the radius of motion of the front wheel of the tractor is as follows:

[0013]

[0014] Where b represents the radius of motion of the front wheel of the tractor, R represents the turning radius of the tractor, θ represents the turning angle of the tractor, and d1 represents the track width of the front wheel of the tractor.

[0015] Step S1.3: Based on the turning radius R of the tractor, the center distance k of the kingpin of the tractor's steering wheel, the wheelbase L' of the trailer, and the rear wheel track d' of the trailer, obtain the movement radius c of the rear wheel of the trailer;

[0016] The formula for the radius of motion of the rear wheel of a trailer is as follows:

[0017]

[0018] Where c represents the radius of motion of the trailer's rear wheels, R represents the turning radius of the tractor, θ represents the turning angle of the tractor, k represents the center distance of the kingpins of the tractor's steering wheels, L' represents the wheelbase of the trailer, and d' represents the track width of the trailer's rear wheels.

[0019] Step S1.4: Obtain the inner wheel difference m = bc by using the movement radius b of the front wheel of the tractor and the movement radius c of the rear wheel of the trailer, and obtain the steering blind spot based on the inner wheel difference m during vehicle steering.

[0020] Step S2: Based on the length of the active protection barrier and its installation position with the corresponding tire, inner wheel difference and turning angle, establish the relationship between the vehicle turning angle and the opening angle of the active protection barrier, so as to adjust the opening angle by the turning angle so that the active protection barrier covers the blind spot during the turning process.

[0021] Furthermore, in step S2, when the active protective baffle is positioned in front of the corresponding tire:

[0022]

[0023] Where α represents the opening angle, x represents the distance between the active protective barrier and the corresponding wheel, h represents the length of the active protective barrier, m represents the inner wheel difference of the vehicle, and θ represents the turning angle of the tractor.

[0024] Furthermore, the opening angle α of the baffle is adjusted by the angle β formed by the tractor and the trailer. Based on the trailer width d, the rear wheel radius c, and the wheelbase L', the relationship between these dimensions and the angle β is obtained:

[0025]

[0026] Therefore, the relationship between the included angle β and the turning angle θ of the tractor is obtained:

[0027]

[0028] Based on the relationship between the turning angle θ and the opening angle α of the tractor when the active protective baffle is set in front of the corresponding tire, the relationship between the included angle β and the opening angle α is obtained.

[0029] Furthermore, in step S2, when the active protective baffle is positioned behind the corresponding tire:

[0030]

[0031] Where α represents the opening angle, x represents the distance between the active protective barrier and the corresponding wheel, h represents the length of the active protective barrier, m represents the inner wheel difference of the vehicle, and θ represents the turning angle of the tractor.

[0032] Furthermore, the opening angle α of the baffle is adjusted by the angle β formed by the tractor and the trailer. Based on the trailer width d, the rear wheel radius c, and the wheelbase L', the relationship between these dimensions and the angle β is obtained:

[0033]

[0034] Therefore, the relationship between the included angle β and the turning angle θ of the tractor is obtained:

[0035]

[0036] Based on the relationship between the turning angle θ and the opening angle α of the tractor when the active protective baffle is set behind the corresponding tire, the relationship between the included angle β and the opening angle α is obtained.

[0037] An active protection device for blind spot when turning a vehicle includes a processing module, a drive module, and an active protection baffle disposed on the side of a tractor.

[0038] The processing module acquires the vehicle's turning angle and, based on the attributes and positional relationship of the tractor and trailer, constructs an inner wheel difference model with the straight line where the vehicle's rear wheels are located as the turning center. It then obtains the blind spot when the vehicle turns based on the inner wheel difference. Based on the length of the active protective barrier and its installation position with the corresponding tire, the inner wheel difference, and the vehicle's turning angle, it constructs a relationship between the vehicle's turning angle and the opening angle of the active protective barrier. This allows the drive module to adjust the opening angle based on the turning angle, ensuring that the active protective barrier covers the blind spot during the vehicle's turning process.

[0039] The advantages and beneficial effects of this invention are as follows:

[0040] The present invention discloses an active protection device and method for vehicle turning blind spots. By setting a baffle on one side of the vehicle and adjusting the opening angle of the baffle based on the turning angle of the vehicle, the baffle covers the turning blind spot, avoiding accidents caused by subjective factors such as driver negligence or excessive speed of the vehicle in the blind spot. By replacing passive warnings with active protective baffles, the risk of pedestrians or vehicles being caught under the vehicle is reduced. At most, vehicles or pedestrians are pushed by the baffle of the truck, causing only friction injuries and avoiding crush injuries. Attached Figure Description

[0041] Figure 1 This is a structural schematic diagram of the vehicle and its active blind spot protection barrier in an embodiment of the present invention.

[0042] Figure 2 This is a schematic diagram of the inner wheel difference model in this embodiment of the invention, with the straight line where the rear wheels of the vehicle are located as the turning center.

[0043] Figure 3 This is a diagram showing the relationship between the opening angle and the turning angle when the baffle is positioned in front of the corresponding tire in an embodiment of the present invention.

[0044] Figure 4 This is a diagram showing the relationship between the opening angle and the turning angle when the baffle is positioned behind the corresponding tire in an embodiment of the present invention. Detailed Implementation

[0045] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0046] like Figure 1 As shown, an active blind spot protection device for vehicles turning is described. The vehicle is a large truck, including a tractor and a trailer connected to each other, as well as a processing module and a drive module. A row of automatically retractable protective barriers is installed on both sides of the tractor.

[0047] The processing module acquires the vehicle's turning angle and, based on the attributes and positional relationship of the tractor and trailer, constructs an inner wheel difference model with the straight line where the vehicle's rear wheels are located as the turning center. Based on the inner wheel difference, it obtains the blind spot when the vehicle turns. Based on the length of the active protective barrier and its installation position with the corresponding tire, the inner wheel difference, and the vehicle's turning angle, it constructs the relationship between the vehicle's turning angle and the opening angle of the active protective barrier. This allows the drive module to adjust the opening angle based on the turning angle, so that the active protective barrier covers the blind spot during the vehicle's turning process.

[0048] When a vehicle is turning, even if a collision occurs in a blind spot on one side, the car or pedestrian will at most be pushed by the truck's sidewall, resulting in abrasions, rather than being directly dragged under the vehicle and suffering crush injuries. This avoids the impact of the driver's subjective factors and objectively reduces the harm caused by the accident significantly. Furthermore, the sidewall's extension and retraction angle can be linked to the right turn signal and the vehicle's turning angle, avoiding the need to release the sidewall when using the turn signal to change lanes.

[0049] Based on the aforementioned active protection baffles, such as Figure 2 As shown, this invention designs an active protection method for vehicle turning blind spots, aiming to solve the relationship between the opening angle of the active protection barrier and the vehicle turning angle, so that the opening angle of the active protection barrier can cover the blind spot when the vehicle turns, and the driving trajectory of the vehicle's front axle midpoint coincides with the lane centerline. This allows the construction of an inner wheel difference model with the straight line where the vehicle's rear wheels are located as the turning center. Based on the model, the relationship between the opening angle α of the active protection barrier and the vehicle turning angle θ is obtained. Specifically, the method includes the following steps:

[0050] Step S1: Obtain the vehicle's turning angle. Based on the attributes and positional relationship of the tractor and trailer, construct an inner wheel difference model with the straight line where the vehicle's rear wheels are located as the turning center. Calculate the blind spot when the vehicle is turning based on the inner wheel difference, including the following steps:

[0051] Step S1.1: Based on the tractor wheelbase L and the tractor turning angle θ, obtain the tractor turning radius R; Figure 2 In the triangle, side 1 and side 2 form an angle θ, and sides 1, 2, and 3 form a right triangle. Therefore, side 1 = side 3 / sinθ, that is:

[0052]

[0053] In this embodiment of the invention, the wheelbase L of the tractor is 500cm, and the turning angle θ of the vehicle is 30°. Therefore, the turning radius of the vehicle is...

[0054] Step S1.2: Based on the turning radius R of the tractor, the track width d1 of the tractor front wheel, and the turning angle θ of the tractor, obtain the motion radius b of the tractor front wheel;

[0055]

[0056] In this embodiment of the invention, the front wheel track d1 of the tractor is 240cm, then the radius of motion of the inner front wheel of the tractor is:

[0057]

[0058] Step S1.3: Based on the turning radius R of the tractor, the center distance k of the kingpin of the tractor's steering wheel, the wheelbase L' of the trailer, and the rear wheel track d' of the trailer, obtain the movement radius c of the rear wheel of the trailer;

[0059]

[0060] In this embodiment of the invention, the center distance k of the kingpin of the tractor's steering wheel is 100cm, the wheelbase L' of the trailer is 800cm, and the rear wheel track d' of the trailer is 180cm. Therefore, the radius of motion of the rear wheel of the trailer is:

[0061]

[0062] Step S1.4: Using the travel radius b of the tractor's front wheels and the travel radius c of the trailer's rear wheels, obtain the inner wheel difference m = bc. Based on the inner wheel difference m during vehicle steering, obtain the steering blind spot, i.e. Figure 2 The black area in the text.

[0063] In this embodiment of the invention, the inner wheel difference of the vehicle is:

[0064]

[0065] Step S2: Based on the length of the active protection barrier and its installation position with the corresponding tire, inner wheel difference and turning angle, construct the relationship between the vehicle turning angle and the opening angle of the active protection barrier, so as to adjust the opening angle by the turning angle so that the active protection barrier covers the blind spot during the turning process;

[0066] When the active protection barrier is positioned in front of the corresponding tire:

[0067]

[0068] Similarly, when the active protection barrier is positioned behind the corresponding tire:

[0069]

[0070] Where α represents the opening angle, x represents the distance between the active protective barrier and the corresponding wheel, h represents the length of the active protective barrier, m represents the inner wheel difference of the vehicle, and θ represents the turning angle of the tractor.

[0071] Specifically, such as Figure 3 As shown, assuming the wheel guard is installed x cm in front of the wheel, then BA and BG form an angle θ, and BA, BG, and AG form a right triangle. Therefore, AG = xsinθ. So:

[0072]

[0073] Where · represents the multiplication symbol, therefore:

[0074]

[0075] And because:

[0076]

[0077]

[0078] so:

[0079]

[0080] Substituting formula (2) into formula (1) yields:

[0081]

[0082] Specifically, such as Figure 4 As shown, assuming the wheel guard is installed x cm behind the wheel, then similarly we can obtain:

[0083]

[0084] In this embodiment of the invention, the baffle should at least be able to cover the inner wheel difference when opened. Taking the first wheel on the right side of the vehicle as an example, the baffle is installed 20cm in front of the wheel; the baffle is 650cm long; the baffle opening angle is α. Then, using the above formula (3), it can be seen that the baffle opening angle α should satisfy sinα=0.7975, that is, α is about 52.89°. If the baffle is installed 20cm behind the wheel, then using the above formula (4), it can be seen that the baffle opening angle should satisfy sinα=0.8508, that is, α is about 58.29°.

[0085] Based on the above embodiments, in another embodiment, the opening angle α of the baffle is calculated using the angle β formed by the tractor and the trailer. Figure 2 In the diagram, based on the trailer width d, the rear wheel travel radius c, and the wheelbase L', we obtain:

[0086]

[0087] Therefore, we get:

[0088]

[0089]

[0090] Substituting formulas (5) and (6) into formulas (3) and (4) yields the relationship between the angle β formed by the tractor and the trailer and the opening angle α of the baffle.

[0091] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for active protection of blind spots when a vehicle is turning, characterized in that... Includes the following steps: Step S1: Obtain the vehicle turning angle. Based on the attributes and positional relationship of the tractor and trailer, construct an inner wheel difference model with the straight line where the vehicle's rear wheels are located as the turning center. Obtain the blind spot when the vehicle is turning based on the inner wheel difference. Step S2: Based on the length of the active protection barrier and its installation position with the corresponding tire, inner wheel difference and turning angle, construct the relationship between the vehicle turning angle and the opening angle of the active protection barrier, so as to adjust the opening angle by the turning angle so that the active protection barrier covers the blind spot during the turning process; When the active protection barrier is positioned in front of the corresponding tire: Where α represents the opening angle, x represents the distance between the active protective barrier and the corresponding wheel, h represents the length of the active protective barrier, m represents the inner wheel difference of the vehicle, and θ represents the turning angle of the tractor. The opening angle α of the baffle is adjusted by the angle β formed by the tractor and the trailer. Based on the trailer width d, the rear wheel radius c, and the wheelbase L', the relationship between these dimensions and the angle β is obtained: Therefore, the relationship between the included angle β and the turning angle θ of the tractor is obtained: Based on the relationship between the turning angle θ and the opening angle α of the tractor when the active protective baffle is set in front of the corresponding tire, the relationship between the included angle β and the opening angle α is obtained.

2. The active protection method for vehicle turning blind spots according to claim 1, characterized in that: Step S1 includes the following steps: Step S1.1: Based on the tractor wheelbase L and the tractor turning angle θ, obtain the tractor turning radius R; Step S1.2: Based on the turning radius R of the tractor, the track width d1 of the tractor front wheel, and the turning angle θ of the tractor, obtain the motion radius b of the tractor front wheel; Step S1.3: Based on the turning radius R of the tractor, the center distance k of the kingpin of the tractor's steering wheel, the wheelbase L' of the trailer, and the rear wheel track d' of the trailer, obtain the movement radius c of the rear wheel of the trailer; Step S1.4: Obtain the inner wheel difference m=bc by using the movement radius b of the front wheel of the tractor and the movement radius c of the rear wheel of the trailer, and obtain the steering blind spot based on the inner wheel difference m during vehicle steering.

3. The active protection method for vehicle turning blind spots according to claim 2, characterized in that: The formula for the turning radius of the tractor in step S1.1 is as follows: Where R represents the turning radius of the tractor, θ represents the turning angle of the tractor, and L represents the wheelbase of the tractor.

4. The active protection method for vehicle turning blind spots according to claim 2, characterized in that: The formula for the radius of motion of the front wheel of the tractor in step S1.2 is as follows: Where b represents the radius of motion of the front wheel of the tractor, R represents the turning radius of the tractor, θ represents the turning angle of the tractor, and d1 represents the track width of the front wheel of the tractor.

5. The active protection method for vehicle turning blind spots according to claim 2, characterized in that: The formula for the radius of motion of the trailer's rear wheel in step S1.3 is as follows: Where c represents the radius of motion of the trailer's rear wheels, R represents the turning radius of the tractor, θ represents the turning angle of the tractor, k represents the center distance of the kingpins of the tractor's steering wheels, L' represents the wheelbase of the trailer, and d' represents the track width of the trailer's rear wheels.

6. The active protection method for vehicle turning blind spots according to claim 1, characterized in that: In step S2, when the active protective barrier is positioned behind the corresponding tire: Where α represents the opening angle, x represents the distance between the active protective barrier and the corresponding wheel, h represents the length of the active protective barrier, m represents the inner wheel difference of the vehicle, and θ represents the turning angle of the tractor.

7. The active protection method for vehicle turning blind spots according to claim 6, characterized in that: The opening angle α of the baffle is adjusted by the angle β formed by the tractor and the trailer. Based on the trailer width d, the rear wheel radius c, and the wheelbase L', the relationship between these dimensions and the angle β is obtained: Therefore, the relationship between the included angle β and the turning angle θ of the tractor is obtained: Based on the relationship between the turning angle θ and the opening angle α of the tractor when the active protective baffle is set behind the corresponding tire, the relationship between the included angle β and the opening angle α is obtained.

8. A vehicle turning blind spot active protection device employing the vehicle turning blind spot active protection method according to claim 1, characterized in that: Includes a processing module, a drive module, and active protective barriers installed on the side of the tractor; The processing module acquires the vehicle's turning angle and, based on the attributes and positional relationship of the tractor and trailer, constructs an inner wheel difference model with the straight line where the vehicle's rear wheels are located as the turning center. It then obtains the blind spot when the vehicle turns based on the inner wheel difference. Based on the length of the active protective barrier and its installation position with the corresponding tire, the inner wheel difference, and the vehicle's turning angle, it constructs a relationship between the vehicle's turning angle and the opening angle of the active protective barrier. This allows the drive module to adjust the opening angle based on the turning angle, ensuring that the active protective barrier covers the blind spot during the vehicle's turning process.

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