Tracking method and device for vehicle right turn to non-motor vehicle lane blind area

Abstract

The present application relates to the field of vehicle safety, in particular to a tracking method for non-motor vehicle blind area in right turn at intersection of vehicle, and corresponding device and system thereof.The method comprises: S1: acquiring the steering wheel angle of the vehicle in real time, and calculating the vehicle turning angle according to the steering wheel angle and the vehicle body parameters; S2: acquiring the image frame of the non-motor vehicle lane on the right side through the blind area camera installed on the vehicle body, calculating the center coordinates of the blind area position according to the image frame, and representing the center coordinates as a parameter related to the vehicle turning angle; S3: obtaining the rotation relationship between the pan-tilt angle of the blind area camera and the vehicle turning angle based on the center coordinates of the blind area; and dynamically adjusting the pan-tilt angle of the blind area camera so that the optical center direction of the blind area camera coincides with the center coordinates of the blind area.The present application solves the problem that the prior art is difficult to realize real-time observation of the traffic conditions of the non-motor vehicle on the right side during right turn, thereby effectively reducing the incidence of traffic safety accidents.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle safety, in particular to a tracking method for a non-motor vehicle blind area during a right turn at a vehicle intersection, a non-motor vehicle blind area tracking device, and a right turn blind area safety auxiliary driving system for a vehicle. BACKGROUND

[0002] During a turn, the A-pillar, B-pillar, and other structural components of the vehicle body can easily block the driver's view, causing a blind area in the driver's field of view. The angle of the rearview mirror is fixed, and only the fixed area to the rear of the vehicle can be observed. When the angle of the vehicle is adjusted, only part of the non-motor vehicle lane can be observed through the rearview mirror or the vehicle window. The traffic dynamics in the blind area are unknown, which is not conducive to the driver's control of the vehicle and poses a threat to traffic safety.

[0003] In some vehicles, a camera is installed to obtain image data outside the vehicle, thereby helping the user to observe the traffic conditions in the blind area, in order to reduce the incidence of traffic accidents and improve driving safety. However, in actual situations, the installed camera can usually only observe a fixed angle of view. For the driver, it is not necessary to focus on the traffic conditions at a specific angle of view, but rather to focus on the traffic conditions at certain specific locations. For example, when the vehicle is turning right, it is usually necessary to focus on the traffic conditions on the right side of the non-motor vehicle. Therefore, during vehicle travel, how to dynamically track areas with safety risks is an important problem that needs to be solved by technical personnel. SUMMARY

[0004] In order to solve the problem that the prior art cannot realize real-time observation of the traffic conditions of the right side non-motor vehicle during a right turn, the present application provides a tracking method, device, and system for a non-motor vehicle blind area during a right turn at a vehicle intersection.

[0005] The technical solution provided by the present application includes the following contents:

[0006] A tracking method for a non-motor vehicle blind area during a right turn at a vehicle intersection is used to dynamically adjust the pan-tilt angle β of a blind area camera installed on the right side of the vehicle during a right turn of the vehicle, which includes the following steps:

[0007] S1: Real-time acquisition of the steering wheel angle θ of the vehicle sw , and calculation of the vehicle turning angle θ according to the steering wheel angle and the current vehicle body parameters.

[0008] S2: Obtain the image of the right side non-motor vehicle lane through the blind area camera installed on the vehicle body, calculate the center coordinates (C x , C y ) of the blind area position according to the image, and express them as parameters related to the vehicle turning angle; the process is as follows:

[0009] S21: Establish a vehicle coordinate system with the position of the right-side B-pillar of the vehicle as the origin, the vehicle's forward direction as the Y-axis, and the vehicle's width direction as the X-axis.

[0010] S22: Identify the intersection danger zone of the non-motorized vehicle lane in the image, define the area as a blind spot, and determine the boundary of the blind spot.

[0011] S23: Define the distance from the origin to the intersection of the far long side of the blind zone and the Y-axis as A; and the distance from the origin to the intersection of the near short side of the blind zone and the Y-axis as B.

[0012] S24: Obtain the values ​​of A, B, and θ in real time, and calculate the center coordinates (C) of the blind zone using the following formula. x C y ):

[0013]

[0014] In the above formula, d represents the width of the non-motorized vehicle lane;

[0015] S3: Center coordinates based on the blind zone (C x C y The rotational relationship between the gimbal rotation angle β of the blind spot camera and the vehicle rotation angle θ is obtained; the gimbal rotation angle β of the blind spot camera is dynamically adjusted so that the optical center direction of the blind spot camera coincides with the center coordinate of the blind spot.

[0016] In this invention, a blind spot is defined as a rectangular area with a width equal to the width of a non-motorized vehicle and a length of 30m. The pedestrian crossing at the intersection of the blind spot is the front boundary of the shorter side of the blind spot.

[0017] As a further improvement of the present invention, in step S1, the formula for calculating the vehicle turning angle θ is as follows:

[0018]

[0019] In the above formula, δ represents the vehicle's transmission ratio; v represents the vehicle's speed; and L represents the vehicle's length.

[0020] As a further improvement of the present invention, in step S3, the rotational relationship between the gimbal rotation angle β and the vehicle rotation angle θ is as follows:

[0021]

[0022] In the above formula, D represents the distance from the right-side rearview mirror of the vehicle to the b-pillar.

[0023] As a further improvement of the present invention, a preset steering wheel angle threshold θ0 is provided, and the real-time vehicle steering wheel angle θ swWhen the safety interval (-θ0, θ0) is exceeded, the right-turn non-motor vehicle lane tracking function of the vehicle is triggered.

[0024] As a further improvement of the application, a delay time T0 is preset; after the right-turn non-motor vehicle lane tracking function of the vehicle is triggered, when the steering wheel of the vehicle is returned to the original position for a time reaching the preset delay time T0, the right-turn non-motor vehicle lane tracking function of the vehicle is closed, and the gimbal of the camera is restored to the initial position.

[0025] As a further improvement of the application, the positioning and navigation information of the vehicle is acquired in real time, and the following decisions are made:

[0026] (1) When the vehicle reaches the intersection and the steering wheel of the vehicle is turned to an angle θ sw When the safety interval (-θ0, θ0) is exceeded, the right-turn non-motor vehicle lane tracking function of the vehicle is triggered.

[0027] (2) When the vehicle leaves the intersection and the steering wheel of the vehicle is returned to the original position for a time reaching the preset delay time T0, the right-turn non-motor vehicle lane tracking function of the vehicle is closed.

[0028] As a further improvement of the application, the image data collected by the blind area camera in the vehicle is displayed in real time, the moving targets in the video picture in the blind area are identified, and a warning is given to the driver when there is a moving target approaching in the blind area.

[0029] The application also includes a non-motor vehicle intersection blind area tracking device, which includes a memory, a processor, and a computer program stored in the memory and running in the processor. When the processor executes the computer program, the video data collected by the blind area camera and the steering angle θ of the vehicle are acquired in real time; then the gimbal angle β of the blind area camera is dynamically adjusted using the tracking method of the non-motor vehicle lane blind area in the right-turn of the vehicle intersection as described above.

[0030] The application also includes a vehicle right-turn blind area safety auxiliary driving system, which includes a blind area camera and a non-motor vehicle intersection blind area tracking device. The blind area camera is installed on the right side of the vehicle and is used to acquire the image picture of the right rear. The blind area camera also includes a gimbal for adjusting the direction of the camera.

[0031] The non-motor vehicle intersection blind area tracking device is electrically connected with the control system of the vehicle and the blind area camera; the non-motor vehicle intersection blind area tracking device is used to dynamically adjust the gimbal angle β of the blind area camera using the tracking method of the non-motor vehicle lane blind area in the right-turn of the vehicle intersection as described above after the right-turn non-motor vehicle lane tracking function of the vehicle is triggered, and the image data collected by the blind area camera is displayed in real time on the vehicle infotainment system.

[0032] The technical scheme provided by the application has the following beneficial effects:

[0033] The aspect provides a technical scheme of rotating and adjusting the angle of a blind area camera holder installed on a vehicle according to the steering angle of the vehicle. When the vehicle drives to a road intersection and performs right steering, the scheme can track and observe a high-risk area on a same-direction non-motor vehicle lane through the blind area camera, thereby providing guidance for the user's driving decision. The scheme of the application can reduce the visual blind area of the non-motor vehicle lane when the vehicle turns, thereby ensuring the understanding and property safety of other vehicles and pedestrians on the road.

[0034] In addition, the scheme of the application has simple logic, strong practicability, low deployment cost, and wide application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 A step flowchart of the tracking method of the non-motor vehicle lane blind area in the right steering of the vehicle at the road intersection provided in the embodiment 1 of the application.

[0036] Figure 2 A spatial distribution diagram of the blind area when the vehicle performs right steering at the road intersection.

[0037] Figure 3 A schematic diagram of a dynamic coordinate system of the blind area camera rotation control process established based on the vehicle.

[0038] Figure 4 An operating principle diagram of the non-motor vehicle lane blind area tracking device provided in the embodiment 2 of the application. DETAILED DESCRIPTION

[0039] The technical scheme in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0041] Embodiment 1

[0042] When a motor vehicle makes a right turn at an intersection, the driver may not be able to fully observe the traffic conditions on the right side of the non-motor vehicle lane due to the blind area caused by the vehicle B-pillar and other vehicle body structures and the user's driving skills, which may easily lead to traffic accidents. In order to reduce the incidence of such accidents, existing traffic regulations require vehicles to slow down, turn on the turn signal in advance, and use the rearview mirror to observe the road conditions when making a turn. However, the field of view of the rearview mirror changes when the vehicle turns, which cannot help the driver fully observe the risk areas such as the non-motor vehicle lane at the intersection. To solve this problem, the embodiment provides a method for tracking the blind area of the non-motor vehicle lane during the right turn of the vehicle at the intersection. The method is used to start the blind area camera installed on the right side of the vehicle when the vehicle reaches the intersection and makes a right turn, and dynamically adjust the pan-tilt angle β of the blind area camera. The corresponding position of the non-motor vehicle lane is tracked by the blind area camera, and the image collected by the blind area camera is used to guide the user's driving decision.

[0043] Specifically, as shown in Figure 1 , the method for tracking the blind area of the non-motor vehicle lane during the right turn of the vehicle at the intersection provided by the embodiment includes the following steps:

[0044] S1: Real-time acquisition of the steering wheel angle θ of the vehicle sw , and calculation of the vehicle turning angle θ according to the steering wheel angle and the body parameters of the current vehicle. The calculation process is as follows:

[0045] (1) First, calculate the wheel turning angle θ wh of the vehicle turning wheel according to the steering wheel angle:

[0046]

[0047] In the above formula, δ represents the transmission ratio of the vehicle.

[0048] (2) Calculate the turning radius r of the vehicle according to the wheel turning angle θ wh :

[0049]

[0050] In the above formula, L represents the body length of the vehicle.

[0051] (3) Calculate the vehicle turning angle θ of the vehicle according to the driving speed v of the vehicle and the turning radius r:

[0052]

[0053] S2: Obtain the image of the right side of the non-motor vehicle lane through the blind area camera installed on the vehicle, and calculate the center coordinates (C x , C yIn this embodiment, the blind spot camera needs to determine the center coordinates of the blind spot in order to track it. This embodiment determines the center coordinates (C) of the blind spot location. x C y The process is as follows:

[0054] S21: As Figure 2 As shown, a vehicle coordinate system is established with the position of the right-side B-pillar of the vehicle as the origin, the vehicle's forward direction as the Y-axis, and the vehicle's width direction as the X-axis.

[0055] S22: Identify the intersection danger zone of the non-motorized vehicle lane in the image, define the area as a blind spot, and determine the boundary of the blind spot.

[0056] In this embodiment, the blind spot is defined as a rectangular area with a width equal to the width of a non-motorized vehicle and a length of 30m. The pedestrian crossing at the intersection of the blind spot is the front boundary of the shorter side of the blind spot. That is, the 30m area of ​​the pedestrian crossing, starting from the boundary on the side closest to oncoming traffic, constitutes the blind spot that the blind spot camera in this embodiment needs to track. In practical applications, this area can be identified using image recognition algorithms, and the boundaries of the blind spot can be marked.

[0057] S23: Define the distance from the origin to the intersection of the far long side of the blind zone and the Y-axis as A; and the distance from the origin to the intersection of the near short side of the blind zone and the Y-axis as B.

[0058] In this embodiment, as Figure 3 As shown, the blind spot in the non-motorized vehicle lane is a quadrilateral, with its four corner points denoted as P1, P2, P3, and P4. P1P2 intersects the Y-axis at point E; P2P3 intersects the Y-axis at point F. At this point, A = |OF|, B = |OE|. Based on this, considering that the coordinate system's reference point changes continuously as the vehicle moves, the coordinates of the blind spot can be converted into a dynamic coordinate system related to the vehicle's turning angle θ. For example, in the dynamic coordinate system, combining the values ​​of A and B, the vehicle's turning angle θ, and the width d of the non-motorized vehicle lane, the four corner points of the blind spot can be represented as follows:

[0059] The coordinates of P1:

[0060]

[0061] The coordinates of P2:

[0062]

[0063] The coordinates of P3:

[0064]

[0065] The coordinates of P4:

[0066]

[0067] S24: Real-time acquisition of the values of A, B and θ, and calculation of the center coordinates (C x , C y ) of the blind area by the following formula, and representation as parameters related to the turning angle of the vehicle; the process is as follows:

[0068] (1) The relationship between the center coordinates of the blind area and other corner points satisfies the following formula:

[0069]

[0070] (2) Substituting the coordinates of P1 and P3 into the above formula, the center coordinates of the blind area can be obtained as follows:

[0071]

[0072] In the above formula, d represents the width of the non-motor vehicle lane.

[0073] S3: Based on the center coordinates (C x , C y ) of the blind area, the turning relationship between the pan-tilt turning angle β of the blind area camera and the turning angle θ of the vehicle is obtained; the pan-tilt turning angle β of the blind area camera is dynamically adjusted to make the optical center direction of the blind area camera coincide with the center coordinates of the blind area.

[0074] In this embodiment, the calculation formula of the pan-tilt turning angle β that meets the tracking effect is as follows:

[0075]

[0076] In the above formula, D represents the distance from the right side mirror of the vehicle to the b-pillar.

[0077] Further, substituting the center coordinates (C x , C y ) of the blind area into the above formula, the turning relationship between the pan-tilt turning angle β and the turning angle θ of the vehicle can be obtained. In this embodiment, the turning relationship between the pan-tilt turning angle β and the turning angle θ of the vehicle is as follows:

[0078]

[0079] In the above formula, D represents the distance from the right side mirror of the vehicle to the b-pillar.

[0080] The tracking method for the blind area of the non-motor vehicle lane in the right turn of the vehicle at the intersection provided by the embodiment is mainly applied to the control system of the vehicle. The steering information of the vehicle can be collected in real time, and then the corresponding non-motor vehicle lane tracking function is triggered as needed, and the pan-tilt angle β of the blind area camera of the vehicle is dynamically adjusted when necessary. In actual application, the rule for triggering the non-motor vehicle lane tracking function designed in the embodiment is:

[0081] A steering wheel angle threshold θ0 is preset, and when the real-time vehicle steering wheel angle θ sw exceeds the safety interval (﹣θ0, θ0), the right turn non-motor vehicle lane tracking function of the vehicle is triggered.

[0082] As known, the steering type of the vehicle can be identified according to the steering wheel angle of the vehicle, for example, when θ sw is less than 0, it indicates that the vehicle is turning left, and when θ sw is greater than 0, it indicates that the vehicle is turning right. Generally, the user will also correct the direction and perform lane changing and other operations by the steering wheel during driving. In order to distinguish the normal direction correction and lane changing operation, the embodiment sets a steering wheel angle threshold θ0; the size of the threshold can be set to 5-15° as needed. When the steering wheel angle θ sw of the vehicle exceeds the value, it is generally considered that the vehicle is turning, and the corresponding function needs to be triggered when turning right. Otherwise, it is considered that the vehicle is performing lane changing or direction correction operation, and the right turn non-motor vehicle lane tracking function of the vehicle does not need to be triggered.

[0083] Correspondingly, the exit mechanism of the right turn non-motor vehicle lane tracking function designed in the technical solution provided by the embodiment is that a delay time T0 is preset; after the right turn non-motor vehicle lane tracking function of the vehicle is triggered, when the vehicle steering wheel returns to the normal position for a time reaching the preset delay time T0, the right turn non-motor vehicle lane tracking function of the vehicle is closed, and the pan-tilt of the camera is restored to the initial position. In a typical scheme, T0=3S.

[0084] Generally, after the vehicle completes the right turn and enters the straight lane of the corresponding road, the driver will gradually correct the direction to the normal position. In this process, the vehicle has already left the intersection. Therefore, it is not necessary to continue to observe the non-motor vehicle lane in the previous road, and the embodiment selects to exit the corresponding function after the vehicle returns to the normal position, and restores the pan-tilt of the blind area camera to the initial position, waiting for the next trigger.

[0085] In a more optimized scheme of the embodiment, the positioning and navigation information of the vehicle is acquired in real time, so as to more accurately identify the turning behavior of the vehicle at the intersection, and make the trigger condition of executing and exiting the right turn non-motor vehicle lane tracking function of the vehicle. Specifically, the decision process of the optimized scheme of the embodiment is as follows:

[0086] (1) When the vehicle reaches the intersection and the steering wheel angle θ of the vehicle is greater than 0°, the right-turn non-motor vehicle lane tracking function of the vehicle is triggered. sw When the vehicle exceeds the safety interval (— θ0, θ0), the right-turn non-motor vehicle lane tracking function of the vehicle is triggered.

[0087] (2) When the vehicle leaves the intersection and the steering wheel angle θ of the vehicle is less than 0°, the right-turn non-motor vehicle lane tracking function of the vehicle is closed.

[0088] In addition, the embodiment displays the image data collected by the blind area camera in real time inside the vehicle. The image screen is displayed on the central control screen of the vehicle or other external display devices for realizing auxiliary driving. In the image screen of the blind area camera, the moving targets appearing in the blind area can be identified through image recognition and target tracking technology, and a warning is given to the driver when there is a moving target approaching in the blind area. For example, when a non-motor vehicle that may intrude into the driving route of the vehicle appears in the blind area during the turning of the vehicle, a warning is given to the user to remind the user to slow down or take other measures to avoid risks.

[0089] Embodiment 2

[0090] Based on the scheme of embodiment 1, the embodiment further includes a non-motor vehicle intersection blind area tracking device, which includes a computer device including a memory, a processor, and a computer program stored in the memory and running in the processor. When the processor executes the computer program, the video data collected by the blind area camera and the steering angle θ of the vehicle are acquired in real time. Then, the pan-tilt angle β of the blind area camera is dynamically adjusted by using the tracking method of the non-motor vehicle lane blind area in the right-turn intersection of the vehicle as described above.

[0091] The non-motor vehicle intersection blind area tracking device provided by the embodiment is essentially a computer device for realizing the scheme of embodiment 1. As shown in Figure 4 The computer device can be an embedded device installed on each vehicle or a computing device independent of the vehicle. After being connected to the control system of the vehicle, it can identify the scene in combination with the basic information and operating parameters of the vehicle, and drive the pan-tilt of the blind area camera to rotate with the steering wheel angle when turning right at the intersection.

[0092] In practical applications, the computer device in this embodiment can be an intelligent terminal, a tablet computer, a notebook computer, a desktop computer, a rack server, a blade server, a tower server, or a cabinet server (including a standalone server or a server cluster composed of multiple servers), etc. that can execute programs. The computer device indicated in this embodiment at least includes, but is not limited to, a memory and a processor that can be connected to each other in communication through a system bus. The memory (i.e., a readable storage medium) includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory can be an internal storage unit of the computer device, such as a hard disk or a memory of the computer device. In other embodiments, the memory can also be an external storage device of the computer device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device. Of course, the memory can include both the internal storage unit and the external storage device of the computer device. In this embodiment, the memory is generally used to store an operating system and various application software installed on the computer device, etc. In addition, the memory can also be used to temporarily store various data that have been output or will be output.

[0093] The processor in some embodiments can be a central processing unit (CPU), a graphics processing unit (GPU), a controller, a microcontroller, a microprocessor, or other data processing chips. The processor is generally used to control the overall operation of the computer device. In this embodiment, the processor is used to run the program code or process the data stored in the memory.

[0094] Embodiment 3

[0095] On the basis of embodiments 1 and 2, this embodiment provides a vehicle right-turn blind area safety auxiliary driving system, which includes a blind area camera and a non-motor vehicle road intersection blind area tracking device. The blind area camera is installed on the right side of the vehicle and is used to obtain the image of the right rear. The blind area camera also includes a holder for adjusting the viewing direction of itself.

[0096] The non-motor vehicle road intersection blind area tracking device is electrically connected with the control system of the vehicle and the blind area camera; the non-motor vehicle road intersection blind area tracking device is used to dynamically adjust the pan-tilt angle β of the blind area camera after triggering the right-turn non-motor vehicle lane tracking function of the vehicle, and realize real-time display of the image data collected by the blind area camera on the vehicle machine system.

[0097] The above-described embodiments only express one of the embodiments of the present application, which is described in detail, but cannot be understood as a limitation on the scope of the application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method for tracking the blind spot of a non-motorized vehicle lane during a vehicle's right turn at an intersection, characterized in that, It is used to dynamically adjust the gimbal angle β of the blind spot camera mounted on the right side of the vehicle when the vehicle is making a right turn, and includes the following steps: S1: Real-time acquisition of the vehicle's steering wheel angle θ sw And calculate the vehicle turning angle θ based on the steering wheel angle and the current vehicle body parameters; S2: Obtain an image of the right-hand non-motorized vehicle lane using a blind spot camera mounted on the vehicle body, and calculate the center coordinates (C) of the blind spot location based on the image. x C y This is expressed as a parameter related to the vehicle's steering angle; the process is as follows: S21: Establish a vehicle coordinate system with the position of the right-side B-pillar of the vehicle as the origin, the vehicle's forward direction as the Y-axis, and the vehicle's width direction as the X-axis. S22: Identify the intersection danger zone of the non-motorized vehicle lane in the image, define the area as a blind spot, and determine the boundary of the blind spot; S23: Define the distance from the origin to the intersection of the far long side of the blind zone and the Y-axis as A; and the distance from the origin to the corner point of the near short side of the blind zone and the Y-axis as B. S24: Obtain the values ​​of A, B, and θ in real time, and calculate the center coordinates (C) of the blind zone using the following formula. x C y ): In the above formula, d represents the width of the non-motorized vehicle lane; S3: Center coordinates based on the blind zone (C x C y The rotational relationship between the gimbal rotation angle β of the blind spot camera and the vehicle rotation angle θ is obtained; the gimbal rotation angle β of the blind spot camera is dynamically adjusted so that the optical center direction of the blind spot camera coincides with the center coordinate of the blind spot.

2. The tracking method for blind spots in non-motorized vehicle lanes during right turns at intersections according to claim 1, characterized in that: The blind spot is defined as a rectangular area with a width equal to the width of a non-motorized vehicle and a length of 30m; the pedestrian crossing at the intersection of the blind spot is the front boundary of the shorter side of the blind spot.

3. The tracking method for blind spots in non-motorized vehicle lanes during right turns at intersections according to claim 2, characterized in that: In step S1, the formula for calculating the vehicle steering angle θ is as follows: In the above formula, δ represents the vehicle's transmission ratio; v represents the vehicle's speed; and L represents the vehicle's length.

4. The tracking method for blind spots in non-motorized vehicle lanes during right turns at intersections according to claim 3, characterized in that: In step S3, the rotational relationship between the gimbal rotation angle β and the vehicle rotation angle θ is as follows: In the above formula, D represents the distance from the right-side rearview mirror of the vehicle to the b-pillar.

5. The tracking method for blind spots in non-motorized vehicle lanes during right turns at intersections according to claim 1, characterized in that: A preset steering wheel angle threshold θ0 is defined, and the real-time vehicle steering wheel angle θ sw Once the vehicle exceeds the safe range (-θ0, θ0), the right-turn non-motorized vehicle lane tracking function is triggered.

6. The tracking method for blind spots in non-motorized vehicle lanes during right turns at intersections according to claim 5, characterized in that: A preset delay time T0 is set; after the vehicle's right turn non-motorized vehicle lane tracking function is triggered, the vehicle's right turn non-motorized vehicle lane tracking function is turned off after the vehicle's steering wheel returns to center for the preset delay time T0.

7. The tracking method for blind spots in non-motorized vehicle lanes during right turns at intersections according to claim 6, characterized in that: Real-time vehicle location and navigation information is obtained to make the following decisions: (1) When the vehicle arrives at the intersection and the steering wheel angle is θ sw Once the vehicle exceeds the safe range (-θ0, θ0), the right-turn non-motorized vehicle lane tracking function is triggered. (2) After the vehicle leaves the intersection and the time it takes for the vehicle's steering wheel to return to center reaches the preset delay time T0, the vehicle's right turn non-motorized vehicle lane tracking function is turned off.

8. The tracking method for blind spots in non-motorized vehicle lanes during right turns at intersections according to claim 1, characterized in that: The system displays the image data collected by the blind spot camera in real time inside the vehicle, identifies moving targets in the blind spot in the video footage, and alerts the driver when an approaching moving target is detected in the blind spot.

9. A blind spot tracking device for non-motorized vehicle intersections, characterized in that, It includes: It includes a memory, a processor, and a computer program stored in the memory and running in the processor, characterized in that: when the processor executes the computer program, it acquires the video data collected by the blind spot camera and the vehicle turning angle θ in real time; then, it uses the tracking method for the blind spot of the non-motorized vehicle lane when the vehicle turns right at the intersection as described in any one of claims 1-8 to dynamically adjust the pan-tilt angle β of the blind spot camera.

10. A vehicle right-turn blind spot safety assistance driving system, characterized in that, It includes: A blind spot camera, mounted on the right side of the vehicle, is used to acquire images of the right rear; the blind spot camera also includes a gimbal for adjusting its own framing direction. The non-motorized vehicle intersection blind spot tracking device as described in claim 9 is electrically connected to the vehicle's control system and the blind spot camera; the non-motorized vehicle intersection blind spot tracking device is used to dynamically adjust the pan-tilt angle β of the blind spot camera after triggering the vehicle's right-turn non-motorized vehicle lane tracking function, using the tracking method for the blind spot of the non-motorized vehicle lane during a right turn at an intersection as described in any one of claims 1-8, and to display the image data collected by the blind spot camera in real time on the vehicle's in-vehicle infotainment system.

Images