Vehicle blind area monitoring method and system, storage medium and electronic equipment

Abstract

The invention provides a vehicle blind area monitoring method and system, a storage medium and electronic equipment. The vehicle blind area monitoring method comprises the steps that monitoring areas of a first radar and a second radar are monitored through the first radar and the second radar, and the alarm range of the first radar and the alarm range of the second radar are overlapped; when one of the preceding radars monitors a target object and judges that the target object reaches an alarm condition, alarm processing is carried out; judging whether the target object is located in the overlapping area or not; if the target object is located in the overlapping area, the preceding radar sends a warning signal to another latter radar, the latter radar carries out alarm processing after receiving the warning signal and carries out tracking monitoring on the target object, and the warning signal at least comprises the alarm type and the alarm level of the target object. According to the vehicle blind area monitoring method, the target object can be effectively monitored by the radar, and the vehicle blind area monitoring method has the advantages of high real-time performance, small data transmission quantity and the like.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology and relates to a blind spot monitoring method, and in particular to a vehicle blind spot monitoring method, system, storage medium and electronic device. Background Art

[0002] When driving a commercial vehicle (such as a large truck or bus), the driver's line of sight is easily blocked by the vehicle body structure due to its large size, forming multiple large blind spots. These blind spots are distributed around the vehicle, especially on the left and right sides and the rear area where the driver's line of sight cannot directly cover. The existence of blind spots poses a great safety hazard to driving, especially in complex road conditions. For example, when pedestrians, bicycles, motorcycles or small vehicles are in these blind spots, the driver often cannot find them in time, which may cause a collision accident.

[0003] Radar detection technology is a technology that uses electromagnetic waves to detect targets. It has the advantages of long detection distance, high accuracy, and strong anti-interference ability. It has been widely used in the field of vehicle safety equipment. However, for commercial vehicles, due to the large size of the vehicle body, the detection range of a single radar often cannot cover all blind spots around the entire vehicle body. Therefore, it is usually necessary to install multiple radars at different locations on the vehicle to achieve comprehensive monitoring of the vehicle's surroundings. However, this method still has some shortcomings. Summary of the invention

[0004] The embodiments of the present application provide a vehicle blind spot monitoring method, system, storage medium and electronic device for ensuring effective monitoring of target objects by radar.

[0005] In a first aspect, an embodiment of the present application provides a vehicle blind spot monitoring method, the vehicle blind spot monitoring method comprising: monitoring respective monitoring areas by a first radar and a second radar, wherein there is an overlapping area between the alarm ranges of the first radar and the second radar; performing alarm processing when one of the prior radars detects a target object and determines that the target object meets the alarm condition; determining whether the target object is located in the overlapping area; if the target object is located in the overlapping area, the prior radar sends a warning signal to another subsequent radar, and the subsequent radar performs alarm processing and tracks and monitors the target object after receiving the warning signal, and the warning signal includes at least the alarm type and alarm level of the target object.

[0006] In an implementation of the first aspect, determining whether the target object is located in the overlapping area includes: determining the range of the overlapping area according to the installation positions and angles of the preceding radar and the succeeding radar and the alarm ranges of the preceding radar and the succeeding radar; determining the position information of the target object according to the echo signal of the target object; and determining whether the target object is located in the overlapping area according to the position information of the target object and the range of the overlapping area.

[0007] In an implementation of the first aspect, the preceding radar sends a warning signal to another following radar, including: matching the target object with an object monitored by the following radar based on position information and speed information of the target object; if the target match is successful, sending the warning signal to the following radar.

[0008] In an implementation of the first aspect, target matching of the target object with the object monitored by the following radar based on the position information and speed information of the target object includes: obtaining the position difference and speed difference between the target object and each object monitored by the following radar; among the objects monitored by the following radar, if there is an object whose position difference with the target object is less than a first threshold and whose speed difference is less than a second threshold, confirming that the match is successful, otherwise confirming that the match fails.

[0009] In an implementation of the first aspect, the following radar performs alarm processing and tracks and monitors the target object after receiving the warning signal, including: the following radar binds the warning signal with the object monitored by the following radar and performs alarm processing based on the warning signal, and then tracks and monitors the target object.

[0010] In an implementation manner of the first aspect, the first radar is a main radar of the triangular radar, and the second radar is a slave radar of the triangular radar; or, the first radar is a slave radar of the triangular radar, and the second radar is the main radar of the triangular radar.

[0011] In an implementation of the first aspect, the triangular radar includes a radar mounting part, the first radar and the second radar, the first radar and the second radar are respectively located on the front side and the rear side of the radar mounting part, the beam direction of the first radar and the beam direction of the second radar are at a preset angle, and the monitoring area of ​​the first radar and the monitoring area of ​​the second radar partially overlap.

[0012] In a second aspect, an embodiment of the present application provides a vehicle blind spot monitoring system, which includes: a monitoring module, which is used to monitor respective monitoring areas through a first radar and a second radar, and there is an overlapping area between the alarm ranges of the first radar and the second radar; an alarm module, which is used to perform alarm processing when one of the prior radars monitors a target object and determines that the target object meets the alarm conditions; a judgment module, which is used to determine whether the target object is located in the overlapping area; a signal sending module, which is used to send a warning signal to another subsequent radar through the prior radar when the target object is located in the overlapping area, and the subsequent radar performs alarm processing and tracks and monitors the target object after receiving the warning signal, and the warning signal includes at least the alarm type and alarm level of the target object.

[0013] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method described in any one of the first aspects of the embodiment of the present application is implemented.

[0014] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising: a memory storing a computer program; and a processor communicatively connected to the memory, for executing any of the methods described in the first aspect of the embodiment of the present application when the computer program is called. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Shown is a schematic diagram of the vehicle's blind spots.

[0016] Figure 2A Shown is a schematic diagram of an implementation environment of an embodiment of the present application.

[0017] Figure 2B Shown is a flow chart of a vehicle blind spot monitoring method provided in an embodiment of the present application.

[0018] Figure 3 Shown is a flow chart for determining whether a previous radar has detected a target object in an embodiment of the present application.

[0019] Figure 4 Shown is a flow chart for determining whether a target object is located in an overlapping area in an embodiment of the present application.

[0020] Figure 5 Shown is a flow chart of a preceding radar sending a warning signal to a following radar in an embodiment of the present application.

[0021] Figure 6 Shown is a schematic diagram of the structure of the triangular radar in an embodiment of the present application.

[0022] Figure 7Shown is a schematic diagram of the structure of a vehicle blind spot monitoring system provided in an embodiment of the present application.

[0023] Figure 8 Shown is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0024] Component number description

[0025] 700 Vehicle Blind Spot Monitoring System

[0026] 710 Monitoring Module

[0027] 720 Alarm Module

[0028] 730 Judgment Module

[0029] 740 signal sending module

[0030] 800 Electronic equipment

[0031] 801 Processor

[0032] 802 Memory

[0033] 8021 Operating System

[0034] 8022 Applications

[0035] 803 Network Interface

[0036] 804 bus system

[0037] 805 User Interface DETAILED DESCRIPTION

[0038] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0039] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present application in a schematic manner, and therefore the illustrations only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0040] In the embodiments of the present application, the words "exemplary" or "for example" represent examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0041] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can represent: a, b, c, ab, ac, bc or abc, where a, b, c can be single or multiple.

[0042] Take trucks as an example. Figure 1 The following is a schematic diagram of the truck's blind spot. Figure 1 As shown, the blind spots around the truck include blind spots A to blind spots E, among which the blind spots C and D on both sides of the truck and the blind spot E at the rear are the largest. In order to reduce the safety hazards caused by blind spots, some technical solutions install radars on the body and / or rear of the truck to monitor the corresponding blind spots. However, the detection range of the radar is limited. When the blind spot range is large, multiple radars are usually installed to increase the detection field of view to meet the blind spot monitoring needs of the truck. However, for a moving object, if one of the radars detects the object and generates an alarm in a short period of time, and then the object enters the monitoring area of ​​another radar, the alarm signal of the previous radar will be interrupted, and the latter radar needs to process about 7 frames of signals to give an alarm judgment and generate an alarm. In this process, there will be a monitoring blank time, which will lead to safety hazards. In addition, since the alarm needs to be transmitted between the previous radar and the latter radar, a large amount of data transmission and processing is required. These data are, for example, the distance, speed, angle, etc. of the measured target, which will reduce the real-time performance and efficiency of the system.

[0043] At least to address the above problems, the present application provides a vehicle blind spot monitoring method, which can be used to monitor the vehicle blind spot of a commercial vehicle. Figure 1 A truck is used as an example for introduction, but the present application is not limited to this.

[0044] Figure 2A The diagram shows an overall implementation environment of an embodiment of the present application. Figure 2A As shown, the first radar and the second radar have corresponding alarm ranges respectively, and there is an overlapping area between the alarm ranges of the first radar and the second radar. The alarm range of the radar can be determined according to corresponding standards. In some implementations, the alarm range of the radar is included in the monitoring area of ​​the radar, but is not limited thereto.

[0045] It should be understood that, for the first radar and the second radar, "first" and "second" are only used to distinguish different radars, rather than to limit the radars. Figure 2A The radar located in the front is used as the first radar, and the radar located in the rear is used as the second radar. The radar located in the front can also be used as the second radar, and the radar located in the rear can be used as the first radar, which will not affect the technical solution of the embodiment of the present application.

[0046] Figure 2B The flowchart of the vehicle blind spot monitoring method provided by the embodiment of the present application is shown. Figure 2B As shown, the vehicle blind spot monitoring method provided in the embodiment of the present application includes the following steps S21 to S23.

[0047] S21, monitoring respective monitoring areas by using the first radar and the second radar, wherein the alarm ranges of the first radar and the second radar overlap.

[0048] S22, when one of the preceding radars detects a target object and determines that the target object reaches an alarm condition, an alarm process is performed, wherein the preceding radar is a first radar and the succeeding radar is a second radar, or the preceding radar is the second radar and the succeeding radar is the first radar.

[0049] S23, determining whether the target object is located in the overlapping area.

[0050] S24, if the target object is located in the overlapping area, the preceding radar sends a warning signal to another following radar, and the following radar performs alarm processing after receiving the warning signal and tracks and monitors the target object. The warning signal at least includes the alarm type and alarm level of the target object.

[0051] As described above, in the embodiment of the present application, the preceding radar can directly transmit the warning signal to the following radar, and the following radar can directly give an alarm and continue to track the target object after receiving the warning signal. Therefore, the following radar does not need to perform additional data processing to determine whether to give an alarm. In this way, effective monitoring of the target object can be ensured, and monitoring blank time can be avoided.

[0052] In some implementations, the vehicle blind spot monitoring method provided in the embodiment of the present application may further include: judging whether the prior radar has detected the target object based on the echo signal received by the prior radar. The echo signal may include speed information and / or position information, etc.

[0053] Exemplarily, it is possible to determine whether the previous radar has detected the target object based on preset conditions. The preset conditions can be set according to actual needs. For example, the preset conditions may include parameters such as the size, speed, and direction of the target object, so as to accurately determine whether the previous radar has detected the target object.

[0054] For example, see Figure 3 , judging whether the prior radar has detected the target object according to the echo signal received by the prior radar may include the following steps S31 to S33.

[0055] S31, when the previous radar receives a frame of echo signal of the target object, predict the position of the target object corresponding to the next frame of echo signal according to the frame of echo signal.

[0056] Exemplarily, in step S31 , the position of the target object corresponding to the next frame of echo signal can be predicted according to the speed information and position information included in the frame of echo signal, but the present application is not limited thereto.

[0057] S32, when the previous radar receives the next frame of echo signal, it is determined whether the actual position of the target object corresponding to the next frame of echo signal is consistent with the predicted position. The consistency between the actual position and the predicted position means that the deviation between the two is less than a preset deviation, and the specific value of the preset deviation can be set according to actual needs.

[0058] S33: If the actual position of the target object corresponding to a plurality of consecutive frames of echo signals is consistent with the predicted position, it is determined that the target object has been detected by the previous radar.

[0059] It should be understood that the monitoring process is described above by taking the previous radar as an example. The monitoring process of the subsequent radar is similar to that of the previous radar, and will not be described in detail.

[0060] In some implementations, alarm processing may include sound alarms, light alarms, and / or vibration alarms. For example, when the radar detects a target object and determines that the target object meets the alarm conditions, a continuous beeping sound may be emitted and a red warning light may flash, but the present application is not limited to this.

[0061] See also Figure 4 In some implementations, determining whether the target object is located in the overlapping area includes the following steps S41 to S43.

[0062] S41, determine the range of the overlapping area according to the installation position and angle of the preceding radar and the following radar and the alarm range of the preceding radar and the following radar. Taking the preceding radar as an example, the preceding radar has a predetermined alarm area, and the alarm area is, for example, a fan-shaped area centered on the preceding radar. After the preceding radar is installed, the actual alarm range of the preceding radar can be determined according to the installation position and angle of the preceding radar and the alarm area of ​​the preceding radar. The actual alarm range of the following radar can be determined in a similar manner. The area where the actual alarm ranges of the preceding radar and the following radar overlap is the above-mentioned overlapping area.

[0063] S42, determining the position information of the target object according to the echo signal of the target object.

[0064] S43: determining whether the target object is located in the overlapping area according to the position information of the target object and the range of the overlapping area.

[0065] See also Figure 5 In some implementations, the preceding radar sending a warning signal to another following radar includes the following steps S51 and S52.

[0066] S51, matching the target object with an object monitored by a subsequent radar according to the position information and speed information of the target object.

[0067] Exemplarily, matching the target object with the object monitored by the following radar according to the position information and speed information of the target object includes: obtaining the position difference and speed difference between the target object and each object monitored by the following radar; among the objects monitored by the following radar, if there is an object whose position difference with the target object is less than a first threshold and whose speed difference is less than a second threshold, then confirming that the match is successful, otherwise confirming that the match fails. The specific values ​​of the first threshold and the second threshold can be set according to actual needs, and this application does not limit this.

[0068] S52: If the target is matched successfully, a warning signal is sent to the following radar; otherwise, no warning signal is sent.

[0069] In some implementations, after receiving the warning signal, the rear radar performs alarm processing based on the warning signal and tracks and monitors the target object, including: after the rear radar binds the warning signal with the object monitored by the rear radar and performs alarm processing based on the warning signal, it tracks and monitors the target object.

[0070] In some implementations, the first radar is a primary radar of the triangular radar, and the second radar is a secondary radar of the triangular radar. In other implementations, the first radar is a secondary radar of the triangular radar, and the second radar is a primary radar of the triangular radar.

[0071] For example, Figure 6 An example diagram of a triangular radar is shown. The triangular radar includes a radar mounting portion, a first radar, and a second radar. The first radar and the second radar are respectively located on the front side and the rear side of the radar mounting portion. The beam direction of the first radar is at a preset angle to the beam direction of the second radar, and the monitoring area of ​​the first radar partially overlaps with the monitoring area of ​​the second radar. The preset angle can be set according to actual needs, and this application does not impose any restrictions on this. Compared with a single radar, a triangular radar has a larger monitoring area. For example, the rear direction of the vehicle's travel direction is 0 degrees and the forward direction is 180 degrees. If the field of view angles of the first radar and the second radar are both 120 degrees, the monitoring area of ​​the triangular radar can be an area between -20 degrees and 180 degrees.

[0072] For example, the front longitudinal preset range of the triangular radar is, for example, m1 meters in front of the front of the vehicle, the rear longitudinal range is, for example, m2 meters behind the rear of the vehicle, and the lateral range is, for example, m3 meters outside the vehicle. Among them, m1, m2 and m3 can be determined according to actual conditions, and this application does not limit this.

[0073] Exemplarily, the triangulated radar may further include a connecting piece for fixing the triangulated radar on a vehicle.

[0074] Next, the working method of triangular radar will be introduced. When the target object is located in the monitoring area of ​​the first radar, the high-frequency electromagnetic wave signal emitted by the first radar will be reflected after reaching the target object, and part of the signal will be reflected back to form an echo. The first radar can calculate the distance, speed, relative direction and other parameters of the target object by analyzing the time delay, frequency change (Doppler effect) and signal strength of the echo signal, and then obtain the position of the target object. According to the comparison between the position of the target object and the alarm range and overlapping area of ​​the first radar, it can be judged whether the target object is located in the alarm range of the first radar and whether it is located in the overlapping area. When the target object is located in the monitoring area of ​​the second radar, the second radar can monitor the target object in a similar manner. Therefore, whether the target object is located in the monitoring area of ​​the first radar or the monitoring area of ​​the second radar, the triangular radar can monitor the target object. Compared with the method of using the first radar or the second radar for monitoring alone, the triangular radar has a larger monitoring area, so it can be better used to monitor the blind spots of commercial vehicles.

[0075] In some other embodiments, the vehicle blind spot monitoring method provided by the present application can also be used for blind spot monitoring of non-commercial vehicles. In these embodiments, the first radar and the second radar can be installed at different positions of the vehicle, as long as there is an overlapping area between the alarm ranges of the first radar and the second radar.

[0076] In some implementations, multiple radars can be installed at different locations on the vehicle, and these radars work together and can perform antenna FOV (Field of View) range fusion. In this way, comprehensive monitoring of the vehicle's surroundings can be achieved, improving driving safety.

[0077] The protection scope of the vehicle blind spot monitoring method provided in the embodiment of the present application is not limited to the execution order of the steps listed in this embodiment. All solutions implemented by adding, reducing or replacing steps in the prior art based on the principles of the present application are included in the protection scope of the present application.

[0078] The embodiment of the present application also provides a vehicle blind spot monitoring system, which can implement the vehicle blind spot monitoring method described in the present application. However, the implementation device of the vehicle blind spot monitoring method described in the present application includes but is not limited to the structure of the vehicle blind spot monitoring system listed in the present embodiment. All structural deformations and replacements of the prior art made according to the principles of the present application are included in the protection scope of the present application.

[0079] Figure 7 is a schematic block diagram of a vehicle blind spot monitoring system provided in an embodiment of the present application. Figure 7 As shown, the vehicle blind spot monitoring system 700 includes a monitoring module 710, an alarm module 720, a judgment module 730 and a signal sending module 740. Among them, the monitoring module 710 is used to monitor the respective monitoring areas through the first radar and the second radar, and there is an overlapping area between the alarm ranges of the first radar and the second radar. The alarm module 720 is used to perform alarm processing when one of the previous radars monitors the target object and determines that the target object meets the alarm condition. The judgment module 730 is used to determine whether the target object is located in the overlapping area. The signal sending module 740 is used to send a warning signal to another subsequent radar through the previous radar when the target object is located in the overlapping area, and the subsequent radar performs alarm processing and tracks and monitors the target object after receiving the warning signal. Among them, the warning signal at least includes the alarm type and alarm level of the target object.

[0080] It should be understood that the specific process of each module executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0081] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by the processor, the vehicle blind spot monitoring method provided by the present application embodiment is implemented. A person of ordinary skill in the art can understand that all or part of the steps in the method for implementing the above embodiment can be completed by instructing the processor through a program, and the program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state hard disk, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid-state disk (SSD)), etc.

[0082] An embodiment of the present application also provides an electronic device. Figure 8 is a schematic block diagram of an electronic device provided in an embodiment of the present application. Figure 8 As shown, the electronic device 800 includes: at least one processor 801, a memory 802, at least one network interface 803 and a user interface 805. The various components in the electronic device 800 are coupled together through a bus system 804. It can be understood that the bus system 804 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 804 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, the bus system 804 is not described in detail. Figure 8 In the specification, various buses are labeled as bus systems.

[0083] The user interface 805 may include a display, a keyboard, a mouse, a trackball, a click gun, keys, buttons, a touch pad or a touch screen.

[0084] It is understood that the memory 802 can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), which is used as an external cache. By way of exemplary but not limiting explanation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM). The memory described in the embodiments of the present application is intended to include but is not limited to these and any other suitable categories of memory.

[0085] The memory 802 in the embodiment of the present application is used to store various categories of data to support the operation of the electronic device 800. Examples of these data include: any executable program for operating on the electronic device 800, such as an operating system 8021 and an application 8022; the operating system 8021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application 8022 may include various applications, such as a media player (Media Player), a browser (Browser), etc., for implementing various application services. The vehicle blind spot monitoring method provided in the embodiment of the present application may be included in the application 8022.

[0086] The method disclosed in the above embodiment of the present application can be applied to the processor 801, or implemented by the processor 801. The processor 801 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor 801 or an instruction in the form of software. The above processor 801 may be a general processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 801 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general processor 801 may be a microprocessor or any conventional processor, etc. In combination with the steps of the accessory optimization method provided in the embodiment of the present application, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0087] In an exemplary embodiment, the electronic device 800 may be implemented by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD) to execute the aforementioned method.

[0088] The present application embodiment may also provide a computer program product, the computer program product including one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the process or function described in the embodiment of the present application is generated in whole or in part. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer or data center.

[0089] When the computer program product is executed by a computer, the computer executes the method described in the above method embodiment. The computer program product may be a software installation package, and when the above method is required, the computer program product may be downloaded and executed on a computer.

[0090] The terms "component", "module", "system", etc. used in this specification are used to represent computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program and / or a computer. By way of illustration, both applications running on a computing device and a computing device can be components. One or more components may reside in a process and / or an execution thread, and a component may be located on a computer and / or distributed between two or more computers. In addition, these components may be executed from various computer-readable media having various data structures stored thereon. Components may, for example, communicate through local and / or remote processes according to signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system and / or a network, such as the Internet interacting with other systems through signals).

[0091] Those of ordinary skill in the art will appreciate that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0092] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0093] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0094] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0095] In the above embodiments, the functions of each functional unit can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions (programs). When loading and executing computer program instructions (programs) on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center.

[0096] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.

[0097] To summarize, the embodiments of the present application ensure effective monitoring of the target object by radar by transmitting warning signals between multiple radars, thereby avoiding the problem of radar warning signal interruption caused by the movement of the target object, improving the accuracy and real-time nature of the alarm, helping the driver to make correct judgments in a timely manner, and reducing safety hazards.

[0098] Compared with the solutions in the prior art that require a large amount of data transmission and processing between radars, the embodiments of the present application only need to transmit warning signals between the preceding radar and the following radar. This method greatly reduces the amount of data transmission and improves the real-time performance and efficiency of the system.

[0099] In addition, in the embodiment of the present application, multiple radars can be installed at different positions of the vehicle and the antenna FOV range can be fused to achieve comprehensive monitoring of the vehicle's surrounding environment, effectively solving the problem of blind spots on the side of the vehicle and improving driving safety.

[0100] Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0101] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A vehicle blind spot monitoring method, characterized in that: The vehicle blind spot monitoring method comprises: The first radar and the second radar monitor respective monitoring areas, and there is an overlapping area in the alarm ranges of the first radar and the second radar; When one of the previous radars detects the target object and determines that the target object meets the alarm condition, an alarm process is performed; Determining whether the target object is located in the overlapping area; If the target object is located in the overlapping area, the preceding radar sends a warning signal to another following radar. After receiving the warning signal, the following radar performs alarm processing and tracks and monitors the target object. The warning signal at least includes the alarm type and alarm level of the target object.

2. The vehicle blind spot monitoring method according to claim 1, characterized in that: Determining whether the target object is located in the overlapping area includes: Determining the range of the overlapping area according to the installation positions and angles of the preceding radar and the succeeding radar and the alarm ranges of the preceding radar and the succeeding radar; Determining the position information of the target object according to the echo signal of the target object; It is determined whether the target object is located in the overlapping area according to the position information of the target object and the range of the overlapping area.

3. The vehicle blind spot monitoring method according to claim 1, characterized in that: The preceding radar sending a warning signal to another following radar comprises: Matching the target object with the object monitored by the following radar according to the position information and speed information of the target object; If the target is matched successfully, the warning signal is sent to the following radar.

4. The vehicle blind spot monitoring method according to claim 3, characterized in that: Matching the target object with the object monitored by the following radar according to the position information and speed information of the target object includes: Obtaining a position difference and a speed difference between the target object and each object monitored by the following radar; If there is an object among the objects monitored by the following radar, whose position difference with the target object is less than the first threshold and whose speed difference is less than the second threshold, the matching is confirmed to be successful; otherwise, the matching is confirmed to be failed.

5. The vehicle blind spot monitoring method according to claim 1, characterized in that: The following radar performs alarm processing after receiving the warning signal and tracks and monitors the target object, including: The following radar tracks and monitors the target object after binding the warning signal with the warning signal of the object monitored by the following radar and performing alarm processing according to the warning signal.

6. The vehicle blind spot monitoring method according to claim 1, characterized in that: The first radar is a main radar of a triangular radar, and the second radar is a slave radar of the triangular radar; or The first radar is a slave radar of the triangular radar, and the second radar is a master radar of the triangular radar.

7. The vehicle blind spot monitoring method according to claim 6, characterized in that: The triangular radar includes a radar mounting part, the first radar and the second radar, the first radar and the second radar are respectively located on the front side and the rear side of the radar mounting part, the beam direction of the first radar and the beam direction of the second radar form a preset angle, and the monitoring area of ​​the first radar and the monitoring area of ​​the second radar partially overlap.

8. A vehicle blind spot monitoring system, characterized in that: The vehicle blind spot monitoring system comprises: A monitoring module, configured to monitor respective monitoring areas through a first radar and a second radar, wherein the alarm ranges of the first radar and the second radar have overlapping areas; An alarm module is used to perform alarm processing when one of the previous radars detects a target object and determines that the target object meets the alarm condition; A judging module, used for judging whether the target object is located in the overlapping area; A signal sending module is used to send a warning signal to another subsequent radar through the preceding radar when the target object is located in the overlapping area. After receiving the warning signal, the subsequent radar performs alarm processing and tracks and monitors the target object. The warning signal at least includes the alarm type and alarm level of the target object.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: The electronic device comprises: A memory storing a computer program; A processor is communicatively connected to the memory, and executes the method according to any one of claims 1 to 7 when calling the computer program.

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