Commercial vehicle turning blind area detection method and device, electronic equipment and storage medium

Abstract

The invention discloses a commercial vehicle turning blind area detection method and device, electronic equipment and a storage medium, and relates to the technical field of vehicle testing. The method comprises the following steps: acquiring a test steering wheel rotation angle of a test commercial vehicle and test operation videos of wheel centers of front and rear inner wheels in a turning process; identifying the test operation video to obtain test track data of wheel centers of front and rear inner wheels corresponding to the rotation angle of the test steering wheel; and based on the test track data of the wheel centers of the front and rear inner wheels corresponding to the test steering wheel rotation angle, generating a test turning blind area of the wheel centers of the front and rear inner wheels corresponding to the test steering wheel rotation angle, and determining a target turning blind area of the target commercial vehicle in the wheel centers of the front and rear inner wheels corresponding to the test steering wheel rotation angle. According to the technical scheme of the embodiment of the invention, the calculation amount of blind area detection in the vehicle turning process can be simplified, the efficiency of blind area detection in the vehicle turning process is improved, and the applicability of blind area detection in the vehicle turning process is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle testing technology, and in particular to a method, device, electronic equipment and storage medium for detecting a turning blind spot of a commercial vehicle. Background Art

[0002] Commercial vehicles are generally larger in size. When turning at an intersection, the front and rear wheels are not on the same curve, which results in an "inner wheel difference" (the difference in turning radius between the front inner wheel and the rear inner wheel). Generally, the larger the vehicle size, the greater the inner wheel difference and the larger the blind spot. As a result, the driver often cannot observe vehicles and pedestrians in the blind spot during the turning process, which can easily lead to neglect of pedestrians or other vehicles and accidental collisions.

[0003] At present, the blind spot detection of commercial vehicles in turning is mainly based on the "Ackerman" steering formula. The running trajectories of the front and rear inner wheels are deduced through the wheel angle and body length, and the trajectory prediction equations of the front and rear inner wheels in the turning process are obtained, and then the blind spot range of the turning process is solved.

[0004] This method is difficult to derive and calculate the trajectory equations of the front and rear inner wheels, and is only applicable to the driving mode of "the front wheels are active wheels and the rear wheels follow". As a result, blind spot detection during vehicle turning is extremely time-consuming and laborious at this stage. Summary of the invention

[0005] The present invention provides a method, device, electronic device and storage medium for detecting blind spots during vehicle turning, which can simplify the calculation amount of blind spot detection during vehicle turning, improve the efficiency of blind spot detection during vehicle turning, and improve the applicability of blind spot detection during vehicle turning.

[0006] According to one aspect of the present invention, a method for detecting a blind spot in a commercial vehicle turning is provided, the method comprising:

[0007] Obtain the test steering wheel angle of the test commercial vehicle and the test running video of the front and rear inner wheel centers during the turning process;

[0008] Identify the test running video to obtain test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle;

[0009] Based on the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle, a test turning blind area of ​​the front and rear inner wheel centers corresponding to the test steering wheel angle is generated, and a target turning blind area of ​​the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle is determined.

[0010] According to another aspect of the present invention, a device for detecting a blind spot in a turning of a commercial vehicle is provided, the device comprising:

[0011] The test operation video acquisition module is used to acquire the test steering wheel angle of the test commercial vehicle and the test operation video of the front and rear inner wheel centers during the turning process;

[0012] A test trajectory data generation module, used to identify the test running video and obtain test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle;

[0013] The target turning blind spot detection module is used to generate a test turning blind spot of the front and rear inner wheel centers corresponding to the test steering wheel angle based on the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle, and determine the target turning blind spot of the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the commercial vehicle turning blind spot detection method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the commercial vehicle turning blind spot detection method described in any embodiment of the present invention when executed.

[0019] According to another aspect of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the method for detecting a blind spot when turning a commercial vehicle according to any embodiment of the present invention is implemented.

[0020] The technical solution of the embodiment of the present invention obtains the test steering wheel angle of the test commercial vehicle and the test operation video of the front and rear inner wheel centers during the turning process; identifies the test operation video to obtain the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle; based on the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle, generates the test turning blind spot of the front and rear inner wheel centers corresponding to the test steering wheel angle, and determines the target turning blind spot of the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle, which solves the problem that the derivation and calculation of the operation trajectory equations of the front and rear inner wheels are difficult and are only applicable to the driving mode of "the front wheels are the active wheels and the rear wheels are the followers", resulting in the current stage of extremely time-consuming and labor-intensive blind spot detection in the vehicle turning process. The technical solution of the embodiment of the present invention obtains the test steering wheel angle of the test commercial vehicle and the test operation video of the front and rear inner wheel centers during the turning process; identifies the test operation video to obtain the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle; generates the test turning blind spot of the front and rear inner wheel centers corresponding to the test steering wheel angle based on the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle, and determines the target turning blind spot of the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle. The technical solution of the embodiment of the present invention solves the problem that the front and rear inner wheels are difficult to derive and calculate, and are only applicable to the driving mode of "the front wheels are the active wheels and the rear wheels are the followers", which leads to the problem that the blind spot detection in the vehicle turning process is extremely time-consuming and labor-intensive, and can simplify the calculation amount of the blind spot detection in the vehicle turning process, improve the efficiency of the blind spot detection in the vehicle turning process, and improve the applicability of the blind spot detection in the vehicle turning process.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a flow chart of a method for detecting a blind spot in a commercial vehicle turn provided according to Embodiment 1 of the present invention;

[0024] Figure 2 is a flow chart of a method for detecting a blind spot in a commercial vehicle turning according to Embodiment 2 of the present invention;

[0025] Figure 3 is a flow chart of a method for detecting a blind spot in a commercial vehicle turning according to Embodiment 2 of the present invention;

[0026] Figure 4 is a schematic diagram of a right-turn blind spot range of a commercial vehicle provided in accordance with Embodiment 2 of the present invention;

[0027] Figure 5 is a schematic diagram of the structure of a device for detecting blind spots in turning of a commercial vehicle provided according to Embodiment 3 of the present invention;

[0028] Figure 6 It is a structural schematic diagram of an electronic device for implementing the commercial vehicle turning blind spot detection method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1 This is a flow chart of a method for detecting a blind spot when turning a commercial vehicle provided in Embodiment 1 of the present invention. The embodiment of the present invention can be applied to the case of detecting a blind spot when turning a commercial vehicle. The method can be performed by a blind spot detection device for a commercial vehicle. The blind spot detection device for a commercial vehicle can be implemented in the form of hardware and / or software. The blind spot detection device for a commercial vehicle can be configured in an electronic device that carries the blind spot detection function of a commercial vehicle, such as a vehicle-mounted terminal.

[0033] See also Figure 1 The commercial vehicle turning blind spot detection method shown includes:

[0034] S110: Obtain a test steering wheel angle of the test commercial vehicle and a test operation video of the front and rear inner wheel centers during a turning process.

[0035] The test commercial vehicle is a commercial vehicle that is being tested. Compared with other vehicles, commercial vehicles have the characteristics of large body size, and the corresponding turning blind area is also larger. The test commercial vehicle can be a commercial vehicle that is undergoing a test process. The test commercial vehicle is used to determine the turning blind area of ​​the target commercial vehicle in actual operation, and the data of the test process is used to avoid the waste of computing resources for each real-time detection, and improve the detection efficiency of the turning blind area of ​​the commercial vehicle. The test steering wheel angle can be the steering wheel angle of the test commercial vehicle during the test process. The number of test direction angles can be at least one. The test operation video can be a running video of the front and rear inner wheel centers of the test commercial vehicle under the test steering wheel angle. Optionally, the acquisition device of the test operation video can be a drone or a high-speed camera that can overlook the test commercial vehicle. The turning process can include a left turn process and a turning process.

[0036] Specifically, the sensor integrated in the test commercial vehicle can be used to collect the test steering wheel angle of the test commercial vehicle. The test operation video of the front and rear inner wheel centers of the test commercial vehicle during the turning process can be collected by using drones or setting up high-speed cameras and other equipment.

[0037] For example, the positions of the front and rear inner wheel centers of the test commercial vehicle can be marked with a marker pen or adhesive markers, and the running trajectories of the front and rear inner wheel centers of the test commercial vehicle from the start of turning to the completion of turning can be recorded using drones or high-speed cameras to obtain a test running video of the front and rear inner wheel centers of the test commercial vehicle during the turning process.

[0038] S120: Identify the test running video to obtain test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle.

[0039] The test track data can be used to characterize the running track state of the test commercial vehicle under the test steering wheel angle. Optionally, the test track data may include the front and rear inner wheel center positions corresponding to different frames of the test running video.

[0040] Specifically, an intelligent trajectory analysis algorithm may be used to perform trajectory recognition on the test running video to obtain the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle. The intelligent trajectory analysis algorithm may include Tracker, MMTracking (video perception and tracking algorithm), mean drift algorithm, YOLO (object detection) algorithm or iDT (improved dense trajectory algorithm), etc.

[0041] Exemplarily, the test run video can be imported into Tracker, where Tracker supports multiple video format files such as MOV, AVI, FLV or MP4. The forward direction of the vehicle is determined as the positive direction of the X-axis, the right side of the vehicle is determined as the positive direction of the Y-axis, and a length scale is established in Tracker. By creating a "particle" method to achieve automatic object trajectory tracking, the running trajectories corresponding to the front and rear inner wheel centers can be extracted respectively, and the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle can be obtained. Among them, the generated test trajectory data can have multiple file formats, such as CSV files, etc.

[0042] In an optional embodiment of the present invention, trajectory recognition is performed on a test operation video to obtain test trajectory data of the front and rear inner wheel centers when the test steering wheel is turned, including: taking the front and rear inner wheel centers as initial origins, performing trajectory recognition on the test operation video, generating front and rear inner wheel operation trajectory curves and trajectory point data based on an initial origin coordinate system, and obtaining test trajectory data of the front and rear inner wheel centers when the test steering wheel is turned based on the initial origin coordinate system; converting the test trajectory data based on the initial origin coordinate system into test trajectory data based on the vehicle origin coordinate system.

[0043] The initial origin may be the origin of the coordinate system when performing trajectory identification. Among them, the initial origin may include the front inner wheel center and the rear inner wheel center. It can be understood that the focus is on the front and rear inner wheel centers of the commercial vehicle being tested to determine the corresponding running trajectory state. The front and rear inner wheel running trajectory curves can be used to characterize the changes in the front and rear inner wheel centers between different frames in the test running video. The trajectory point coordinates can be used to characterize the front and rear inner wheel center positions in different frames of the test running video. The test trajectory data based on the initial origin coordinate system may be the test trajectory data in the coordinate system with the front and rear inner wheel centers as the origin. The test trajectory data based on the vehicle origin coordinate system may be the test trajectory data in the coordinate system with a certain point of the vehicle (such as the center point of the vehicle body) as the origin.

[0044] Specifically, the front inner wheel center position / rear inner wheel center position can be used as the coordinate origin, and the intelligent trajectory analysis algorithm can be used to perform trajectory recognition on the test operation video to obtain the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle based on the initial origin coordinate system. The initial origin coordinate system (i.e., the coordinate system with the front inner wheel center position as the origin and the coordinate system with the rear inner wheel center position as the origin) can be converted to the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle based on the vehicle origin coordinate system.

[0045] This solution uses the front and rear inner wheel centers as the initial origins to perform trajectory recognition on the test operation video, generates front and rear inner wheel operation trajectory curves and trajectory point data based on the initial origin coordinate system, and obtains test trajectory data of the front and rear inner wheel centers when the test steering wheel angle is turned based on the initial origin coordinate system. By focusing on the front and rear inner wheel centers, the test trajectory data corresponding to each inner wheel center can be determined more accurately; by converting the test trajectory data based on the initial origin coordinate system into the test trajectory data based on the vehicle origin coordinate system, the coordinate system of the test trajectory data of each inner wheel center is unified, which is convenient for subsequent detection of the vehicle's turning blind spot.

[0046] S130, generating a test turning blind spot of the front and rear inner wheel centers corresponding to the test steering wheel angle based on the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle, and determining a target turning blind spot of the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle.

[0047] The test turning blind area can be the inner wheel difference area between the running tracks of the front and rear inner wheel centers of the test commercial vehicle corresponding to the test steering wheel angle. It can be understood that the test turning blind area can be the closed area formed between the running track of the front inner wheel center and the running track of the rear inner wheel center corresponding to the same test commercial vehicle and the same test steering wheel angle. The target commercial vehicle can be a commercial vehicle in actual operation. The target commercial vehicle and the test commercial vehicle are of the same vehicle type. The target turning blind area can be the inner wheel difference area between the running tracks of the front and rear inner wheel centers of the target commercial vehicle corresponding to the test steering wheel angle. In comparison, the test turning blind area is relative to the vehicle origin coordinate system of the test commercial vehicle; while the target turning blind area is relative to the target commercial vehicle. The coordinate system conversion system conversion can be directly performed, and the test turning blind area is directly mapped to the target turning blind area.

[0048] In an optional embodiment of the present invention, testing the turning blind area is testing the right turning blind area.

[0049] The test right turn blind spot can be the sight blind spot of the inner side of the test commercial vehicle when the test commercial vehicle makes a right turn. Correspondingly, the target turn blind spot can also be concretized as the target right turn blind spot. The target right turn blind spot can be the sight blind spot of the inner side of the target commercial vehicle when the target commercial vehicle makes a right turn. In terms of the safety of commercial vehicle driving, the danger of the inner side of the commercial vehicle during the right turn is much higher than that of the left turn of the commercial vehicle. It can be understood that due to the control of factors such as traffic lights, the left turn process of commercial vehicles usually has obvious warning. However, the right turn process of commercial vehicles usually has no obvious warning, and only relies on the signal lights of the commercial vehicle itself, but pedestrians or vehicles on the inside of the commercial vehicle are difficult to perceive the signal light indication on the rear side of the commercial vehicle. Therefore, the danger of the right turn blind spot is higher. The demand for right turn blind spot detection is greater.

[0050] This solution simplifies the detection process of the right-turn blind spot during the vehicle's right turn by concretizing the test turning blind spot as testing the right-turn blind spot, thereby improving the safety of the vehicle's right-turn process.

[0051] Specifically, the running trajectory of the front inner wheel center and the running trajectory of the rear inner wheel center can be generated based on the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle. The inner wheel difference area formed between the running trajectory of the front inner wheel center and the running trajectory of the rear inner wheel center can be detected to obtain the test turning blind area of ​​the front and rear inner wheel centers of the test commercial vehicle corresponding to the test steering wheel angle. The test turning blind area of ​​the front and rear inner wheel centers corresponding to the test steering wheel angle can be mapped from the vehicle origin coordinate system where the test commercial vehicle is located to the vehicle origin coordinate system where the target commercial vehicle is located to obtain the target turning blind area of ​​the front and rear inner wheel centers of the target commercial vehicle corresponding to the test steering wheel angle.

[0052] The technical solution of the embodiment of the present invention obtains the test steering wheel angle of the test commercial vehicle and the test operation video of the front and rear inner wheel centers during the turning process, identifies the test operation video, obtains the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle, generates the test turning blind spot of the front and rear inner wheel centers corresponding to the test steering wheel angle based on the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle, and determines the target turning blind spot of the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle, adopts the test turning blind spot of the test commercial vehicle in the test process, generates the target turning blind spot of the target commercial vehicle, utilizes the correspondence between the same vehicle type and the same test steering wheel angle, simplifies the calculation amount of blind spot detection during the vehicle turning process, improves the efficiency of blind spot detection during the vehicle turning process, and improves the applicability of blind spot detection during the vehicle turning process.

[0053] Optionally, other turning blind spots of the target commercial vehicle obtained by other means may be obtained, and the target turning blind spots of the target commercial vehicle obtained by this solution may be used to correct the other turning blind spots.

[0054] In an optional embodiment of the present invention, after determining the target turning blind area of ​​the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle, it also includes: sending the target turning blind area of ​​the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle to the target projection device of the target commercial vehicle; wherein the target commercial vehicle and the test commercial vehicle are of the same vehicle type; through the target projection device of the target commercial vehicle, when the target steering wheel angle of the target commercial vehicle is consistent with the test steering wheel angle, the target turning blind area is projected and displayed on the inner side of the target commercial vehicle to prompt pedestrians and vehicles on the inner side of the target commercial vehicle to avoid the target commercial vehicle.

[0055] The target commercial vehicle and the test commercial vehicle are of the same vehicle type. It can be understood that based on the same vehicle type, the test turning blind area obtained during the test process is applied to the actual use process. The target projection device can be a projection device configured for the target commercial vehicle. The target projection device can visualize the target turning blind area of ​​the target commercial vehicle. The target steering wheel angle can be the steering wheel angle of the target commercial vehicle.

[0056] Specifically, after determining the target turning blind area of ​​the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle, the target turning blind area of ​​the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle can be sent to the target projection device of the target commercial vehicle. Through the target projection device of the target commercial vehicle, when the target steering wheel angle of the target commercial vehicle is consistent with the test steering wheel angle, the target turning blind area can be projected and displayed on the inner side of the target commercial vehicle to prompt pedestrians and vehicles on the inner side of the target commercial vehicle to avoid the target commercial vehicle.

[0057] After determining the target turning blind area of ​​the front and rear inner wheel centers of the target commercial vehicle corresponding to the test steering wheel angle, the solution sends the target turning blind area of ​​the front and rear inner wheel centers of the target commercial vehicle corresponding to the test steering wheel angle to the target projection device of the target commercial vehicle. When the target steering wheel angle of the target commercial vehicle is consistent with the test steering wheel angle, the target turning blind area is projected and displayed on the inner side of the target commercial vehicle by the target projection device of the target commercial vehicle to prompt pedestrians and vehicles on the inner side of the target commercial vehicle to avoid the target commercial vehicle. By visualizing the turning blind area of ​​the vehicle, the safety of the vehicle turning process can be improved.

[0058] Embodiment 2

[0059] Figure 2A flowchart of a method for detecting blind spots in turning of commercial vehicles provided in the second embodiment of the present invention. Based on the above embodiment, the embodiment of the present invention specifies the number of commercial vehicles to be tested as "at least two vehicles"; specifies "generating a test turning blind spot of the front and rear inner wheel centers corresponding to the test steering wheel angle based on the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle" as "detecting the inner wheel difference area based on the test trajectory data of the front inner wheel centers and the test trajectory data of the rear inner wheel centers of each test commercial vehicle to obtain the test turning blind spot of the front and rear inner wheel centers of each test commercial vehicle when the test steering wheel angle is turned; determining the test turning blind spot range of the front and rear inner wheel centers of the test vehicle type when the test steering wheel angle is turned according to the test turning blind spot of the front and rear inner wheel centers of each test commercial vehicle when the test steering wheel angle is turned; determining the test turning blind spot of the front and rear inner wheel centers of the test vehicle type when the test steering wheel angle is turned according to the test turning blind spot range of the front and rear inner wheel centers of the test vehicle type when the test steering wheel angle is turned", introducing the test turning blind spot range and improving the accuracy of the test turning blind spot. It should be noted that for the parts not described in detail in the embodiments of the present invention, reference may be made to the descriptions of other embodiments.

[0060] See also Figure 2 The commercial vehicle turning blind spot detection method shown includes:

[0061] S210: Obtain a test steering wheel angle of the test commercial vehicle and a test operation video of the front and rear inner wheel centers during a turning process.

[0062] S220: Identify the test running video to obtain test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle.

[0063] S230: Based on the test trajectory data of the front inner wheel center and the test trajectory data of the rear inner wheel center of each test commercial vehicle, the inner wheel difference area is detected to obtain the test turning blind area of ​​the front and rear inner wheel centers of each test commercial vehicle when the steering wheel angle is tested.

[0064] The number of commercial vehicles to be tested is at least two, and the types of the commercial vehicles to be tested are the same.

[0065] Specifically, the running track of the front inner wheel center and the running track of the rear inner wheel center can be generated based on the test track data of the front and rear inner wheel centers corresponding to each test steering wheel angle. The inner wheel difference area formed between the running track of the front inner wheel center and the running track of the rear inner wheel center can be detected to obtain the test turning blind area of ​​the front and rear inner wheel centers of each test commercial vehicle corresponding to the test steering wheel angle.

[0066] S240: Determine the range of the test turning blind area of ​​the front and rear inner wheel centers when the steering wheel is turned according to the test turning blind area of ​​each test commercial vehicle when the steering wheel is turned.

[0067] The test turning range can be used to characterize the floating range of the test turning blind area of ​​the test commercial vehicle of the same vehicle type. The test vehicle type can be the vehicle type of the test commercial vehicle. By counting the test turning blind area ranges of multiple test commercial vehicles of the same test vehicle type, the accuracy of the test turning blind area determined for the same test vehicle type can be ensured.

[0068] Specifically, the test turning blind area of ​​the front and rear inner wheel centers of each test commercial vehicle when the steering wheel is turned can be counted to obtain the test turning blind area range of the front and rear inner wheel centers of the test vehicle type when the steering wheel is turned.

[0069] S250. Determine the test turning blind area of ​​the front and rear inner wheel centers of the test vehicle type when the steering wheel is turned according to the test turning blind area of ​​the front and rear inner wheel centers of the test vehicle type when the steering wheel is turned, and determine the target turning blind area of ​​the front and rear inner wheel centers of the target commercial vehicle corresponding to the test steering wheel angle.

[0070] Optionally, the average of each test turning blind area may be selected within the test turning blind area range of the front and rear inner wheel centers when the test vehicle type is testing the steering wheel angle, to determine the test turning blind area of ​​the front and rear inner wheel centers when the test vehicle type is testing the steering wheel angle.

[0071] Optionally, the number of test turning blind spots within the test turning blind spot range of the front and rear inner wheel centers of the test vehicle type when the steering wheel is turned in the test is detected, and the test turning blind spot corresponding to the maximum number is determined as the test turning blind spot of the front and rear inner wheel centers of the test vehicle type when the steering wheel is turned in the test.

[0072] In an optional embodiment of the present invention, the test turning blind area of ​​the front and rear inner wheel centers of the test vehicle type when the steering wheel angle is tested is determined according to the test turning blind area range of the front and rear inner wheel centers of the test vehicle type when the steering wheel angle is tested, including: within the test turning blind area range of the front and rear inner wheel centers of the test vehicle type when the steering wheel angle is tested, screening the maximum value of the test turning blind area to obtain the test turning blind area of ​​the front and rear inner wheel centers of the test vehicle type when the steering wheel angle is tested.

[0073] The maximum value of the test turning blind area can be used to characterize the upper limit value of the test turning blind area of ​​a test commercial vehicle of the same test vehicle type.

[0074] Specifically, the maximum value of the test turning blind area can be screened within the test turning blind area range of the front and rear inner wheel centers when the test vehicle type is testing the steering wheel angle, and the test turning blind area of ​​the front and rear inner wheel centers when the test vehicle type is testing the steering wheel angle can be determined.

[0075] This solution selects the maximum value of the test turning blind area and determines the test turning blind area of ​​the front and rear inner wheel centers of the test vehicle type when testing the steering wheel angle, which can ensure the maximization of the test turning blind area, thereby improving the safety of commercial vehicle driving.

[0076] The technical solution of the embodiment of the present invention, by specifying the number of test commercial vehicles as at least two, detecting the inner wheel difference area based on the test trajectory data of the front inner wheel center and the test trajectory data of the rear inner wheel center of each test commercial vehicle, obtaining the test turning blind area of ​​the front and rear inner wheel centers of each test commercial vehicle when testing the steering wheel angle, determining the test turning blind area range of the front and rear inner wheel centers of the test vehicle type when testing the steering wheel angle according to the test turning blind area of ​​the front and rear inner wheel centers of each test commercial vehicle when testing the steering wheel angle, determining the test turning blind area of ​​the front and rear inner wheel centers of the test vehicle type when testing the steering wheel angle according to the test turning blind area range of the front and rear inner wheel centers of the test vehicle type when testing the steering wheel angle, introducing the test turning blind area range, improving the accuracy of the test turning blind area of ​​the same test vehicle type, thereby improving the accuracy of the target turning blind area.

[0077] Figure 3 A method for detecting blind spots in turning of commercial vehicles is provided. Based on the above embodiments, Figure 3 This is a preferred embodiment of the present invention. Figure 3 The commercial vehicle turning blind spot detection method shown includes:

[0078] S310: Obtain a test operation video of the front and rear inner wheel centers corresponding to the test commercial vehicle during a right turn.

[0079] Specifically, the running track of the front and rear inner wheels of the test commercial vehicle during the right turn can be filmed by drone aerial photography or by setting up high-speed cameras, until the test commercial vehicle completes the right turn and the vehicle body is straightened and the recording ends. Optionally, the front and rear inner wheel center positions can be marked with a marker or adhesive markers, and the running track of the front and rear inner wheel center positions from before the test commercial vehicle starts to turn right to after the right turn is completed can be recorded into a video using a drone or other recording equipment to obtain a test running video of the front and rear wheel centers of the test commercial vehicle during the right turn. Optionally, multiple test steering wheel angles can be detected separately to obtain the test turning blind spots corresponding to different test steering wheel angles of the same test commercial vehicle.

[0080] S320: Identify the test trajectory data of the front and rear inner wheel centers by means of intelligent trajectory recognition.

[0081] Specifically, the intelligent trajectory analysis method can be used to obtain the running trajectories of the front and rear inner wheel centers from the test running video of the front and rear inner wheel centers of the test commercial vehicle, and obtain the test trajectory data of the front and rear inner wheel centers.

[0082] Exemplarily, the recorded test run video can be imported into the motion trajectory extraction software such as Tracker. The front / rear inner wheel center can be selected as the origin, and the running trajectory curve and trajectory data of the front and rear inner wheels based on the initial origin coordinate system can be generated to obtain the test trajectory data based on the initial origin coordinate system, so as to realize the extraction of the motion trajectory of the inner wheel center position. Optionally, the trajectory extraction method of the inner wheel center is not limited to this method. The motion trajectory of the front and rear inner wheel centers in the test run video can also be extracted by image processing technology such as computer vision and motion trajectory extraction based on video image sequences. For example, the test run video can be imported into the Tracker software, the rear inner wheel / front inner wheel center position is set as the coordinate origin, the vehicle forward is the positive direction of the X axis, and the right side of the vehicle is the positive direction of the Y axis. A length ruler is established in the Tracker software, and the automatic tracking of the front and rear inner wheel center trajectories is realized by creating a "mass point" method. After the extraction of the trajectories of the front and rear inner wheel centers is completed respectively, the trajectories can be exported to various file formats, such as CSV files, after being generated.

[0083] S330, converting the test track data based on the initial origin coordinate system into the test track data based on the vehicle origin coordinate system.

[0084] Specifically, the test trajectory data based on the front and rear inner wheel centers can be transmitted to the data automatic processing system, and the data automatic processing system establishes a vehicle origin coordinate system, with the front direction of the test commercial vehicle as the positive direction of the X-axis, and the right side of the test commercial vehicle as the positive direction of the Y-axis, and the test line trajectory data of the front and rear inner wheel center positions are converted into coordinate information to obtain the coordinate information of the running trajectory of the front and rear inner wheel centers based on the vehicle origin coordinate system, that is, the test trajectory data of the front and rear inner wheel centers based on the vehicle origin coordinate system.

[0085] S340: Based on the test trajectory data, a right turn blind spot range schematic diagram of the test commercial vehicle is obtained, and a right turn blind spot range schematic diagram of the target commercial vehicle is obtained.

[0086] Specifically, the coordinate information (i.e., test trajectory data) can be transmitted to the drawing software, and the drawing software can be used to generate the running trajectory curves of the front and rear inner wheel centers. At this time, the closed area surrounded by the two trajectory curves is the range schematic diagram of the inner wheel difference area of ​​the test commercial vehicle during the right turn process, thereby converting the coordinate information of the running trajectory of the front and rear inner wheel center positions into an intuitive right turn blind area range schematic diagram. In the actual operation process, the right turn blind area range of the test commercial vehicle can be applied to the determination process of the right turn blind area range of the target commercial vehicle, thereby obtaining the right turn blind area range schematic diagram of the target commercial vehicle.

[0087] Optionally, the above steps are repeated at different test steering wheel angles to obtain the running tracks of the front and rear inner wheel centers and the corresponding right turn blind area range schematic diagrams at different test steering wheel angles. Based on the obtained running track coordinates of the front and rear inner wheel centers and the right turn blind area range schematic diagram, the right turn blind area range of the target commercial vehicle of the same vehicle type in the actual right turn process can be depicted accordingly.

[0088] Optionally, based on the vehicle right turn blind spot range obtained above, the right turn blind spot range obtained by other testing methods can be quickly verified and corrected.

[0089] Optionally, the right-turn blind spot ranges corresponding to different steering wheel angles can be input into a target projection device installed on the outside of the target commercial vehicle to obtain the projection of the right-turn blind spot ranges of the vehicle at different steering wheel angles on the ground, so as to remind pedestrians and vehicles near the right-turn blind spot range, thereby improving traffic safety.

[0090] The invention provides a method for detecting the right-turn blind spot range of a commercial vehicle. The method obtains the test operation video of the front and rear inner wheel centers during the right-turn process of the commercial vehicle, obtains the operation track of the front and rear inner wheel center positions through the motion track intelligent recognition method, imports the automatic data processing software to generate the test track data of the front and rear inner wheel centers, and generates the plane diagram of the right-turn blind spot range measurement result through the drawing software. Compared with the original measurement method, the test accuracy and measurement efficiency are improved, the automation and intelligent development trend in the field of commercial vehicle development is fully reflected, and the automatic measurement of the right-turn blind spot range of the commercial vehicle is realized; the method has a very high vehicle model matching degree, is suitable for a full range of commercial vehicles of light, medium and heavy trucks, and is also suitable for the right-turn blind spot range test of vehicles equipped with all-wheel steering, etc., has strong versatility, and is suitable for the measurement of the right-turn blind spots of various commercial vehicles; the test track data is obtained by the intelligent track recognition method, the operation is very convenient, more stable and reliable, and has higher accuracy; the method has a high degree of automation, and an intuitive right-turn blind spot range diagram can be obtained in a short time; the automation and intelligence degree of the right-turn blind spot range measurement of commercial vehicles is improved, and the blank of the automatic test in the industry is filled.

[0091] Embodiment 3

[0092] Figure 5 This is a schematic diagram of the structure of a commercial vehicle turning blind spot detection device provided in Embodiment 3 of the present invention. The embodiment of the present invention can be applied to the case of detecting turning blind spots of commercial vehicles. The device can execute a commercial vehicle turning blind spot detection method. The device can be implemented in the form of hardware and / or software. The device can be configured in an electronic device that carries the commercial vehicle turning blind spot detection function, such as a vehicle-mounted terminal.

[0093] See also Figure 5The commercial vehicle turning blind spot detection device shown includes: a test operation video acquisition module 510, a test trajectory data generation module 520 and a target turning blind spot detection module 530. Among them, the test operation video acquisition module 510 is used to obtain the test steering wheel angle of the test commercial vehicle and the test operation video of the front and rear inner wheel centers during the turning process; the test trajectory data generation module 520 is used to identify the test operation video and obtain the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle; the target turning blind spot detection module 530 is used to generate the test turning blind spot of the front and rear inner wheel centers corresponding to the test steering wheel angle based on the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle, and determine the target turning blind spot of the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle.

[0094] The technical solution of the embodiment of the present invention obtains the test steering wheel angle of the test commercial vehicle and the test operation video of the front and rear inner wheel centers during the turning process, identifies the test operation video, obtains the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle, generates the test turning blind spot of the front and rear inner wheel centers corresponding to the test steering wheel angle based on the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle, and determines the target turning blind spot of the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle, adopts the test turning blind spot of the test commercial vehicle in the test process, generates the target turning blind spot of the target commercial vehicle, utilizes the correspondence between the same vehicle type and the same test steering wheel angle, simplifies the calculation amount of blind spot detection during the vehicle turning process, improves the efficiency of blind spot detection during the vehicle turning process, and improves the applicability of blind spot detection during the vehicle turning process.

[0095] In an optional embodiment of the present invention, the number of the test commercial vehicles is at least two; the test vehicle types of the test commercial vehicles are the same; the test turn blind spot detection module 530 includes: a test turn blind spot detection unit, which is used to detect the inner wheel difference area based on the test trajectory data of the front inner wheel center and the test trajectory data of the rear inner wheel center of each of the test commercial vehicles, and obtain the test turn blind area of ​​the front and rear inner wheel centers of each of the test commercial vehicles when the test steering wheel angle is turned; a test turn blind spot range determination unit, which is used to determine the test turn blind area range of the front and rear inner wheel centers of the test vehicle type when the test steering wheel angle is turned according to the test turn blind area of ​​the front and rear inner wheel centers of each of the test commercial vehicles when the test steering wheel angle is turned; a test turn blind spot determination unit, which is used to determine the test turn blind area of ​​the front and rear inner wheel centers of the test vehicle type when the test steering wheel angle is turned according to the test turn blind area range of the front and rear inner wheel centers of the test vehicle type when the test steering wheel angle is turned.

[0096] In an optional embodiment of the present invention, the test turning blind spot determination unit includes: a test turning blind spot determination sub-unit, which is used to screen the maximum value of the test turning blind spot within the test turning blind spot range of the front and rear inner wheel centers of the test vehicle type when the test steering wheel is turned, and obtain the test turning blind spot of the front and rear inner wheel centers of the test vehicle type when the test steering wheel is turned.

[0097] In an optional embodiment of the present invention, the test trajectory data generation module 520 includes: a test trajectory data generation unit, which is used to take the front and rear inner wheel centers as the initial origin, perform trajectory recognition on the test operation video, generate front and rear inner wheel operation trajectory curves and trajectory point data based on the initial origin coordinate system, and obtain the test trajectory data of the front and rear inner wheel centers when the test steering wheel is turned based on the initial origin coordinate system; a coordinate conversion unit, which is used to convert the test trajectory data based on the initial origin coordinate system into test trajectory data based on the vehicle origin coordinate system.

[0098] In an optional embodiment of the present invention, the device also includes: a test right turn blind spot sending module, which is used to send the target turning blind spot of the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle to the target projection device of the target commercial vehicle after determining the target turning blind spot of the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle; wherein the target commercial vehicle and the test commercial vehicle are of the same vehicle type; and a projection display module, which is used to project and display the target turning blind spot on the inner side of the target commercial vehicle through the target projection device of the target commercial vehicle when the target steering wheel angle of the target commercial vehicle is consistent with the test steering wheel angle, so as to prompt pedestrians and vehicles on the inner side of the target commercial vehicle to avoid the target commercial vehicle.

[0099] In an optional embodiment of the present invention, the test turning blind area is a test right turning blind area.

[0100] The commercial vehicle turning blind spot detection device provided by the embodiment of the present invention can execute the commercial vehicle turning blind spot detection method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0101] In the technical solution of the embodiment of the present invention, the acquisition, storage and application of the test steering wheel angle of the test commercial vehicle, the test operation video of the front and rear inner wheel centers corresponding to the test steering wheel angle during the vehicle turning process, and the current steering wheel angle of the current commercial vehicle, etc., all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0102] Embodiment 4

[0103] Figure 6A schematic diagram of the structure of an electronic device 600 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0104] like Figure 6 As shown, the electronic device 600 includes at least one processor 601, and a memory connected to the at least one processor 601, such as a read-only memory (ROM) 602, a random access memory (RAM) 603, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 601 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 602 or the computer program loaded from the storage unit 608 to the random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 can also be stored. The processor 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0105] Multiple components in the electronic device 600 are connected to the I / O interface 605, including: an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the electronic device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0106] The processor 601 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 601 executes the various methods and processes described above, such as a commercial vehicle turning blind spot detection method.

[0107] In some embodiments, the commercial vehicle turning blind spot detection method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 600 via the ROM 602 and / or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the processor 601, one or more steps of the commercial vehicle turning blind spot detection method described above may be performed. Alternatively, in other embodiments, the processor 601 may be configured to execute the commercial vehicle turning blind spot detection method in any other appropriate manner (e.g., by means of firmware).

[0108] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0109] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0110] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0111] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0112] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0113] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS (Virtual Private Server) services.

[0114] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0115] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for detecting blind spots in turning of commercial vehicles, characterized in that: The method comprises: Obtain the test steering wheel angle of the test commercial vehicle and the test running video of the front and rear inner wheel centers during the turning process; Identify the test running video to obtain test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle; Based on the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle, a test turning blind area of ​​the front and rear inner wheel centers corresponding to the test steering wheel angle is generated, and a target turning blind area of ​​the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle is determined.

2. The method according to claim 1, characterized in that The number of the test commercial vehicles is at least two; the test commercial vehicles are of the same test vehicle type; Correspondingly, the test turning blind area of ​​the front and rear inner wheel centers corresponding to the test steering wheel angle is generated based on the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle, including: Based on the test trajectory data of the front inner wheel center and the test trajectory data of the rear inner wheel center of each of the test commercial vehicles, the inner wheel difference area is detected to obtain the test turning blind area of ​​the front and rear inner wheel centers of each of the test commercial vehicles when the test steering wheel is turned; Determine the range of the test turning blind area of ​​the front and rear inner wheel centers of the test vehicle type when the test steering wheel is turned according to the test turning blind area of ​​the front and rear inner wheel centers of each test commercial vehicle when the test steering wheel is turned; The test turning blind area of ​​the front and rear inner wheel centers of the test vehicle type when the steering wheel is turned during the test is determined according to the test turning blind area range of the front and rear inner wheel centers of the test vehicle type when the steering wheel is turned during the test.

3. The method according to claim 2, characterized in that The step of determining the test turning blind area of ​​the front and rear inner wheel centers of the test vehicle type when the steering wheel is turned according to the test vehicle type when the steering wheel is turned, comprises: In the test turning blind area range of the front and rear inner wheel centers of the test vehicle type when the steering wheel is turned at the test, the maximum value of the test turning blind area is screened to obtain the test turning blind area of ​​the front and rear inner wheel centers of the test vehicle type when the steering wheel is turned at the test.

4. The method according to claim 1, characterized in that: The performing trajectory recognition on the test running video to obtain test trajectory data of the front and rear inner wheel centers when the test steering wheel turns, includes: Taking the front and rear inner wheel centers as the initial origin, performing trajectory recognition on the test running video, generating front and rear inner wheel running trajectory curves and trajectory point data based on the initial origin coordinate system, and obtaining test trajectory data of the front and rear inner wheel centers when the test steering wheel is turned based on the initial origin coordinate system; The test track data based on the initial origin coordinate system is converted into test track data based on the vehicle origin coordinate system.

5. The method according to claim 1, characterized in that After determining the target turning blind area of ​​the front and rear inner wheel centers of the target commercial vehicle corresponding to the test steering wheel angle, the method further includes: Sending the target turning blind area of ​​the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle to the target projection device of the target commercial vehicle; wherein the target commercial vehicle is of the same vehicle type as the test commercial vehicle; By means of the target projection device of the target commercial vehicle, when the target steering wheel angle of the target commercial vehicle is consistent with the test steering wheel angle, the target turning blind spot is projected and displayed inside the target commercial vehicle, so as to prompt pedestrians and vehicles inside the target commercial vehicle to avoid the target commercial vehicle.

6. The method according to claim 1, characterized in that The test turning blind area is a test right turning blind area.

7. A device for detecting blind spots when turning a commercial vehicle, characterized in that: The device comprises: The test operation video acquisition module is used to acquire the test steering wheel angle of the test commercial vehicle and the test operation video of the front and rear inner wheel centers during the turning process; A test trajectory data generation module, used to identify the test running video and obtain test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle; The target turning blind spot detection module is used to generate a test turning blind spot of the front and rear inner wheel centers corresponding to the test steering wheel angle based on the test trajectory data of the front and rear inner wheel centers corresponding to the test steering wheel angle, and determine the target turning blind spot of the target commercial vehicle at the front and rear inner wheel centers corresponding to the test steering wheel angle.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the commercial vehicle turning blind spot detection method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the commercial vehicle turning blind spot detection method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements the method for detecting a blind spot in a turning of a commercial vehicle according to any one of claims 1 to 6.

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