Blind zone risk warning method for vehicle lane changing working condition

Abstract

The invention discloses a blind area risk warning method for a vehicle lane changing working condition, which mainly comprises the following steps of: in a vehicle driving process, continuously monitoring sight blind areas on two sides of a vehicle by a blind area monitoring system, detecting the number of target objects, the speed of the target objects relative to the vehicle and the advancing direction trend of the target objects when determining that the target objects exist in the sight blind areas; then the number of the target objects is output to rearview mirrors on the two sides of the vehicle and is digitally displayed, the lane changing risk is evaluated by fusing the number of the target objects, the speed of the target objects relative to the vehicle and the advancing direction trend of the target objects, and warning information is output to a driver based on the evaluation result; the method is used for representing any one of the following conditions: allowing lane changing, cautious lane changing and prohibiting lane changing. According to the invention, on one hand, direct visual blind area information can be provided for a driver in combination with the real operation condition of a lane changing scene, and a decision-making auxiliary prompt for whether to change a lane or not can be provided for the driver through evaluation and warning modes;

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle blind spot monitoring, and in particular to a blind spot risk warning method for a vehicle lane changing condition. Background Art

[0002] Currently, common vehicle blind spot monitoring systems are mainly divided into two categories: blind spot monitoring function and lane change assistance function. The blind spot monitoring function means that when there is a moving target (such as a vehicle) in the blind spot, the vehicle will send out an alarm signal, such as the alarm light being always on; and the lane change assistance function means that when there is a target in the adjacent lane overtaking the vehicle at a speed higher than the vehicle, the vehicle will send out an alarm signal, such as the alarm light flashing.

[0003] However, the existing blind spot monitoring system only provides the above-mentioned simple alarm prompt function when a target object is detected in the blind spot, and is unable to provide the number and status of the target objects in the blind spot, making it difficult to provide the driver with richer and more targeted detection information, which makes it very easy for traffic accidents to occur under certain specific working conditions, such as emergency lane changes at the wrong intersection.

[0004] For example, the existing blind spot monitoring system outputs an alarm. If the driver has an urgent need to change lanes and observes a slower vehicle in the rearview mirror, the driver will mistakenly think that it is the target vehicle of the blind spot monitoring system and perform the lane change operation after determining that there is no risk. Assuming that there is a faster vehicle in the blind spot of the rearview mirror at this time, the probability of a traffic accident under this condition will increase significantly. Summary of the invention

[0005] In view of the above, the present invention aims to provide a blind spot risk warning method for a vehicle lane changing condition to solve the above-mentioned technical problems.

[0006] The technical solution adopted by the present invention is as follows:

[0007] The present invention provides a blind spot risk warning method for a vehicle lane change condition, comprising:

[0008] While the vehicle is driving, the blind spot monitoring system continuously monitors the blind spots on both sides of the vehicle;

[0009] When it is determined that there are targets in the blind spot, the number of targets, the speed of the targets relative to the vehicle, and the moving direction trend of the targets are detected;

[0010] Output the number of target objects on the rearview mirrors on both sides of the vehicle and display them digitally;

[0011] The risk of lane change is evaluated by integrating the number of targets, the speed of the targets relative to the vehicle, and the trend of the targets' travel direction;

[0012] Based on the evaluation result, first warning information is output to the driver, where the first warning information is used to represent at least any one of: lane change allowed, lane change cautious, and lane change prohibited.

[0013] In at least one possible implementation, when it is determined that there is a target object in the blind spot, the collision time between the target object and the vehicle is detected, and the collision time is integrated to perform lane change risk assessment.

[0014] In at least one possible implementation, when the first warning information indicates that lane change is prohibited and the collision time is less than a preset time limit, the steering wheel's rotation resistance is increased or the vehicle body is controlled to change from an offset state to a straight-ahead state.

[0015] In at least one possible implementation manner, when the first warning information indicates cautious lane change or prohibited lane change, the second warning information is synchronously output to the target object in the blind spot.

[0016] In at least one possible implementation, the evaluating the lane change risk includes:

[0017] Set the scores of different moving direction trends;

[0018] Determine the current working condition according to preset multi-level target quantity thresholds and target speed thresholds;

[0019] According to the current working condition, scoring the number of targets and the speed of the targets, and deciding whether to adopt the score of the target moving direction trend;

[0020] Based on the scoring results and decision results, a total score for lane change risk is obtained.

[0021] In at least one possible implementation manner, the traveling direction trend at least includes: leaving the blind spot or staying within the blind spot.

[0022] Compared with the prior art, the main design concept of the present invention is that during the driving process of the vehicle, the blind spot monitoring system continuously monitors the blind spots on both sides of the vehicle. When it is determined that there are targets in the blind spots, the number of targets, the speed of the targets relative to the vehicle and the trend of the moving direction of the targets are detected, and then the number of targets is output on the rearview mirrors on both sides of the vehicle and displayed digitally, and the number of targets, the speed of the targets relative to the vehicle and the trend of the moving direction of the targets are integrated to evaluate the risk of lane change, and the first warning information is output to the driver based on the evaluation result, which is used to characterize any of the following: lane change allowed, lane change cautious, and lane change prohibited. On the one hand, the present invention can provide the driver with direct and visible blind spot information in combination with the actual operation of the lane change scene, and can provide the driver with decision-making auxiliary prompts for whether to change lanes through evaluation and warning methods, which can avoid the risk of lane change when there is no lane change condition, and avoid the situation where the driver dares not to change lanes due to uncertain blind spot status when there is a lane change condition, and then takes the wrong road or wastes time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described below with reference to the accompanying drawings, in which:

[0024] Figure 1 A schematic diagram of a blind spot risk warning method for a vehicle lane change condition provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0026] The present invention proposes an embodiment of a blind spot risk warning method for a vehicle lane change condition. Specifically, Figure 1 shown, including:

[0027] Step S1: During the driving process of the vehicle, the blind spot monitoring system continuously monitors the blind spots on both sides of the vehicle;

[0028] In actual operation, an existing blind spot monitoring system may be used to detect situations in the blind spot in a multi-dimensional manner, which will not be elaborated or limited in the present invention.

[0029] Step S2: when it is determined that there are targets in the blind spot, the number of targets, the speed of the targets relative to the vehicle, and the moving direction trend of the targets are detected;

[0030] Specifically, the visual perception component of the blind spot monitoring system can be used to capture the number of targets in the blind spot and calculate the moving speed and the direction of travel trend. The direction of travel trend mentioned here can mainly refer to leaving the blind spot or staying in the blind spot.

[0031] Step S3, outputting the number of target objects on the rearview mirrors on both sides of the vehicle and displaying them digitally;

[0032] It can be understood that the rearview mirror can be pre-configured with something similar to a display screen, that is, a display area (which can also be understood as a display device) can be set at a position that does not affect observation according to the size of the rearview mirror, which is used to output the number of targets in the blind spot in an intuitive digital manner, so that when the driver wants to perform operations such as changing lanes and checks the rearview mirror on the corresponding side, he can notice the number of displayed targets, rather than making control judgments based solely on the targets physically presented by the rearview mirror.

[0033] It should also be noted here that the number of targets in the blind spot or the blind spot image is not directly presented in the form of voice broadcast or video. This is because in real driving scenarios, due to specific conditions such as driving speed and emergency lane change, the reaction time reserved for driving operations is limited, and audio output or video display may occupy part of the driver's attention at this time, resulting in interference with driving operations; the present invention proposes to give priority to using the rearview mirror to display the corresponding numbers, which will be more in line with the driving operation itself, and provide the driver with easily recognizable digital information while performing the action of observing the rearview mirror, which will obviously improve the driving safety factor under the aforementioned high speed, emergency lane change and other conditions.

[0034] Continuing from the above, step S4, the number of target objects, the speed of the target objects relative to the vehicle, and the trend of the moving direction of the target objects are integrated to evaluate the lane change risk;

[0035] For example, but not limited to, setting scores for different travel direction trends; determining the current operating condition based on preset multi-level target object quantity thresholds and target object speed thresholds; scoring the target object quantity and target object speed based on the current operating condition, and deciding whether to adopt the score for the target object travel direction trend; and obtaining a total score for lane change risk based on the scoring results and the decision results.

[0036] For example, the current blind spot monitoring result is that the number of targets is equal to 1 and the speed is less than or equal to the first speed threshold, which means that although there are targets in the blind spot at this time, the risk of performing a lane change operation is relatively small. At this time, the scores of the number and speed can be obtained according to the established mapping table (the scores corresponding to the number and speed can be pre-calibrated). Under this condition, no matter whether the target object may leave the blind spot or remain in the blind spot later, it will not affect the lane change. Therefore, the total score is the fusion score of the number of targets and the speed.

[0037] On the basis of the concept of the above-mentioned embodiment, in some other preferred embodiments of the present invention, it is also proposed that when it is determined that there is a target object in the blind spot, the collision time between the target object and the vehicle is detected, and when the lane change risk assessment is performed, the detection result of the collision time needs to be further integrated, and the evaluation method can refer to the above-mentioned scoring method, which is not elaborated or limited in the present invention. It can be expanded that when performing collision detection, the conventional idea is to use spacing for quantification, but the reason why the present invention proposes to use collision time (which can be calculated by millimeter wave radar detection data) for consideration is that in the blind spot monitoring and emergency lane change scenarios proposed by the present invention, the reality is often that the driver has already changed lanes while the blind spot monitoring feedback is being given, such as turning the steering wheel while observing the rearview mirror. At this time, the vehicle body has already deviated from the lane, and the target object in the blind spot may come into contact with the vehicle within a certain period of time. Based on this analysis, the present invention proposes to preferably add the consideration of collision time to jointly provide a warning basis for subsequent lane change operations.

[0038] Therefore, in step S5, based on the evaluation result, first warning information is output to the driver, where the first warning information is used to represent at least any one of: lane change allowed, lane change cautious, and lane change prohibited.

[0039] Thus, two following preferred implementation modes can be further provided. First, when the first warning information indicates that the lane change is cautious or the lane change is prohibited, the second warning information is output to the target object in the blind spot of the sight simultaneously. The second warning information here is used to make the target object outside the vehicle notice that there is a certain risk of collision and contact with the vehicle, so as to reduce the probability of blind spot accidents as much as possible by warning inside and outside the vehicle. Second, in combination with the above-mentioned collision time embodiment, when the first warning information indicates that the lane change is prohibited, the collision time is less than the preset time limit, then the steering wheel rotation resistance is temporarily forced to increase or the body of the vehicle is controlled from the offset state to the straight state. This is to take into account that in the relatively most critical working conditions, the vehicle may have been performing a lane change operation by the driver turning the steering wheel, and the risk is greatly increased at this time. Therefore, under this condition, the loss can be minimized as much as possible by temporarily intervening or taking over the vehicle control.

[0040] Finally, it can be added that, in actual operation, the output of the first warning information includes: controlling a multi-grid warning light group configured in the vehicle to light up or flash, and adjusting the brightness and / or color and / or the number of activated light grids according to different evaluation results.

[0041] Based on the above embodiments, the following schematic illustration is given here: For example, when there is only one target vehicle in the blind spot, the speed of the target vehicle is lower than that of the vehicle itself, there is a movement trend that may leave the blind spot, and the collision time exceeds 10 seconds, the first grid light of the multi-grid warning light group can be lit (constantly lit or flashing) and displayed in yellow, indicating that there is a target object in the blind spot at this time, but the risk of lane change is extremely small, and the lane change operation can be implemented if there is a need to change lanes;

[0042] For another example, when there are more vehicles in the blind spot, there are no more than three target vehicles, the speed of each target vehicle is less than or equal to the own vehicle, the movement trend is likely to leave the blind spot, and the collision time exceeds 10 seconds, then the two-grid light will be lit (steady or flashing) and displayed in orange, indicating that it is necessary to change lanes cautiously. It can be understood that the meaning of cautious lane change is that it is not an unconditional permission or an absolute prohibition, but it indicates that there is a small probability risk, but you can try to change lanes under the premise of full observation and reducing the speed.

[0043] For example, when any target vehicle in the blind spot has a higher speed than the vehicle itself, its movement trend is to stay in the blind spot, and the collision time is less than 8 seconds, the three-grid light will be turned on (steady on or flashing) and output in red, indicating that the risk of changing lanes is extremely high at this time and lane changing is prohibited.

[0044] In summary, the main design concept of the present invention is that during the driving process of the vehicle, the blind spot monitoring system continuously monitors the blind spots on both sides of the vehicle. When it is determined that there are targets in the blind spots, the number of targets, the speed of the targets relative to the vehicle and the trend of the moving direction of the targets are detected, and then the number of targets is output on the rearview mirrors on both sides of the vehicle and displayed digitally, and the number of targets, the speed of the targets relative to the vehicle and the trend of the moving direction of the targets are integrated to evaluate the risk of lane change, and the first warning information is output to the driver based on the evaluation result, which is used to characterize any of the following: lane change allowed, lane change cautious, and lane change prohibited. On the one hand, the present invention can provide the driver with direct and visible blind spot information in combination with the actual operation of the lane change scene, and can provide the driver with decision-making auxiliary prompts for whether to change lanes through evaluation and warning methods, which can avoid the risk of lane change when there is no lane change condition, and avoid the situation where the driver dares not to change lanes due to uncertain blind spot status when there is a lane change condition, and then takes the wrong road or wastes time.

[0045] If the expressions expressing orientation are mentioned in the embodiments of the present invention, they are relative concepts based on the embodiments. In addition, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, a and b, a and c, b and c, or a and b and c, wherein a, b, c can be single or multiple.

[0046] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings, but the above is only a preferred embodiment of the present invention. It should be noted that the technical features involved in the above embodiments and their preferred methods can be reasonably combined and matched into a variety of equivalent schemes by those skilled in the art without departing from or changing the design ideas and technical effects of the present invention; therefore, the present invention is not limited to the scope of implementation shown in the drawings, and all changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which still do not exceed the spirit covered by the specification and drawings, should be within the protection scope of the present invention.

Claims

1. A blind spot risk warning method for a vehicle lane change condition, characterized in that: include: While the vehicle is driving, the blind spot monitoring system continuously monitors the blind spots on both sides of the vehicle; When it is determined that there are targets in the blind spot, the number of targets, the speed of the targets relative to the vehicle, and the moving direction trend of the targets are detected; Output the number of target objects on the rearview mirrors on both sides of the vehicle and display them digitally; The risk of lane change is evaluated by integrating the number of targets, the speed of the targets relative to the vehicle, and the trend of the targets' travel direction; Based on the evaluation result, first warning information is output to the driver, where the first warning information is used to represent at least any one of: lane change allowed, lane change cautious, and lane change prohibited.

2. The blind spot risk warning method for vehicle lane change conditions according to claim 1, characterized in that: When it is determined that there is a target object in the blind spot, the collision time between the target object and the vehicle is detected, and the collision time is integrated to perform lane change risk assessment.

3. The blind spot risk warning method for vehicle lane change conditions according to claim 2, characterized in that: When the first warning information indicates that lane change is prohibited and the collision time is less than a preset time limit, the rotation resistance of the steering wheel is increased or the body of the vehicle is controlled to change from an offset state to a straight-moving state.

4. The blind spot risk warning method for vehicle lane change conditions according to claim 1, characterized in that: When the first warning information indicates that the lane change is cautious or prohibited, the second warning information is synchronously output to the target object in the blind spot.

5. The blind spot risk warning method for vehicle lane change conditions according to claim 1, characterized in that: The lane change risk assessment includes: Set the scores of different moving direction trends; Determine the current working condition according to preset multi-level target quantity thresholds and target speed thresholds; According to the current working condition, scoring the number of targets and the speed of the targets, and deciding whether to adopt the score of the target moving direction trend; Based on the scoring results and decision results, a total score for lane change risk is obtained.

6. The blind spot risk warning method for a vehicle lane change condition according to any one of claims 1 to 5, characterized in that: The traveling direction trend at least includes: leaving the blind spot or staying in the blind spot.

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