Vehicle early warning method and device based on lateral obstacle detection radar

Abstract

The invention relates to a vehicle early warning method and device based on a lateral obstacle detection radar, and the method comprises the steps: obtaining the vehicle driving information of a target vehicle and the radar data of the target lateral obstacle detection radar; determining a blind spot detection area and a door opening early warning area of the target vehicle, judging whether the target vehicle meets a blind area early warning condition and / or a door opening early warning condition, and if yes, controlling the target vehicle to perform a blind area early warning operation and / or a door opening early warning operation; and based on the radar data and / or the vehicle driving information, judging whether the target vehicle meets front and rear traffic early warning requirements or not, and if yes, controlling the target vehicle to perform front and rear traffic early warning operation. Detection and early warning are performed through the automobile side obstacle detection radar, so that the detection performance and the environmental adaptability of automobile anti-collision detection are greatly improved, the structural complexity and the detection cost of automobile anti-collision detection are reduced, and the market competitiveness of the automobile anti-collision detection function is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of detection radar warning technology, and in particular to a vehicle warning method and device based on side obstacle detection radar. Background Art

[0002] The car side obstacle detection radar is a microwave radar sensor dedicated to the motor vehicle driving assistance system ADAS (Advanced Driving Assistant System). It is mainly used for blind spot detection (Blind Spot Detection, BSD), door open warning (Door Open Warning, DOW), front cross traffic warning (Front Cross Traffic Alert, FCTA), lane change assist (Lane Change Assist, LCA), rear cross traffic alert (Rear Cross Traffic Alert, RCTA), rear collision warning (Rear Collision Warning, RCW), to assist motor vehicles to complete obstacle avoidance functions.

[0003] However, most existing technologies are based on infrared, camera, and ultrasonic detection methods for vehicle anti-collision detection, which makes the structure of vehicle anti-collision detection relatively complex, the detection cost is high, and the detection performance and environmental adaptability are poor, which urgently needs to be solved. Summary of the invention

[0004] The present application provides a vehicle warning method and device based on side obstacle detection radar to solve the problems that most of the existing technologies are based on infrared, camera, and ultrasonic detection methods for automobile anti-collision detection, which makes the structure of automobile anti-collision detection relatively complex, the detection cost is high, and the detection performance and environmental adaptability are poor.

[0005] The first aspect of the present application provides a vehicle warning method based on a side obstacle detection radar, comprising the following steps: obtaining vehicle driving information of a target vehicle and radar data of at least one target side obstacle detection radar in the target vehicle; determining a blind spot detection area and a door opening warning area of ​​the target vehicle, and judging whether the target vehicle meets a preset blind spot warning condition and / or a door opening warning condition based on the vehicle driving information, the blind spot detection area and the door opening warning area, wherein if the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition, the target vehicle is controlled to perform a blind spot warning operation and / or a door opening warning operation; judging whether the target vehicle meets a preset front and rear traffic warning requirement based on the radar data and / or the vehicle driving information, wherein if the target vehicle meets the front and rear traffic warning requirement, the target vehicle is controlled to perform a front and rear traffic warning operation, wherein the front and rear traffic warning requirement includes at least one of a front crossing warning requirement, a rear lateral traffic warning requirement and a rear collision warning requirement.

[0006] Optionally, in one embodiment of the present application, it also includes: obtaining the current position information and body size information of the target vehicle to determine the lane change auxiliary warning area of ​​the target vehicle according to the current position information and the body size information; determining the lane driving information of the target vehicle according to the vehicle driving information, and based on the lane driving information, judging whether the target vehicle has an intention to change lanes, and if the target vehicle has an intention to change lanes, judging the type of lane the target vehicle is currently traveling in; if the target vehicle is currently traveling in a straight lane or a curve, and there is another vehicle in an adjacent lane If the target vehicle enters the lane change auxiliary warning area or the other vehicle changes lanes from directly behind the target vehicle and enters the lane change auxiliary warning area, and the collision time between the target vehicle and the other vehicle is less than the preset collision time threshold, the target vehicle is controlled to perform a lane change auxiliary warning operation; if the target vehicle is currently traveling on the straight lane, and there is another vehicle that changes lanes from the blind spot detection area of ​​the target vehicle to an adjacent lane of the other vehicle's current lane or to directly behind the target vehicle, and then exits the blind spot detection area, the target vehicle does not perform the lane change auxiliary warning operation.

[0007] Optionally, in one embodiment of the present application, the blind spot detection area and the door opening warning area of ​​the target vehicle are determined, and according to the vehicle driving information, the blind spot detection area and the door opening warning area, it is judged whether the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition, wherein if the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition, the target vehicle is controlled to perform a blind spot warning operation and / or a door opening warning operation, including: obtaining the current position information and the body size information of the target vehicle, so as to determine the target vehicle according to the current position information and the body size information The blind spot detection area of ​​the vehicle; determine the lane driving information of the target vehicle according to the vehicle driving information, and judge the lane type of the target vehicle currently traveling based on the lane driving information; if the target vehicle is currently traveling on a straight lane or a curved lane, and there is another vehicle entering the blind spot detection area along an adjacent lane or there is another vehicle changing lanes from the rear of the target vehicle and entering the blind spot detection area, then control the target vehicle to perform a blind spot warning operation; if the target vehicle is currently traveling on the straight lane, and there is another vehicle changing lanes from the lane separated from the lane currently traveled by the target vehicle, then control the target vehicle to perform a blind spot warning operation. If the target vehicle enters the blind spot detection area, the target vehicle is controlled to perform a blind spot warning operation; if the target vehicle is currently traveling on the straight lane and there is another vehicle traveling in the opposite direction of the target vehicle, the target vehicle is controlled to perform a blind spot recognition operation on the other vehicle; if the target vehicle is currently traveling on the straight lane and the target vehicle performs an overtaking and lane changing operation, so that another vehicle in the adjacent lane of the target vehicle enters the blind spot detection area, the target vehicle is controlled to perform a blind spot warning operation; detect whether all doors of the target vehicle have a door opening operation, if all doors of the target vehicle do not have a door opening operation, If a door opening operation is performed and there is another vehicle behind the target vehicle entering the door opening warning area, and the collision time between the target vehicle and the other vehicle is less than a preset collision time threshold, the target vehicle is controlled to execute a warning operation of prohibiting opening the door on the same side as the other vehicle; if a door opening operation is performed on at least one door of the target vehicle, and there is another vehicle behind the target vehicle entering the door opening warning area and being on the same side as the at least one door, and the collision time between the target vehicle and the other vehicle is less than a preset collision time threshold, the target vehicle is controlled to execute a warning operation of closing the door on the same side as the other vehicle.

[0008] Optionally, in one embodiment of the present application, the radar data and / or the vehicle driving information are used to determine whether the target vehicle meets the preset front and rear traffic warning requirements, wherein if the target vehicle meets the front and rear traffic warning requirements, the target vehicle is controlled to perform front and rear traffic warning operations, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirements, the rear lateral traffic warning requirements and the rear collision warning requirements, including: determining the front crossing warning area and the rear lateral traffic warning area of ​​the target vehicle, and determining the motion state of the target vehicle according to the radar data and / or the vehicle driving information; when the target vehicle is in a forward state and the target vehicle When there are no obstacles on both sides of the vehicle and there is another vehicle entering the front crossing warning area, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is less than a preset collision time threshold, the target vehicle is controlled to perform a front crossing warning and / or a braking operation; when the target vehicle is in a forward state and there is another vehicle entering the front crossing warning area, the collision time and the lateral relative speed between the target vehicle and the other vehicle are calculated, and when the collision time is greater than the preset collision time threshold and the lateral relative speed is less than a preset lateral speed threshold, the target vehicle is not allowed to perform a forward crossing warning operation; when the target vehicle is in a forward state and the target When the obstacle exists on one side of the vehicle and the other vehicle enters the front crossing warning area from the side of the obstacle, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is less than the preset collision time threshold and the preset lateral target does not meet the preset complete occlusion requirement, the target vehicle is controlled to perform a front crossing warning and / or a braking operation; when the target vehicle is in a forward state and the other vehicle changes lanes and enters the front crossing warning area of ​​the target vehicle, the collision time and angle between the target vehicle and the other vehicle are calculated, and when the collision time is less than the preset collision time threshold and the angle is less than the preset safety angle threshold, the target vehicle is controlled to perform a front crossing warning and / or a braking operation. The target vehicle is controlled to perform a front crossing warning and / or a braking operation; when the target vehicle is in a reversing state, and there are no obstacles blocking the two sides of the target vehicle or there are stationary obstacles blocking the rear transverse traffic warning area, and at the same time there is another vehicle entering the rear transverse traffic warning area, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is less than a preset collision time threshold, the target vehicle is controlled to perform a rear transverse traffic warning and / or a braking operation; when the target vehicle is in a reversing state, and there are no obstacles blocking the two sides of the target vehicle or there are stationary obstacles in the rear transverse traffic warning area, the target vehicle is controlled to perform a rear transverse traffic warning and / or a braking operation.

[0009] Optionally, in one embodiment of the present application, based on the radar data and / or the vehicle driving information, it is determined whether the target vehicle meets the preset front and rear traffic warning requirements, wherein if the target vehicle meets the front and rear traffic warning requirements, the target vehicle is controlled to perform front and rear traffic warning operations, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirements, the rear lateral traffic warning requirements and the rear collision warning requirements, and also include: determining the rear collision warning area of ​​the target vehicle; when the target vehicle is currently traveling on a straight lane, and there is another vehicle traveling directly behind the target vehicle or entering the current driving lane of the target vehicle from other lanes and entering the rear collision warning area, calculating the collision time between the target vehicle and the other vehicle, and at the time of the collision When the collision time is less than the preset collision time threshold, the target vehicle is controlled to perform a rear collision warning operation; when the target vehicle is currently traveling in a straight lane and changes lanes to an adjacent lane, so that another vehicle in the adjacent lane enters the rear collision warning area, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is less than the preset collision time threshold, the target vehicle is controlled to perform a rear collision warning operation; when the target vehicle is currently traveling in a straight lane, and there is another vehicle that changes lanes from directly behind the target vehicle and enters the adjacent lane of the target vehicle and exits the rear collision warning area, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is greater than the preset collision time threshold, the target vehicle is controlled to cancel the rear collision warning operation.

[0010] The second aspect of the present application provides a vehicle warning device based on a side obstacle detection radar, including: a first acquisition module, used to obtain vehicle driving information of a target vehicle and radar data of at least one target side obstacle detection radar in the target vehicle; a first warning module, used to determine a blind spot detection area and a door opening warning area of ​​the target vehicle, and judge whether the target vehicle meets a preset blind spot warning condition and / or a door opening warning condition according to the vehicle driving information, the blind spot detection area and the door opening warning area, wherein if the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition, the target vehicle is controlled to perform a blind spot warning operation and / or a door opening warning operation; a second warning module, used to judge whether the target vehicle meets a preset front and rear traffic warning requirement based on the radar data and / or the vehicle driving information, wherein if the target vehicle meets the front and rear traffic warning requirement, the target vehicle is controlled to perform a front and rear traffic warning operation, wherein the front and rear traffic warning requirement includes at least one of a front crossing warning requirement, a rear lateral traffic warning requirement and a rear collision warning requirement.

[0011] Optionally, in one embodiment of the present application, it also includes: a second acquisition module, used to acquire the current position information and body size information of the target vehicle, so as to determine the lane change auxiliary warning area of ​​the target vehicle according to the current position information and the body size information; a lane change module, used to determine the lane driving information of the target vehicle according to the vehicle driving information, and based on the lane driving information, determine whether the target vehicle has the intention to change lanes, and if the target vehicle has the intention to change lanes, determine the lane type in which the target vehicle is currently traveling; a third warning module, used if the target vehicle is currently traveling in a straight lane or a curve, and there is If another vehicle enters the lane change auxiliary warning area in an adjacent lane or there is another vehicle changing lanes from directly behind the target vehicle and entering the lane change auxiliary warning area, and the collision time between the target vehicle and the other vehicle is less than a preset collision time threshold, the target vehicle is controlled to perform a lane change auxiliary warning operation; a fourth warning module is used for not performing the lane change auxiliary warning operation on the target vehicle if the target vehicle is currently traveling on the straight lane and there is another vehicle changing lanes from the blind spot detection area of ​​the target vehicle to an adjacent lane of the other vehicle's current lane or directly behind the target vehicle and then exits the blind spot detection area.

[0012] Optionally, in one embodiment of the present application, the first warning module includes: a first determination unit, used to obtain the current position information and body size information of the target vehicle, so as to determine the blind spot detection area of ​​the target vehicle according to the current position information and the body size information; a first judgment unit, used to determine the lane driving information of the target vehicle according to the vehicle driving information, and based on the lane driving information, judge the lane type in which the target vehicle is currently traveling; a first control unit, used to control the target vehicle to perform a blind spot warning operation if the target vehicle is currently traveling on a straight lane or a curved road, and there is another vehicle entering the blind spot detection area along an adjacent lane or there is another vehicle changing lanes from directly behind the target vehicle and entering the blind spot detection area; a second control unit, used to control the target vehicle to perform a blind spot warning operation if the target vehicle is currently traveling on the straight lane, and there is another vehicle changing lanes from the lane separated from the current lane of the target vehicle and entering the blind spot detection area; an identification unit, used to control the target vehicle to perform a blind spot warning operation if the target vehicle is currently traveling on the straight lane, and there is another vehicle and the If the target vehicle is traveling in the opposite direction, the target vehicle is controlled to perform a blind spot recognition operation on the other vehicle; an overtaking unit is used to control the target vehicle to perform a blind spot warning operation if the target vehicle is currently traveling on the straight lane and the target vehicle performs an overtaking lane change operation so that the other vehicle in the adjacent lane of the target vehicle enters the blind spot detection area; a detection unit is used to detect whether there is a door opening operation for all doors of the target vehicle. If there is no door opening operation for all doors of the target vehicle and there is another vehicle behind the target vehicle entering the door opening warning area, and the collision time between the target vehicle and the other vehicle is less than a preset collision time threshold, the target vehicle is controlled to perform a warning operation of prohibiting the opening of the door on the same side as the other vehicle; a third control unit is used to control the target vehicle to perform a warning operation of closing the door on the same side as the other vehicle if there is a door opening operation for at least one door of the target vehicle and there is another vehicle behind the target vehicle entering the door opening warning area and being on the same side as the at least one door, and the collision time between the target vehicle and the other vehicle is less than a preset collision time threshold.

[0013] Optionally, in one embodiment of the present application, the second warning module includes: a second determination unit, used to determine the front crossing warning area and the rear lateral traffic warning area of ​​the target vehicle, and judge the motion state of the target vehicle according to the radar data and / or the vehicle driving information; a first calculation unit, used to calculate the collision time between the target vehicle and the other vehicle when the target vehicle is in a forward state and there are no obstacles on both sides of the target vehicle, and there is another vehicle entering the front crossing warning area, and when the collision time is less than a preset collision time threshold, control the target vehicle to perform a front crossing warning and / or braking operation; a first calculation unit, used to calculate the collision time between the target vehicle and the other vehicle when the target vehicle is in a forward state and there are no obstacles on both sides of the target vehicle, and there is another vehicle entering the front crossing warning area, and when the collision time is less than a preset collision time threshold, control the target vehicle to perform a front crossing warning and / or braking operation; The second calculation unit is used to calculate the collision time and lateral relative speed between the target vehicle and the other vehicle when the target vehicle is in a forward state and there is the other vehicle entering the forward crossing warning area, and when the collision time is greater than the preset collision time threshold and the lateral relative speed is less than the preset lateral speed threshold, the target vehicle does not perform the forward crossing warning operation; the fourth control unit is used to calculate the collision time between the target vehicle and the other vehicle when the target vehicle is in a forward state and there is the obstacle on one side of the target vehicle and there is the other vehicle entering the forward crossing warning area from the side of the obstacle. , and when the collision time is less than the preset collision time threshold and the preset lateral target does not meet the preset complete shielding requirement, control the target vehicle to perform a forward crossing warning and / or a braking operation; a fifth control unit, for when the target vehicle is in a forward state and there is the other vehicle changing lanes and entering the forward crossing warning area of ​​the target vehicle, calculate the collision time and angle between the target vehicle and the other vehicle, and when the collision time is less than the preset collision time threshold and the angle is less than a preset safety angle threshold, control the target vehicle to perform a forward crossing warning and / or a braking operation; a shielding unit, for when the target vehicle is in a reverse state The sixth control unit is used for controlling the target vehicle to perform a rear cross traffic warning and / or a braking operation when the target vehicle is in a reversing state and there are no obstacles blocking the two sides of the target vehicle or there are stationary obstacles blocking the rear cross traffic warning area, and at the same time there is another vehicle entering the rear cross traffic warning area, calculating the collision time between the target vehicle and the other vehicle, and when the collision time is less than a preset collision time threshold, controlling the target vehicle to perform a rear cross traffic warning and / or a braking operation; a sixth control unit is used for controlling the target vehicle to perform a rear cross traffic warning and / or a braking operation when the target vehicle is in a reversing state and there are no obstacles blocking the two sides of the target vehicle or there are stationary obstacles in the rear cross traffic warning area.

[0014] Optionally, in one embodiment of the present application, the second warning module also includes: a third determining unit, used to determine a rear collision warning area of ​​the target vehicle; a seventh control unit, used to calculate the collision time between the target vehicle and the other vehicle when the target vehicle is currently traveling in a straight lane and there is another vehicle traveling directly behind the target vehicle or entering the current driving lane of the target vehicle from other lanes and entering the rear collision warning area, and controlling the target vehicle to perform a rear collision warning operation when the collision time is less than the preset collision time threshold; the third calculating unit, used to calculate the collision time between the target vehicle and the other vehicle when the target vehicle is currently traveling in a straight lane and changes lanes to a corresponding lane. The invention relates to a method for controlling the target vehicle to perform a rear collision warning operation on an adjacent lane so that when another vehicle in the adjacent lane enters the rear collision warning area, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is less than the preset collision time threshold, the target vehicle is controlled to perform a rear collision warning operation; a release unit is used to calculate the collision time between the target vehicle and the other vehicle when the target vehicle is currently traveling on a straight lane and there is another vehicle that changes lanes from directly behind the target vehicle and enters the adjacent lane of the target vehicle and exits the rear collision warning area, and when the collision time is greater than the preset collision time threshold, the target vehicle is controlled to release the rear collision warning operation.

[0015] The third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle warning method based on the side obstacle detection radar as described in the above embodiment.

[0016] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the above-mentioned vehicle warning method based on side obstacle detection radar.

[0017] The fifth aspect of the present application provides a computer program product, including a computer program, which is executed to implement the above-mentioned vehicle warning method based on side obstacle detection radar.

[0018] Therefore, the embodiments of the present application have the following beneficial effects:

[0019] The embodiment of the present application can obtain the vehicle driving information of the target vehicle and the radar data of at least one target side obstacle detection radar in the target vehicle; determine the blind spot detection area and the door opening warning area of ​​the target vehicle, and judge whether the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition according to the vehicle driving information, the blind spot detection area and the door opening warning area, wherein if the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition, the target vehicle is controlled to perform the blind spot warning operation and / or the door opening warning operation; based on the radar data and / or the vehicle driving information, it is judged whether the target vehicle meets the preset front and rear traffic warning requirements, wherein if the target vehicle meets the front and rear traffic warning requirements, the target vehicle is controlled to perform the front and rear traffic warning operation, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirements, the rear lateral traffic warning requirements and the rear collision warning requirements. The present application uses the automobile side obstacle detection radar for detection and warning, thereby greatly improving the detection performance and environmental adaptability of automobile anti-collision detection, and reducing the structural complexity and detection cost of automobile anti-collision detection, effectively improving the market competitiveness of automobile anti-collision detection function. This solves the problem that most of the existing technologies are based on infrared, camera, and ultrasonic detection methods for vehicle anti-collision detection, which makes the structure of vehicle anti-collision detection relatively complex, the detection cost is high, and the detection performance and environmental adaptability are poor.

[0020] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] Figure 1 A flowchart of a vehicle warning method based on a side obstacle detection radar provided according to an embodiment of the present application;

[0023] Figure 2 A schematic diagram of a BSD state machine provided for an embodiment of the present application;

[0024] Figure 3 A schematic diagram of a BSD warning area provided for an embodiment of the present application;

[0025] Figure 4 A schematic diagram of a DOW state machine provided for an embodiment of the present application;

[0026] Figure 5 A schematic diagram of a DOW detection area provided for an embodiment of the present application;

[0027] Figure 6 A schematic diagram of an LCA state machine provided for an embodiment of the present application;

[0028] Figure 7 A schematic diagram of LCA detection distance provided for an embodiment of the present application;

[0029] Figure 8 A schematic diagram of an FCTA state machine provided for an embodiment of the present application;

[0030] Fig. 9 A schematic diagram of an RCTA state machine provided for an embodiment of the present application;

[0031] Fig.10 A schematic diagram of a RCTA vertical detection distance provided for an embodiment of the present application;

[0032] Fig.11 A schematic diagram of a RCTA detection area provided for an embodiment of the present application;

[0033] Fig.12 A schematic diagram of an RCW state machine provided for an embodiment of the present application;

[0034] Fig.13 A schematic diagram of an RCW detection area provided for an embodiment of the present application;

[0035] Fig.14 A schematic diagram of an RCW collision distance provided for an embodiment of the present application;

[0036] Fig.15 This is an example diagram of a vehicle warning device based on a side obstacle detection radar according to an embodiment of the present application;

[0037] Fig.16 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0038] Among them, 10-a vehicle warning device based on a side obstacle detection radar; 100-a first acquisition module, 200-a first warning module, 300-a second warning module; 1601-a memory, 1602-a processor, 1603-a communication interface. DETAILED DESCRIPTION

[0039] Embodiments of the present application 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 intended to be used to explain the present application, and should not be construed as limiting the present application.

[0040] The following describes a vehicle warning method and device based on a side obstacle detection radar according to an embodiment of the present application with reference to the accompanying drawings. In view of the problems mentioned in the above background technology, the present application provides a vehicle warning method based on a side obstacle detection radar, in which the vehicle driving information of the target vehicle and the radar data of at least one target side obstacle detection radar in the target vehicle are obtained; the blind spot detection area and the door opening warning area of ​​the target vehicle are determined, and the target vehicle is judged whether it meets the preset blind spot warning condition and / or the door opening warning condition according to the vehicle driving information, the blind spot detection area and the door opening warning area, wherein if the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition, the target vehicle is controlled to perform a blind spot warning operation and / or a door opening warning operation; based on the radar data and / or the vehicle driving information, it is judged whether the target vehicle meets the preset front and rear traffic warning requirements, wherein if the target vehicle meets the front and rear traffic warning requirements, the target vehicle is controlled to perform a front and rear traffic warning operation, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirements, the rear lateral traffic warning requirements and the rear collision warning requirements. This application uses the vehicle side obstacle detection radar for detection and early warning, thereby greatly improving the detection performance and environmental adaptability of vehicle anti-collision detection, and reducing the structural complexity and detection cost of vehicle anti-collision detection, effectively improving the market competitiveness of vehicle anti-collision detection function. Thus, it solves the problem that most of the existing technologies are based on infrared, camera, and ultrasonic detection methods for vehicle anti-collision detection, which makes the structure of vehicle anti-collision detection relatively complex, the detection cost is high, and the detection performance and environmental adaptability are poor.

[0041] Specifically, Figure 1 A flow chart of a vehicle warning method based on side obstacle detection radar provided in an embodiment of the present application.

[0042] like Figure 1 As shown, the vehicle warning method based on the side obstacle detection radar includes the following steps:

[0043] In step S101, vehicle driving information of a target vehicle and radar data of at least one target side obstacle detection radar in the target vehicle are acquired.

[0044] In step S102, the blind spot detection area and the door opening warning area of ​​the target vehicle are determined, and whether the target vehicle meets the preset blind spot warning conditions and / or the door opening warning conditions is judged based on the vehicle driving information, the blind spot detection area and the door opening warning area. If the target vehicle meets the preset blind spot warning conditions and / or the door opening warning conditions, the target vehicle is controlled to perform a blind spot warning operation and / or a door opening warning operation.

[0045] The embodiment of the present application can first use the BSD function algorithm and the DOW function algorithm to obtain vehicle driving information such as gear position, yaw rate, driving speed and turn signal from the main vehicle through the blind spot detection system and the door opening warning system to generate a corresponding warning request.

[0046] Among them, the embodiment of the present application can activate the BSD function when the speed of the other vehicle is greater than 1m / s to detect vehicles traveling in the same direction in the adjacent lane; when the other vehicle is traveling in the same direction as the main vehicle (i.e., the target vehicle) and is not in reverse gear, and when the other vehicle enters the blind spot detection area, the BSD system can issue a warning request.

[0047] When the main vehicle is stationary, if other vehicles such as bicycles or cars approach the vehicle from behind in an adjacent lane and the driver tries to open the door, there is a risk of collision. At this time, the door opening warning will be activated and warn the driver through interior ambient lights, outside rearview mirror lights and beeps to avoid the risk of collision. Therefore, the door opening warning function of the embodiment of the present application can play an effective warning role for vehicles, bicycles, motorcycles, tricycles and pedestrians.

[0048] Optionally, in one embodiment of the present application, a blind spot detection area and a door opening warning area of ​​a target vehicle are determined, and it is judged whether the target vehicle meets a preset blind spot warning condition and / or a door opening warning condition based on the vehicle driving information, the blind spot detection area and the door opening warning area, wherein if the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition, the target vehicle is controlled to perform a blind spot warning operation and / or a door opening warning operation, including: obtaining the current position information and the body size information of the target vehicle to determine the blind spot detection area of ​​the target vehicle based on the current position information and the body size information; determining the lane driving information of the target vehicle based on the vehicle driving information, and judging the type of lane in which the target vehicle is currently driving based on the lane driving information; if the target vehicle is currently driving on a straight lane or a curved road, and there is another vehicle driving into the blind spot detection area along an adjacent lane or there is another vehicle changing lanes from directly behind the target vehicle and entering the blind spot detection area, then the target vehicle is controlled to perform a blind spot warning operation; if the target vehicle is currently driving on a straight lane, and there is another vehicle changing lanes from the lane separated from the lane in which the target vehicle is currently driving, If the target vehicle enters the blind spot detection area, the target vehicle is controlled to perform a blind spot warning operation; if the target vehicle is currently traveling on a straight lane and there is another vehicle traveling in the opposite direction of the target vehicle, the target vehicle is controlled to perform a blind spot recognition operation on the other vehicle; if the target vehicle is currently traveling on a straight lane and the target vehicle performs an overtaking and lane change operation, so that another vehicle in the adjacent lane of the target vehicle enters the blind spot detection area, the target vehicle is controlled to perform a blind spot warning operation; detect whether all doors of the target vehicle have a door opening operation, if all doors of the target vehicle have no door opening operation, and there is another vehicle behind the target vehicle entering the door opening warning area, and the collision time between the target vehicle and the other vehicle is less than the preset collision time threshold, the target vehicle is controlled to perform a warning operation of prohibiting the opening of the door on the same side as the other vehicle; if at least one door of the target vehicle has a door opening operation, and there is another vehicle behind the target vehicle entering the door opening warning area and on the same side as at least one door, and the collision time between the target vehicle and the other vehicle is less than the preset collision time threshold, the target vehicle is controlled to perform a warning operation of closing the door on the same side as the other vehicle.

[0049] It should be noted that the BSD state machine in the embodiment of the present application has three states: closed state, standby state and active state, wherein the active state is divided into a primary alarm state and a secondary alarm state, such as Figure 2 As shown, the priority of the state machine is that the shutdown state takes precedence over the activation state, and the priority of the activation state is consistent with the standby state. The states are described as follows:

[0050] 1. BSD shutdown: IG power off, BSD function not enabled or radar failure will cause BSD function shutdown;

[0051] 2. BSD standby: When there is no radar fault, the IG is powered on and the BSD function is enabled, but the activation conditions are not met, and the BSD function is in standby state;

[0052] 3. BSD activation: When the BSD function is in the Passive state and the activation conditions are met, the BSD function will be activated, and the BSD activation state includes the first level alarm and the second level alarm.

[0053] In the specific implementation process, the blind spot warning and approaching vehicle warning alarm conditions in the embodiment of the present application are as follows: Figure 3 As shown, the actual warning area can be determined according to the size and actual position of different vehicles, regardless of the position of the lane line. The sizes are specified as follows:

[0054] like Figure 3 As shown, line A is parallel to the rear edge of the vehicle and is 30.0m away from the rear edge; line B is parallel to the rear edge of the vehicle and is 4.0m away from the rear edge; line C is parallel to the front edge of the vehicle and is located at the center of the 95th percentile driver's eye ellipse (which can be understood as the B pillar); line D is the extension of the front edge of the vehicle; line E is parallel to the center line of the vehicle and is tangent to the outermost edge of the vehicle body, and the outermost edge on the left side does not include the exterior rearview mirror; line F is on the left side of the vehicle, parallel to the center line of the vehicle and is away from the outermost edge of the left side of the vehicle body 0.5m; G line is on the left side of the vehicle, parallel to the center line of the vehicle and 2m away from the outermost edge of the left side of the vehicle; J line is parallel to the center line of the vehicle and tangent to the outermost edge of the right side of the vehicle, and the outermost edge on the right side does not include the exterior rearview mirror; K line is on the right side of the vehicle, parallel to the center line of the vehicle and 0.5m away from the outermost edge of the right side of the vehicle; L line is on the right side of the vehicle, parallel to the center line of the vehicle and 2m away from the outermost edge of the right side of the vehicle; N line is the extension line of the rear edge of the vehicle.

[0055] If there is another vehicle in the warning area that fully meets the following conditions, the left blind spot will alarm:

[0056] If any area of ​​his car is in front of line B; if his car is completely behind line C; if his car is completely on the left side of line F; if any part of his car is on the right side of line G; if any part of his car is not within the area of ​​lines A, D, E, or H, the blind spot detection function should not alarm.

[0057] If the other vehicle meets the following conditions, the right blind spot should be alarmed:

[0058] Any area of ​​his car is in front of the B line; his car is completely behind the C line; his car is completely on the right side of the K line; any part of his car is on the left side of the L line.

[0059] If any part of the other vehicle is not within the A, D, J, or M line area, the blind spot detection function should not sound an alarm.

[0060] Specifically, the application scenarios of BSD warning in the embodiments of the present application are shown in the following table:

[0061] Table 1

[0062]

[0063]

[0064]

[0065] Specifically, as can be seen from Table 1, the embodiment of the present application can determine the type of lane in which the vehicle is currently traveling according to the lane driving information; when the vehicle (i.e., the main vehicle) is currently traveling on a straight lane or a curved lane, and there is another vehicle entering the blind spot detection area along an adjacent lane or there is another vehicle changing lanes from directly behind the vehicle and entering the blind spot detection area, the vehicle is controlled to perform a blind spot warning operation; when the vehicle is currently traveling on a straight lane, and there is another vehicle changing lanes from the lane separated from the lane in which the vehicle is currently traveling and entering the blind spot detection area, the vehicle is controlled to perform a blind spot warning operation; when the vehicle is currently traveling on a straight lane, and there is another vehicle traveling in the opposite direction of the vehicle, the vehicle is controlled to perform a blind spot recognition operation on the other vehicle; when the vehicle is currently traveling on a straight lane, and the vehicle performs an overtaking and lane changing operation, so that another vehicle in the adjacent lane of the vehicle enters the blind spot detection area, the vehicle is controlled to perform a blind spot warning operation.

[0066] In addition, in the embodiments of the present application, Figure 4 As shown, the DOW state machine consists of the following four components:

[0067] 1. DOW off: The DOW function will be turned off three minutes after the engine is turned off or if the driver locks the vehicle after the engine is turned off or the DOW function is not enabled.

[0068] 2. DOW standby: When there is no radar failure, the DOW function is turned on and the radar is in the awakened state, but the activation conditions are not met and the DOW function is in the standby state.

[0069] 3. DOW activation: When there is no radar failure, the DOW function is in standby state. When the activation conditions are met, the DOW function is activated. The DOW activation state includes the first level alarm and the second level alarm.

[0070] 4. Radar error: When DOW is enabled, a radar error causes the DOW function to be unavailable.

[0071] It should be noted that the priority of the above state machine is: the off state takes precedence over the fault state, the fault state takes precedence over the active state, the active state and the standby state have the same priority, and the radar's initial default state machine is the off state.

[0072] Afterwards, the embodiment of the present application may define the DOW detection area: Figure 5 As shown, the front boundary of the target warning area is near the B-pillar; the maximum range of the target warning is 50m behind the vehicle; and the DOW lateral coverage area is 0.0m to 2.5m.

[0073] Specifically, the application scenarios of DOW warning in the embodiments of the present application are shown in the following table:

[0074] Table 2

[0075]

[0076]

[0077] Specifically, as can be seen from Table 2, the embodiments of the present application can detect whether there is a door opening operation for all doors of the vehicle. When there is no door opening operation for all doors of the vehicle, and there is another vehicle behind the vehicle entering the door opening warning area, and the collision time between the vehicle and the other vehicle is less than the preset collision time threshold, the vehicle is controlled to execute a warning operation of prohibiting opening the door on the same side as the other vehicle; when there is a door opening operation for at least one door of the vehicle, and there is another vehicle behind the vehicle entering the door opening warning area and being on the same side as at least one door, and the collision time between the vehicle and the other vehicle is less than the preset collision time threshold, the vehicle is controlled to execute a warning operation of closing the door on the same side as the other vehicle.

[0078] Therefore, the embodiments of the present application effectively improve the safety performance of the vehicle and the user experience through blind spot detection and door opening warning operations.

[0079] Optionally, in one embodiment of the present application, it also includes: obtaining the current position information and body size information of the target vehicle to determine the lane change assistance warning area of ​​the target vehicle according to the current position information and body size information; determining the lane driving information of the target vehicle according to the vehicle driving information, and based on the lane driving information, judging whether the target vehicle has an intention to change lanes, and if the target vehicle has an intention to change lanes, judging the type of lane the target vehicle is currently traveling in; if the target vehicle is currently traveling in a straight lane or a curved road, and there is another vehicle entering the lane change assistance warning area in an adjacent lane or there is another vehicle changing lanes from directly behind the target vehicle to enter the lane change assistance warning area, and at the same time, the collision time between the target vehicle and the other vehicle is less than a preset collision time threshold, then the target vehicle is controlled to perform a lane change assistance warning operation; if the target vehicle is currently traveling in a straight lane, and there is another vehicle changing lanes from the blind spot detection area of ​​the target vehicle to an adjacent lane of the other vehicle's current driving lane or directly behind the target vehicle, and then exits the blind spot detection area, then the target vehicle does not perform a lane change assistance warning operation.

[0080] In an embodiment of the present application, when the speed of the other vehicle is greater than 1m / s, the lane change assist warning system is activated. The system can receive information such as the yaw rate, gear information, switch information and speed of the main vehicle, and detect the side and rear of the vehicle; when the driver of the own vehicle shows the intention to change lanes, the system can evaluate whether there is any danger. If the system does not recommend changing lanes, it will alarm the driver.

[0081] It should be noted that the LCA state machine has three states: closed state, standby state and active state. The active state is divided into a primary alarm state and a secondary alarm state. Figure 6 As shown, the details are as follows:

[0082] 1. LCA is disabled: IG power off, LCA function is not enabled or radar failure will cause LCA function to be disabled.

[0083] 2. LCA standby: When there is no radar fault, the IG is powered on and the LCA function is enabled, but the activation conditions are not met and the LCA function is in standby state.

[0084] 3. LCA activation: When the LCA function is in the Passive state and the activation conditions are met, the LCA function will be activated. The LCA activation state includes the first level alarm and the second level alarm.

[0085] It should be noted that the priority of the LCA state machine is: closed>fault>active=standby.

[0086] The blind spot warning and approaching vehicle warning alarm conditions in the embodiment of the present application are as follows: Figure 7 As shown, the actual warning area is determined by the size and actual position of different vehicles, and has nothing to do with the position of the lane line. The sizes are specified as follows:

[0087] Line A is parallel to the rear edge of the vehicle and 30.0m away from the rear edge; Line B is parallel to the rear edge of the vehicle and 0m away from the rear edge; Line C is parallel to the front edge of the vehicle and located at the center of the 95th percentile driver's eye ellipse (which can be understood as the B-pillar); Line D is the extension of the front edge of the vehicle; Line E is parallel to the center line of the vehicle and tangent to the outermost edge of the body of the vehicle, and the outermost edge on the left does not include the exterior mirror; Line F is on the left side of the vehicle, parallel to the center line of the vehicle and 0.5m away from the outermost edge of the left side of the vehicle; Line G is on the left side of the vehicle, parallel to the center line of the vehicle and 2m away from the outermost edge of the left side of the vehicle; Line H is on the left side of the vehicle, parallel to the center line of the vehicle, and tangent to the outermost edge of the left side of the vehicle. The first line is parallel to and 6.0m away from the outermost edge of the left side of the vehicle; the second line is parallel to the center line of the vehicle and tangent to the outermost edge of the right side of the vehicle, and the outermost edge on the right side does not include the exterior rearview mirror; the third line is on the right side of the vehicle, parallel to and 0.5m away from the outermost edge of the right side of the vehicle; the third line is on the right side of the vehicle, parallel to and 2m away from the outermost edge of the right side of the vehicle; the fourth line is on the right side of the vehicle, parallel to and 6.0m away from the outermost edge of the right side of the vehicle; the fifth line is parallel to and 10.0m away from the rear edge; the fifth line is parallel to and 70.0m away from the rear edge.

[0088] In addition, the basic conditions for the lane change warning in the embodiment of the present application are:

[0089] 1. Left side of the vehicle:

[0090] LCA warning is allowed only when the target is completely to the left of the F line;

[0091] When part of the target is to the right of the G line, LCA warning is allowed;

[0092] 2. Right side of the vehicle:

[0093] LCA warning is allowed only when the target is completely on the right side of the candlestick;

[0094] When part of the target is to the left of the L line, LCA warning is allowed;

[0095] 3. Left or right side of the vehicle:

[0096] When the target is completely behind the B line, LCA warning is allowed;

[0097] When the relative collision time between the target and the vehicle is less than or equal to TTC, LCA warning is allowed. Specifically, the application scenarios of LCA warning in the embodiment of the present application are shown in the following table:

[0098] Table 3

[0099]

[0100]

[0101] Specifically, it can be seen from Table 3 that when the vehicle is currently traveling on a straight lane or a curved road, and there is another vehicle in an adjacent lane entering the lane change assistance warning area or there is another vehicle changing lanes from directly behind the vehicle and entering the lane change assistance warning area, and at the same time the collision time between the vehicle and the other vehicle is less than the preset collision time threshold, the vehicle is controlled to perform a lane change assistance warning operation; when the vehicle is currently traveling on a straight lane, and there is another vehicle changing lanes from the blind spot detection area of ​​the vehicle to the adjacent lane of the other vehicle's current lane or directly behind the vehicle, and then exits the blind spot detection area, the vehicle does not perform a lane change assistance warning operation.

[0102] Therefore, the embodiments of the present application further enhance and improve the reliability and safety performance of the vehicle through lane change auxiliary warning operation.

[0103] In step S103, based on radar data and / or vehicle driving information, it is determined whether the target vehicle meets the preset front and rear traffic warning requirements, wherein if the target vehicle meets the front and rear traffic warning requirements, the target vehicle is controlled to perform front and rear traffic warning operations, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirements, the rear lateral traffic warning requirements and the rear collision warning requirements.

[0104] Furthermore, the embodiments of the present application can also realize forward crossing warning through forward side obstacle detection radar, wherein the frequency range of the two radars is 76-77GHz, and they are installed in the anti-vibration skin of the front corner of the vehicle. When the vehicle is moving forward, once a threatening object approaches from the front of the vehicle, the FCTA system can determine the threat level based on measuring the distance, relative speed and angle of the object in the radar field of view; after the danger level is determined, the radar will send an alarm signal through CAN; the driver can obtain warning information through flashing lights or other human-computer interaction devices; in an emergency, the forward crossing warning will automatically brake; the forward crossing warning function needs to work for vehicles, bicycles, motorcycles, tricycles and pedestrian carts, but it only works for moving objects.

[0105] Secondly, the rear cross-traffic warning (i.e., rear lateral traffic warning) system of the embodiment of the present application can calculate the collision time between the door of the main vehicle and the target through the rear corner radar and some signal inputs of the vehicle itself, and realize the rear cross-traffic warning through the rear corner radar, wherein the frequency range of the two radars is 76-77GHz, and they are installed at the left and right corners of the rear bumper of the main vehicle; after switching into reverse gear, once a threatening object approaches the main vehicle from the rear, the RCTA system will determine the threat level based on measuring the distance, relative speed and angle of the object in the radar field of view; after the danger level is determined, the radar will send an alarm signal through CAN; then the driver can obtain warning information through flashing lights or other human-computer interaction devices, and brake the vehicle; the rear cross-traffic warning function needs to work for vehicles, bicycles, motorcycles, tricycles and pedestrian carts, but it only works for moving objects, and RCTA can only be activated when the speed of the other vehicle is greater than 1m / s.

[0106] In addition, it is understood that the rear collision warning system is intended to reduce the incidence of rear-end collisions, which are not fatal but are one of the most common types. The rear collision warning system in the embodiment of the present application can calculate the collision time between the main vehicle and the target through the rear corner radar and some signal inputs of the vehicle itself, and realize the rear collision warning through the rear corner radar; wherein, the frequency range of the two radars is 76-77GHz, and they are installed at the left and right corners of the rear bumper of the main vehicle; after the forward gear is cut into, once a threatening object approaches the main vehicle from the rear, the RCW system will determine the danger level based on the distance, relative speed and angle of the object in the radar field of view; after the danger level is determined, the radar will send an alarm signal through CAN; then the driver can get warning information through flashing lights or other human-computer interaction devices; the rear collision warning function needs to work for vehicles, bicycles, motorcycles, tricycles and pedestrians, but it only works for moving objects; after the radar is installed for the first time, this function is turned on by default.

[0107] Optionally, in one embodiment of the present application, based on radar data and / or vehicle driving information, it is determined whether the target vehicle meets the preset front and rear traffic warning requirements, wherein if the target vehicle meets the front and rear traffic warning requirements, the target vehicle is controlled to perform front and rear traffic warning operations, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirements, the rear lateral traffic warning requirements and the rear collision warning requirements, including: determining the front crossing warning area and the rear lateral traffic warning area of ​​the target vehicle, and determining the movement state of the target vehicle according to the radar data and / or vehicle driving information; when the target vehicle is in a forward state, and When there are no obstacles on both sides of the target vehicle and there is another vehicle entering the front crossing warning area, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is less than a preset collision time threshold, the target vehicle is controlled to perform a front crossing warning and / or braking operation; when the target vehicle is in a forward state and there is another vehicle entering the front crossing warning area, the collision time and lateral relative speed between the target vehicle and the other vehicle are calculated, and when the collision time is greater than a preset collision time threshold and the lateral relative speed is less than a preset lateral speed threshold, the target vehicle is not allowed to perform a front crossing warning operation; when the target vehicle is in a forward state and the target When there is an obstacle on one side of the vehicle and another vehicle enters the front crossing warning area from the obstacle side, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is less than the preset collision time threshold and the preset lateral target does not meet the preset complete occlusion requirement, the target vehicle is controlled to perform a front crossing warning and / or braking operation; when the target vehicle is in a forward state and another vehicle changes lanes and enters the front crossing warning area of ​​the target vehicle, the collision time and angle between the target vehicle and the other vehicle are calculated, and when the collision time is less than the preset collision time threshold and the angle is less than the preset safety angle threshold, the target vehicle is controlled to perform a front crossing warning and / or braking operation. Crossing warning and / or braking operation; when the target vehicle is in a reversing state, and there are no obstacles blocking the two sides of the target vehicle or there are stationary obstacles blocking the rear lateral traffic warning area, and there is another vehicle entering the rear lateral traffic warning area, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is less than the preset collision time threshold, the target vehicle is controlled to perform a rear lateral traffic warning and / or braking operation; when the target vehicle is in a reversing state, and there are no obstacles blocking the two sides of the target vehicle or there are stationary obstacles in the rear lateral traffic warning area, the target vehicle is controlled to perform a rear lateral traffic warning and / or braking operation.

[0108] It should be noted that if Figure 8 As shown, the FCTA state machine has four states: off state, standby state, active state and fault state, and the priority is: off state takes precedence over fault state, fault state takes precedence over active state, and the priority of active state and standby state is the same. The specific description of each state is as follows:

[0109] 1. Off state: When the IG is powered off or the FCTA function is not enabled, the FCTA state machine is in the off state; the off state is the default state.

[0110] 2. Standby state: No system fault is detected, the IG is powered on and the FCTA function is enabled, but the activation conditions are not met, and the FCTA state machine is in the standby state.

[0111] 3. Activation state: When in the Passive state and the activation conditions are met, the FCTA state machine will jump to the activation state; the activation state includes the first-level alarm state and the second-level alarm state.

[0112] 4. Radar failure: The FCTA function is enabled, and a system failure will cause the FCTA state machine to jump to the fault state.

[0113] Specifically, the application scenarios of FCTA warning in the embodiments of the present application are shown in the following table:

[0114] Table 4

[0115]

[0116] Specifically, it can be seen from Table 4 that in the embodiment of the present application, if the vehicle is in a forward state, and there are no obstacles on both sides of the vehicle, and there is another vehicle entering the front crossing warning area, the collision time between the vehicle and the other vehicle is calculated, and when the collision time is less than the preset collision time threshold, the vehicle is controlled to perform a front crossing warning and / or a braking operation; if the vehicle is in a forward state, and there is another vehicle entering the front crossing warning area, the collision time and the lateral relative speed between the vehicle and the other vehicle are calculated, and when the collision time is greater than the preset collision time threshold and the lateral relative speed is less than the preset lateral speed threshold, the vehicle is not controlled to perform a front crossing warning operation; if the vehicle is in a forward state, and there is another vehicle entering the front crossing warning area, the collision time and the lateral relative speed between the vehicle and the other vehicle are calculated, and when the collision time is greater than the preset collision time threshold and the lateral relative speed is less than the preset lateral speed threshold, the vehicle is not controlled to perform a front crossing warning operation; If the vehicle is in a forward state and there is an obstacle on one side of the vehicle, and at the same time there is another vehicle entering the front crossing warning area from the side of the obstacle, the collision time between the vehicle and the other vehicle is calculated, and when the collision time is less than a preset collision time threshold and the preset lateral target does not meet the preset complete occlusion requirement, the vehicle is controlled to perform a front crossing warning and / or braking operation; if the vehicle is in a forward state and there is another vehicle changing lanes and entering the front crossing warning area of ​​the vehicle, the collision time and angle between the vehicle and the other vehicle are calculated, and when the collision time is less than the preset collision time threshold and the angle is less than the preset safety angle threshold, the vehicle is controlled to perform a front crossing warning and / or braking operation.

[0117] In addition, in the embodiments of the present application, Fig. 9 As shown, the RCTA state machine consists of the following four components:

[0118] 1. RCTA is off: The RCTA function is off when the IG is powered off or the RCTA function option is not enabled or the radar fails.

[0119] 2. RCTA standby: No fault affecting the RCTA function occurs, the IG is powered on and the RCTA function option is turned on, but the activation conditions are not met, and the RCTA function is in standby state.

[0120] 3. RCTA activation: When the RCTA function is in the Passive state and the activation conditions are met, the RCTA function will be activated.

[0121] It should be noted that the priority of the above state machine is: RCTA OFF>RCTA Error>RCTA Passive=RCTA Active.

[0122] It should be noted that if Fig.10 As shown in the figure, there are two distances related to alarm in RCTA: vertical forward alarm distance and vertical backward alarm distance. The collision distance (collision point) can be calculated according to the location and movement direction of the target. The vertical forward alarm distance is 2 meters, and the vertical backward alarm distance is 4 meters. The collision point is between the vertical forward alarm distance and the vertical backward alarm distance threshold, which is a necessary condition for RCTA alarm.

[0123] Secondly, the RCTA detection area is a rectangle defined by the lateral and longitudinal extents of the rear bumper of the host vehicle, such as Fig.11 As shown, and extends toward the front side of the main vehicle through an angle called RCTA side viewing angle; the side viewing angle α=30°; when the target approaches laterally behind the vehicle and TTC=Y / Vy≤3s, the driver will be warned.

[0124] Specifically, the application scenarios of RCTA warning in the embodiments of the present application are shown in the following table:

[0125] Table 5

[0126]

[0127]

[0128] Specifically, it can be seen from Table 5 that in an embodiment of the present application, if the vehicle is in a reversing state, and there are no obstacles blocking the two sides of the vehicle or there are stationary obstacles blocking the rear lateral traffic warning area, and at the same time there is another vehicle entering the rear lateral traffic warning area, the collision time between the vehicle and the other vehicle is calculated, and when the collision time is less than a preset collision time threshold, the vehicle is controlled to perform a rear lateral traffic warning and / or braking operation; if the vehicle is in a reversing state, and there are no obstacles blocking the two sides of the vehicle or there are stationary obstacles in the rear lateral traffic warning area, the vehicle is controlled to perform a rear lateral traffic warning and / or braking operation.

[0129] Therefore, the embodiment of the present application further improves the multi-warning system by integrating the front crossing warning and the rear lateral traffic warning strategy, so that the warning strategy of the present application has stable detection performance and good environmental adaptability.

[0130] Optionally, in one embodiment of the present application, based on radar data and / or vehicle driving information, it is determined whether the target vehicle meets the preset front and rear traffic warning requirements, wherein if the target vehicle meets the front and rear traffic warning requirements, the target vehicle is controlled to perform front and rear traffic warning operations, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirements, the rear lateral traffic warning requirements and the rear collision warning requirements, and also include: determining the rear collision warning area of ​​the target vehicle; when the target vehicle is currently traveling on a straight lane, and there is another vehicle traveling directly behind the target vehicle or entering the current driving lane of the target vehicle from other lanes and entering the rear collision warning area, calculating the collision time between the target vehicle and the other vehicle, and When the collision time is less than a preset collision time threshold, the target vehicle is controlled to perform a rear collision warning operation; when the target vehicle is currently traveling in a straight lane and changes lanes to an adjacent lane, causing another vehicle in the adjacent lane to enter the rear collision warning area, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is less than the preset collision time threshold, the target vehicle is controlled to perform a rear collision warning operation; when the target vehicle is currently traveling in a straight lane, and there is another vehicle that changes lanes from directly behind the target vehicle and enters the adjacent lane of the target vehicle and exits the rear collision warning area, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is greater than the preset collision time threshold, the target vehicle is controlled to cancel the rear collision warning operation.

[0131] It should be noted that if Fig.12 As shown, the RCW state machine in the embodiment of the present application is composed of the following four components:

[0132] 1. RCW is turned off: IG power off or RCW function option is not enabled will cause the RCW function to be turned off.

[0133] 2. RCW standby: No fault affecting the RCW function occurs, the IG is powered on and the RCW function option is turned on, but the activation conditions are not met, and the RCW function is in standby state.

[0134] 3. RCW activation: When the RCW function is in the Passive state and the activation conditions are met, the RCW function will be activated; the RCW activation state includes the first level alarm and the second level alarm.

[0135] 4. Radar error: When the RCW function is enabled and there is a radar error, the RCW function will be unavailable.

[0136] It should be noted that the priority of the above state machine is: RCW OFF>RCW Error>RCW Passive=RCW Active.

[0137] In addition, in the embodiments of the present application, Fig.13 As shown in , the RCW detection area is defined as: the monitoring area consists of a rectangular area with a length of 30m and a width of 4m; Fig.14 As shown, the collision distance of RCW is defined as: the lateral distance from the intersection of the nearest point of the other vehicle and the extended line of the rear bumper to the center line of the vehicle, DTC = 0.9m, which can be calibrated.

[0138] Specifically, the application scenarios of RCW warning in the embodiments of the present application are shown in the following table:

[0139] Table 6

[0140]

[0141]

[0142] Specifically, it can be seen from Table 6 that in an embodiment of the present application, if the vehicle is currently traveling in a straight lane, and there is another vehicle traveling directly behind the vehicle or entering the current driving lane of the vehicle from other lanes and entering the rear collision warning area, the collision time between the vehicle and the other vehicle is calculated, and when the collision time is less than the preset collision time threshold, the vehicle is controlled to perform a rear collision warning operation; if the vehicle is currently traveling in a straight lane and changes lanes to an adjacent lane, so that another vehicle in the adjacent lane enters the rear collision warning area, the collision time between the vehicle and the other vehicle is calculated, and when the collision time is less than the preset collision time threshold, the vehicle is controlled to perform a rear collision warning operation; if the vehicle is currently traveling in a straight lane, and there is another vehicle changing lanes from directly behind the vehicle to enter the adjacent lane of the vehicle and exit the rear collision warning area, the collision time between the vehicle and the other vehicle is calculated, and when the collision time is greater than the preset collision time threshold, the vehicle is controlled to cancel the rear collision warning operation.

[0143] Therefore, the embodiments of the present application can perform comprehensive and all-round warning operations for vehicles through an obstacle detection radar with a simple structure, low transmission power, high resolution and sensitivity, and small antenna component size, thereby greatly improving the efficiency and reliability of vehicle warnings.

[0144] According to the vehicle warning method based on side obstacle detection radar proposed in the embodiment of the present application, the vehicle driving information of the target vehicle and the radar data of at least one target side obstacle detection radar in the target vehicle are obtained; the blind spot detection area and the door opening warning area of ​​the target vehicle are determined, and according to the vehicle driving information, the blind spot detection area and the door opening warning area, it is judged whether the target vehicle meets the preset blind spot warning conditions and / or door opening warning conditions, wherein if the target vehicle meets the preset blind spot warning conditions and / or door opening warning conditions, the target vehicle is controlled to perform blind spot warning operations and / or door opening warning operations; based on the radar data and / or the vehicle driving information, it is judged whether the target vehicle meets the preset front and rear traffic warning requirements, wherein if the target vehicle meets the front and rear traffic warning requirements, the target vehicle is controlled to perform front and rear traffic warning operations, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirements, the rear lateral traffic warning requirements and the rear collision warning requirements. The present application uses the vehicle side obstacle detection radar for detection and early warning, thereby greatly improving the detection performance and environmental adaptability of the vehicle anti-collision detection, reducing the structural complexity and detection cost of the vehicle anti-collision detection, and effectively improving the market competitiveness of the vehicle anti-collision detection function.

[0145] Secondly, the vehicle warning device based on the side obstacle detection radar proposed in accordance with the embodiment of the present application is described with reference to the accompanying drawings.

[0146] Fig.15 It is a block diagram of a vehicle warning device based on a side obstacle detection radar according to an embodiment of the present application.

[0147] like Fig.15 As shown, the vehicle warning device 10 based on the side obstacle detection radar includes: a first acquisition module 100, a first warning module 200 and a second warning module 300.

[0148] The first acquisition module 100 is used to acquire vehicle driving information of the target vehicle and radar data of at least one target side obstacle detection radar in the target vehicle.

[0149] The first warning module 200 is used to determine the blind spot detection area and the door opening warning area of ​​the target vehicle, and judge whether the target vehicle meets the preset blind spot warning conditions and / or door opening warning conditions based on the vehicle driving information, the blind spot detection area and the door opening warning area, wherein if the target vehicle meets the preset blind spot warning conditions and / or door opening warning conditions, the target vehicle is controlled to perform a blind spot warning operation and / or a door opening warning operation.

[0150] The second warning module 300 is used to determine whether the target vehicle meets the preset front and rear traffic warning requirements based on radar data and / or vehicle driving information, wherein if the target vehicle meets the front and rear traffic warning requirements, the target vehicle is controlled to perform front and rear traffic warning operations, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirements, the rear lateral traffic warning requirements and the rear collision warning requirements.

[0151] Optionally, in one embodiment of the present application, the vehicle warning device 10 based on the side obstacle detection radar of the embodiment of the present application further includes: a second acquisition module, a lane change module, a third warning module and a fourth warning module.

[0152] Among them, the second acquisition module is used to obtain the current position information and body size information of the target vehicle, so as to determine the lane change auxiliary warning area of ​​the target vehicle according to the current position information and body size information.

[0153] The lane changing module is used to determine the lane driving information of the target vehicle according to the vehicle driving information, and based on the lane driving information, determine whether the target vehicle has the intention to change lanes, and if the target vehicle has the intention to change lanes, determine the type of lane the target vehicle is currently traveling in.

[0154] The third warning module is used to control the target vehicle to perform a lane change assistance warning operation if the target vehicle is currently traveling on a straight lane or a curve, and there is another vehicle entering the lane change assistance warning area in an adjacent lane or there is another vehicle changing lanes from directly behind the target vehicle and entering the lane change assistance warning area, and at the same time, the collision time between the target vehicle and the other vehicle is less than a preset collision time threshold.

[0155] The fourth warning module is used for not performing lane change assistance warning operation if the target vehicle is currently traveling in a straight lane and there is another vehicle changing lanes from the blind spot detection area of ​​the target vehicle to an adjacent lane of the other vehicle's current lane or directly behind the target vehicle and driving out of the blind spot detection area.

[0156] Optionally, in one embodiment of the present application, the first warning module 200 includes: a first determination unit, a first judgment unit, a first control unit, a second control unit, an identification unit, an overtaking unit, a detection unit and a third control unit.

[0157] The first determination unit is used to obtain the current position information and the body size information of the target vehicle, so as to determine the blind spot detection area of ​​the target vehicle according to the current position information and the body size information.

[0158] The first judgment unit is used to determine the lane driving information of the target vehicle according to the vehicle driving information, and based on the lane driving information, judge the lane type in which the target vehicle is currently driving.

[0159] The first control unit is used to control the target vehicle to perform a blind spot warning operation if the target vehicle is currently traveling on a straight lane or a curved road and there is another vehicle entering the blind spot detection area along an adjacent lane or there is another vehicle changing lanes from directly behind the target vehicle and entering the blind spot detection area.

[0160] The second control unit is used to control the target vehicle to perform a blind spot warning operation if the target vehicle is currently traveling on a straight lane and there is another vehicle changing lanes from a lane separated from the target vehicle's current lane and entering the blind spot detection area.

[0161] The recognition unit is used to control the target vehicle to perform a blind spot recognition operation on the other vehicle if the target vehicle is currently traveling on a straight lane and there is another vehicle traveling in the opposite direction of the target vehicle.

[0162] The overtaking unit is used to control the target vehicle to perform a blind spot warning operation if the target vehicle is currently traveling on a straight lane and the target vehicle performs an overtaking lane change operation so that another vehicle in an adjacent lane of the target vehicle enters the blind spot detection area.

[0163] The detection unit is used to detect whether there is a door opening operation on all doors of the target vehicle. If there is no door opening operation on all doors of the target vehicle, and there is another vehicle behind the target vehicle entering the door opening warning area, and the collision time between the target vehicle and the other vehicle is less than a preset collision time threshold, the target vehicle is controlled to execute a warning operation of prohibiting the opening of the door on the same side as the other vehicle.

[0164] The third control unit is used to control the target vehicle to execute the warning operation of closing the door on the same side as the other vehicle if at least one door of the target vehicle is opened, and there is another vehicle behind the target vehicle entering the door opening warning area and being on the same side as the at least one door, and at the same time the collision time between the target vehicle and the other vehicle is less than a preset collision time threshold.

[0165] Optionally, in one embodiment of the present application, the second warning module 300 includes: a second determination unit, a first calculation unit, a second calculation unit, a fourth control unit, a fifth control unit, a shielding unit and a sixth control unit.

[0166] Among them, the second determination unit is used to determine the front crossing warning area and the rear lateral traffic warning area of ​​the target vehicle, and judge the movement state of the target vehicle according to the radar data and / or the vehicle driving information.

[0167] The first calculation unit is used to calculate the collision time between the target vehicle and the other vehicle when the target vehicle is in a forward state and there are no obstacles on both sides of the target vehicle and there is another vehicle entering the front crossing warning area, and control the target vehicle to perform a front crossing warning and / or braking operation when the collision time is less than a preset collision time threshold.

[0168] The second calculation unit is used to calculate the collision time and lateral relative speed between the target vehicle and the other vehicle when the target vehicle is in a forward state and there is another vehicle entering the front crossing warning area, and to prevent the target vehicle from performing the front crossing warning operation when the collision time is greater than a preset collision time threshold and the lateral relative speed is less than a preset lateral speed threshold.

[0169] The fourth control unit is used to calculate the collision time between the target vehicle and the other vehicle when the target vehicle is in a forward state and there is an obstacle on one side of the target vehicle, and at the same time there is another vehicle entering the front crossing warning area from the side of the obstacle, and control the target vehicle to perform a front crossing warning and / or braking operation when the collision time is less than a preset collision time threshold and the preset lateral target does not meet the preset complete occlusion requirement.

[0170] The fifth control unit is used to calculate the collision time and angle between the target vehicle and the other vehicle when the target vehicle is in a forward state and there is another vehicle changing lanes and entering the front crossing warning area of ​​the target vehicle, and control the target vehicle to perform a front crossing warning and / or braking operation when the collision time is less than a preset collision time threshold and the angle is less than a preset safety angle threshold.

[0171] The blocking unit is used to calculate the collision time between the target vehicle and the other vehicle when the target vehicle is in a reversing state and there are no obstacles blocking the two sides of the target vehicle or there are stationary obstacles blocking the rear lateral traffic warning area, and when another vehicle enters the rear lateral traffic warning area, and when the collision time is less than a preset collision time threshold, control the target vehicle to perform a rear lateral traffic warning and / or braking operation.

[0172] The sixth control unit is used to control the target vehicle to perform rear cross traffic warning and / or braking operations when the target vehicle is in a reversing state and there are no obstacles blocking the two sides of the target vehicle or there are stationary obstacles in the rear cross traffic warning area.

[0173] Optionally, in one embodiment of the present application, the second warning module 300 further includes: a third determination unit, a seventh control unit, a third calculation unit and a release unit.

[0174] Wherein, the third determination unit is used to determine the rear collision warning area of ​​the target vehicle.

[0175] The seventh control unit is used to calculate the collision time between the target vehicle and the other vehicle when the target vehicle is currently traveling on a straight lane and there is another vehicle traveling directly behind the target vehicle or entering the current driving lane of the target vehicle from other lanes and entering the rear collision warning area, and control the target vehicle to perform a rear collision warning operation when the collision time is less than a preset collision time threshold.

[0176] The third calculation unit is used to calculate the collision time between the target vehicle and the other vehicle when the target vehicle is currently traveling in a straight lane and changes lanes to an adjacent lane, causing another vehicle in the adjacent lane to enter the rear collision warning area, and control the target vehicle to perform a rear collision warning operation when the collision time is less than a preset collision time threshold.

[0177] The release unit is used to calculate the collision time between the target vehicle and the other vehicle when the target vehicle is currently traveling on a straight lane and there is another vehicle changing lanes from directly behind the target vehicle and entering the adjacent lane of the target vehicle and driving out of the rear collision warning area, and control the target vehicle to release the rear collision warning operation when the collision time is greater than a preset collision time threshold.

[0178] It should be noted that the aforementioned explanation of the embodiment of the vehicle warning method based on the side obstacle detection radar is also applicable to the vehicle warning device based on the side obstacle detection radar of this embodiment, and will not be repeated here.

[0179] According to the vehicle warning device based on the side obstacle detection radar proposed in the embodiment of the present application, it includes a first acquisition module, which is used to obtain the vehicle driving information of the target vehicle and the radar data of at least one target side obstacle detection radar in the target vehicle; a first warning module, which is used to determine the blind spot detection area and the door opening warning area of ​​the target vehicle, and judge whether the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition according to the vehicle driving information, the blind spot detection area and the door opening warning area, wherein if the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition, the target vehicle is controlled to perform a blind spot warning operation and / or a door opening warning operation; a second warning module, which is used to judge whether the target vehicle meets the preset front and rear traffic warning requirements based on the radar data and / or the vehicle driving information, wherein if the target vehicle meets the front and rear traffic warning requirements, the target vehicle is controlled to perform a front and rear traffic warning operation, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirement, the rear lateral traffic warning requirement and the rear collision warning requirement. The present application uses the vehicle side obstacle detection radar for detection and early warning, thereby greatly improving the detection performance and environmental adaptability of the vehicle anti-collision detection, reducing the structural complexity and detection cost of the vehicle anti-collision detection, and effectively improving the market competitiveness of the vehicle anti-collision detection function.

[0180] Fig.16 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0181] A memory 1601 , a processor 1602 , and a computer program stored in the memory 1601 and executable on the processor 1602 .

[0182] When the processor 1602 executes the program, the vehicle warning method based on the side obstacle detection radar provided in the above embodiment is implemented.

[0183] Furthermore, the vehicle also includes:

[0184] The communication interface 1603 is used for communication between the memory 1601 and the processor 1602 .

[0185] The memory 1601 is used to store computer programs that can be executed on the processor 1602 .

[0186] The memory 1601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0187] If the memory 1601, the processor 1602 and the communication interface 1603 are implemented independently, the communication interface 1603, the memory 1601 and the processor 1602 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.16 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0188] Optionally, in a specific implementation, if the memory 1601, the processor 1602 and the communication interface 1603 are integrated on a chip, the memory 1601, the processor 1602 and the communication interface 1603 can communicate with each other through an internal interface.

[0189] The processor 1602 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0190] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the vehicle warning method based on the side obstacle detection radar as described above is implemented.

[0191] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, is used to implement the above-mentioned vehicle warning method based on side obstacle detection radar.

[0192] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0193] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0194] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0195] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0196] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0197] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0198] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0199] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A vehicle early warning method based on side obstacle detection radar, characterized in that: The following steps are involved: Acquiring vehicle driving information of a target vehicle and radar data of at least one target side obstacle detection radar in the target vehicle; Determine a blind spot detection area and a door opening warning area of ​​the target vehicle, and judge whether the target vehicle meets a preset blind spot warning condition and / or a door opening warning condition according to the vehicle driving information, the blind spot detection area and the door opening warning area, wherein if the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition, control the target vehicle to perform a blind spot warning operation and / or a door opening warning operation; Based on the radar data and / or the vehicle driving information, determine whether the target vehicle meets the preset front and rear traffic warning requirements, wherein if the target vehicle meets the front and rear traffic warning requirements, control the target vehicle to perform front and rear traffic warning operations, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirements, the rear lateral traffic warning requirements and the rear collision warning requirements.

2. The method according to claim 1, characterized in that Also includes: Acquiring current position information and body size information of the target vehicle, so as to determine a lane change auxiliary warning area of ​​the target vehicle according to the current position information and the body size information; Determine the lane driving information of the target vehicle according to the vehicle driving information, and based on the lane driving information, determine whether the target vehicle has an intention to change lanes, and if the target vehicle has an intention to change lanes, determine the type of lane the target vehicle is currently traveling in; If the target vehicle is currently traveling on a straight lane or a curved road, and there is another vehicle in an adjacent lane entering the lane change assistance warning area or there is another vehicle changing lanes from directly behind the target vehicle and entering the lane change assistance warning area, and at the same time, the collision time between the target vehicle and the other vehicle is less than a preset collision time threshold, then the target vehicle is controlled to perform a lane change assistance warning operation; If the target vehicle is currently traveling on the straight lane, and there is another vehicle that changes lanes from the blind spot detection area of ​​the target vehicle to an adjacent lane of the other vehicle's current lane or directly behind the target vehicle, and then drives out of the blind spot detection area, the target vehicle does not perform the lane change assistance warning operation.

3. The method according to claim 1, characterized in that The determining of the blind spot detection area and the door opening warning area of ​​the target vehicle, and judging whether the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition according to the vehicle driving information, the blind spot detection area and the door opening warning area, wherein if the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition, controlling the target vehicle to perform a blind spot warning operation and / or a door opening warning operation, comprises: Acquiring current position information and body size information of the target vehicle to determine the blind spot detection area of ​​the target vehicle according to the current position information and the body size information; Determining lane driving information of the target vehicle according to the vehicle driving information, and judging the type of lane in which the target vehicle is currently traveling based on the lane driving information; If the target vehicle is currently traveling on a straight lane or a curved road, and there is another vehicle driving into the blind spot detection area along an adjacent lane or there is another vehicle changing lanes from directly behind the target vehicle and driving into the blind spot detection area, then the target vehicle is controlled to perform a blind spot warning operation; If the target vehicle is currently traveling on the straight lane, and there is another vehicle that changes lanes from the lane that is separated from the lane that the target vehicle is currently traveling in and enters the blind spot detection area, then the target vehicle is controlled to perform a blind spot warning operation; If the target vehicle is currently traveling on the straight lane, and there is another vehicle traveling in the opposite direction of the target vehicle, controlling the target vehicle to perform a blind spot recognition operation on the other vehicle; If the target vehicle is currently traveling on the straight lane, and the target vehicle performs an overtaking and lane-changing operation, so that another vehicle in an adjacent lane of the target vehicle enters the blind spot detection area, the target vehicle is controlled to perform a blind spot warning operation; Detecting whether all doors of the target vehicle have been opened, if all doors of the target vehicle have not been opened, and there is another vehicle behind the target vehicle entering the door opening warning area, and the collision time between the target vehicle and the another vehicle is less than a preset collision time threshold, then controlling the target vehicle to execute a warning operation of prohibiting the opening of the door on the same side as the another vehicle; If at least one door of the target vehicle is opened, and there is another vehicle behind the target vehicle that enters the door opening warning area and is on the same side as the at least one door, and at the same time the collision time between the target vehicle and the other vehicle is less than a preset collision time threshold, the target vehicle is controlled to execute a warning operation of closing the door on the same side as the other vehicle.

4. The method according to claim 1, characterized in that: The method further comprises: determining whether the target vehicle meets the preset front and rear traffic warning requirements based on the radar data and / or the vehicle driving information, wherein if the target vehicle meets the front and rear traffic warning requirements, controlling the target vehicle to perform the front and rear traffic warning operation, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirements, the rear lateral traffic warning requirements and the rear collision warning requirements, including: Determine a forward crossing warning area and a rearward lateral traffic warning area of ​​the target vehicle, and judge the motion state of the target vehicle according to the radar data and / or the vehicle driving information; When the target vehicle is in a forward state, and there are no obstacles on both sides of the target vehicle, and another vehicle enters the front crossing warning area, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is less than a preset collision time threshold, the target vehicle is controlled to perform a front crossing warning and / or a braking operation; When the target vehicle is in a forward state and there is another vehicle entering the front crossing warning area, the collision time and the lateral relative speed between the target vehicle and the another vehicle are calculated, and when the collision time is greater than the preset collision time threshold and the lateral relative speed is less than the preset lateral speed threshold, the target vehicle does not perform the front crossing warning operation; When the target vehicle is in a forward state, and there is the obstacle on one side of the target vehicle, and at the same time there is the other vehicle driving into the front crossing warning area from the side of the obstacle, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is less than the preset collision time threshold and the preset lateral target does not meet the preset complete occlusion requirement, the target vehicle is controlled to perform a front crossing warning and / or a braking operation; When the target vehicle is in a forward state and there is a case where another vehicle changes lanes and enters the front crossing warning area of ​​the target vehicle, the collision time and angle between the target vehicle and the other vehicle are calculated, and when the collision time is less than the preset collision time threshold and the angle is less than the preset safety angle threshold, the target vehicle is controlled to perform a front crossing warning and / or a braking operation; When the target vehicle is in a reversing state, and there are no obstacles blocking the two sides of the target vehicle or there are stationary obstacles blocking the rear cross traffic warning area, and at the same time, another vehicle enters the rear cross traffic warning area, the collision time between the target vehicle and the another vehicle is calculated, and when the collision time is less than a preset collision time threshold, the target vehicle is controlled to perform a rear cross traffic warning and / or a braking operation; When the target vehicle is in a reversing state and there are no obstacles blocking the two sides of the target vehicle or there are stationary obstacles in the rear cross traffic warning area, the target vehicle is controlled to perform a rear cross traffic warning and / or a braking operation.

5. The method according to claim 4, characterized in that The method further comprises: determining whether the target vehicle meets the preset front and rear traffic warning requirements based on the radar data and / or the vehicle driving information, wherein if the target vehicle meets the front and rear traffic warning requirements, controlling the target vehicle to perform the front and rear traffic warning operation, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirements, the rear lateral traffic warning requirements and the rear collision warning requirements, and further comprising: Determining a rear collision warning area of ​​the target vehicle; When the target vehicle is currently traveling on a straight lane, and there is another vehicle traveling directly behind the target vehicle or entering the current driving lane of the target vehicle from another lane and entering the rear collision warning area, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is less than the preset collision time threshold, the target vehicle is controlled to perform a rear collision warning operation; When the target vehicle is currently traveling in a straight lane and changes lanes to an adjacent lane, so that another vehicle in the adjacent lane enters the rear collision warning area, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is less than the preset collision time threshold, the target vehicle is controlled to perform a rear collision warning operation; When the target vehicle is currently traveling on a straight lane and there is another vehicle that changes lanes from directly behind the target vehicle and enters an adjacent lane of the target vehicle and exits the rear collision warning area, the collision time between the target vehicle and the other vehicle is calculated, and when the collision time is greater than the preset collision time threshold, the target vehicle is controlled to cancel the rear collision warning operation.

6. A vehicle warning device based on side obstacle detection radar, characterized in that: include: A first acquisition module is used to acquire vehicle driving information of a target vehicle and radar data of at least one target side obstacle detection radar in the target vehicle; A first warning module is used to determine a blind spot detection area and a door opening warning area of ​​the target vehicle, and judge whether the target vehicle meets a preset blind spot warning condition and / or a door opening warning condition according to the vehicle driving information, the blind spot detection area and the door opening warning area, wherein if the target vehicle meets the preset blind spot warning condition and / or the door opening warning condition, the target vehicle is controlled to perform a blind spot warning operation and / or a door opening warning operation; The second warning module is used to determine whether the target vehicle meets the preset front and rear traffic warning requirements based on the radar data and / or the vehicle driving information, wherein if the target vehicle meets the front and rear traffic warning requirements, the target vehicle is controlled to perform front and rear traffic warning operations, wherein the front and rear traffic warning requirements include at least one of the front crossing warning requirements, the rear lateral traffic warning requirements and the rear collision warning requirements.

7. The device according to claim 6, characterized in that Also includes: A second acquisition module is used to acquire the current position information and the body size information of the target vehicle, so as to determine the lane change auxiliary warning area of ​​the target vehicle according to the current position information and the body size information; a lane changing module, for determining the lane driving information of the target vehicle according to the vehicle driving information, and judging whether the target vehicle has an intention to change lanes based on the lane driving information, and judging the type of lane in which the target vehicle is currently traveling if the target vehicle has an intention to change lanes; A third warning module is used for controlling the target vehicle to perform a lane change assistance warning operation if the target vehicle is currently traveling on a straight lane or a curved road, and there is another vehicle in an adjacent lane entering the lane change assistance warning area or there is another vehicle changing lanes from directly behind the target vehicle and entering the lane change assistance warning area, and at the same time, the collision time between the target vehicle and the other vehicle is less than a preset collision time threshold; The fourth warning module is used for not performing the lane change auxiliary warning operation if the target vehicle is currently traveling on the straight lane and there is another vehicle that changes lanes from the blind spot detection area of ​​the target vehicle to an adjacent lane of the other vehicle's current lane or directly behind the target vehicle and drives out of the blind spot detection area.

8. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle warning method based on the side obstacle detection radar as described in any one of claims 1 to 5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle warning method based on side obstacle detection radar as described in any one of claims 1 to 5.

10. A computer program product, comprising a computer program, characterized in that The computer program is executed to implement the vehicle warning method based on side obstacle detection radar as described in any one of claims 1 to 5.

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