Commercial vehicle avoidance control method based on blind area detection and related device

Abstract

The invention discloses a commercial vehicle avoidance control method based on blind area detection and a related device. The method comprises the steps that vehicle size information of a target commercial vehicle and the sight height of a driver are acquired, and the blind area range of the target commercial vehicle is estimated according to the vehicle size information and the sight height; based on the sensor parameters of the target commercial vehicle, the driving speed and direction of the target commercial vehicle and the speed and direction of the moving obstacle are determined; based on the driving speed and direction of the target commercial vehicle and the speed and direction of the moving obstacle, calculating and determining a suspicious obstacle entering a blind area range of the target commercial vehicle within a set time period; and calculating the minimum speed and / or the optimal direction of the target commercial vehicle for avoiding the suspicious obstacle, and feeding back the minimum speed and / or the optimal direction to the driver for avoiding control. Therefore, the target commercial vehicle can timely avoid the moving obstacle possibly entering the blind area range, the probability of driving danger time caused by the sight blind area of the target commercial vehicle is reduced, and the driving safety is improved.

Description

Technical Field

[0001] This application relates to the technical field of new energy vehicles, specifically to the technical fields of commercial electric vehicles and intelligent driving control, etc., and particularly relates to a method and related device for avoiding and controlling a commercial vehicle based on blind spot detection. Background Art

[0002] During the driving process of a vehicle, the driver mainly relies on observing the road surface obstacles in the driving scene to flexibly control the vehicle to ensure safe driving. In existing intelligent driving vehicles, sensors such as lidar are added to detect obstacles to assist the driver in making safe avoidance maneuvers.

[0003] However, whether it is for the driver or the lidar, there is a field of vision range that cannot be tracked, that is, there will be blind spots in the field of vision. At this time, neither the driver nor the lidar may be able to perceive the existence of external obstacles in the blind spot, resulting in traffic accidents. Especially for relatively large commercial vehicles, it may cause serious sudden accidents and increase the driving risk. Summary of the Invention

[0004] This application provides a method and related device for avoiding and controlling a commercial vehicle based on blind spot detection to solve the problem in the prior art that the risk of driving danger is relatively high because commercial vehicles cannot avoid external obstacles from entering the blind spot.

[0005] The technical solutions are as follows:

[0006] In a first aspect, a method for avoiding and controlling a commercial vehicle based on blind spot detection is provided, including:

[0007] Obtain the vehicle size information of the target commercial vehicle and the line of sight height of the driver, and estimate the blind spot range of the target commercial vehicle according to the vehicle size information and the line of sight height;

[0008] Based on the sensor parameters of the target commercial vehicle, determine the driving speed and direction of the target commercial vehicle, and the speed and direction of at least one moving obstacle near the target commercial vehicle;

[0009] Based on the driving speed and direction of the target commercial vehicle, and the speed and direction of the moving obstacle, calculate and determine the suspicious obstacles that enter the blind spot range of the target commercial vehicle within a set time period;

[0010] Calculate the minimum speed and / or the best direction for the target commercial vehicle to avoid the suspicious obstacle, and feedback it to the driver for avoidance control.

[0011] In a possible implementation manner, the vehicle size information at least includes: the head height, the vehicle width, and the head length;

[0012] Estimate the blind area range of the target commercial vehicle based on the vehicle size information and the line of sight height, specifically including:

[0013] Determine the blind area width of the target commercial vehicle according to the vehicle width; and,

[0014] Calculate the blind area length of the target commercial vehicle based on the ratio of the product of the front head height and the front head length to the difference between the line of sight height and the front head height.

[0015] In a possible implementation manner, based on the driving speed and direction of the target commercial vehicle, as well as the speed and direction of the moving obstacle, calculate and determine the suspicious obstacles that enter the blind area range of the target commercial vehicle within a set time period, specifically including:

[0016] Based on the driving speed and direction of the target commercial vehicle, as well as the speed and direction of the moving obstacle, determine the relative speed of the moving obstacle with respect to the target commercial vehicle;

[0017] According to the relative speed and the initial position coordinates of the moving obstacle, determine the suspicious obstacles that enter the blind area range of the target commercial vehicle within a set time period through the following formula:

[0018] x(t) = x + ΔV x *t

[0019] y(t) = y + ΔV y *t

[0020] When 0 ≤ x(t) ≤ (h1 * L1) / (H - h1) and -W1 / 2 ≤ y(t) ≤ W1 / 2 are satisfied, it is determined that the moving obstacle enters the blind area range of the target commercial vehicle within the set time period t;

[0021] wherein, the initial position coordinates of the moving obstacle are (x, y), and the ΔV x is the lateral decomposition of the relative speed, and the ΔV is the longitudinal decomposition of the relative speed; the h1 is the front head height, the L1 is the front head length, the H is the line of sight height, and the W1 is the vehicle width.

[0022] In a possible implementation manner, the relative speed is specifically decomposed into:

[0023] ΔV x = V2 * cosθ2 - V1 * cosθ1

[0024] ΔV y = V2 * sinθ2 - V1 * sinθ1

[0025] Wherein, V1 is the driving speed of the target commercial vehicle, and θ1 is the direction of the target commercial vehicle; V2 is the speed of the moving obstacle, and θ2 is the direction of the moving obstacle.

[0026] In a possible implementation, the feedback to the driver for avoidance control specifically includes:

[0027] Sending the minimum speed and / or the optimal direction of the suspicious obstacle to the instrument of the target commercial vehicle;

[0028] Displaying through the instrument display screen or giving a voice broadcast to prompt the driver for avoidance control.

[0029] In a second aspect, a commercial vehicle avoidance control device based on blind spot detection is provided, including:

[0030] An estimation module, configured to obtain the vehicle size information of the target commercial vehicle and the line-of-sight height of the driver, and estimate the blind spot range of the target commercial vehicle according to the vehicle size information and the line-of-sight height;

[0031] A first determination module, configured to determine the driving speed and direction of the target commercial vehicle, and the speed and direction of at least one moving obstacle located near the target commercial vehicle based on the sensor parameters of the target commercial vehicle;

[0032] A second determination module, configured to calculate and determine the suspicious obstacles that enter the blind spot range of the target commercial vehicle within a set time period based on the driving speed and direction of the target commercial vehicle, and the speed and direction of the moving obstacle;

[0033] A calculation module, configured to calculate the minimum speed and / or the optimal direction for the target commercial vehicle to avoid the suspicious obstacle, and feedback to the driver for avoidance control.

[0034] In a third aspect, an electronic device is provided, including:

[0035] At least one processor; and

[0036] A memory communicatively connected to the at least one processor; wherein,

[0037] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the methods in the above-mentioned aspects and any possible implementation manners.

[0038] In a fourth aspect, a computer-readable storage medium is provided, in which at least one instruction is stored, and the at least one instruction is loaded and executed by a processor to implement the methods in the above-mentioned aspects and any possible implementation manners.

[0039] In a fifth aspect, a computer program product is provided, including a computer program which, when executed by a processor, implements the methods of the above-described aspects and any possible implementation manners.

[0040] In a sixth aspect, an autonomous vehicle is provided, including the electronic device described above.

[0041] The beneficial effects of the technical solutions provided in this application at least include:

[0042] As can be seen from the above technical solutions, embodiments of this application can obtain the vehicle size information of a target commercial vehicle and the line-of-sight height of a driver, and estimate the blind area range of the target commercial vehicle according to the vehicle size information and the line-of-sight height; based on the sensor parameters of the target commercial vehicle, determine the driving speed and direction of the target commercial vehicle, and the speeds and directions of at least one moving obstacle near the target commercial vehicle; based on the driving speed and direction of the target commercial vehicle, and the speeds and directions of the moving obstacles, calculate and determine suspicious obstacles that enter the blind area range of the target commercial vehicle within a set time period; calculate the minimum speed and / or the optimal direction for the target commercial vehicle to avoid the suspicious obstacles, and feedback to the driver for avoidance control. Thus, it can enable the target commercial vehicle to timely avoid moving obstacles that may enter the blind area range, reduce the probability of the occurrence of driving dangerous times caused by the blind area of the target commercial vehicle's line of sight, and improve driving safety.

[0043] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of this application, nor is it used to limit the scope of this application. Other features of this application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0045] Figure 1 is a schematic diagram of the steps of a method for avoiding and controlling a commercial vehicle based on blind area detection proposed by an embodiment of this application;

[0046] Figure 2 is a structural block diagram of a device for avoiding and controlling a commercial vehicle based on blind area detection provided by an embodiment of this application;

[0047] Figure 3 is a block diagram of an electronic device provided by an embodiment of this application. Detailed implementation manners

[0048] The following describes exemplary embodiments of the present application with reference to the accompanying drawings. Various details of the embodiments of the present application are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, descriptions of well-known functions and structures are omitted below for clarity and conciseness.

[0049] Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0050] It should be noted that the terminal devices involved in the embodiments of the present application may include, but are not limited to, intelligent devices such as mobile phones, personal digital assistants (PDAs), wireless handheld devices, and tablet computers; the display devices may include, but are not limited to, devices with display functions such as personal computers and televisions.

[0051] In addition, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0052] To solve the problem in the prior art that commercial vehicles cannot avoid external obstacles entering the blind area, resulting in a relatively high risk of driving danger, the present application proposes a blind area detection-based avoidance control scheme for commercial vehicles. The inventive concept lies in: obtaining the vehicle size information of the target commercial vehicle and the line-of-sight height of the driver, and estimating the blind area range of the target commercial vehicle according to the vehicle size information and the line-of-sight height; determining the driving speed and direction of the target commercial vehicle and the speeds and directions of at least one moving obstacle near the target commercial vehicle based on the sensor parameters of the target commercial vehicle; calculating and determining the suspicious obstacles that enter the blind area range of the target commercial vehicle within a set period based on the driving speed and direction of the target commercial vehicle and the speeds and directions of the moving obstacles; calculating the minimum speed and / or the optimal direction for the target commercial vehicle to avoid the suspicious obstacles, and feeding them back to the driver for avoidance control. Thus, the target commercial vehicle can timely avoid moving obstacles that may enter the blind area range, reduce the probability of the occurrence of driving dangerous times caused by the blind area of the target commercial vehicle, and improve driving safety.

[0053] Referring to Figure 1 as shown, it is a schematic diagram of the steps of a commercial vehicle avoidance control method based on blind spot detection proposed in an embodiment of the present application. The execution subject of the commercial vehicle avoidance control method based on blind spot detection is a commercial vehicle avoidance control device based on blind spot detection. The avoidance control device can be a computing device or software module with data calculation and processing functions, such as electronic devices like computers, tablets, wearable devices, etc., or software modules integrated or installed in such electronic devices.

[0054] As Figure 1 shown, the commercial vehicle avoidance control method based on blind spot detection may include the following steps:

[0055] Step 102: Obtain the vehicle size information of the target commercial vehicle and the line of sight height of the driver, and estimate the blind spot range of the target commercial vehicle according to the vehicle size information and the line of sight height.

[0056] Optionally, in the solution of the present application, the vehicle size information at least includes: the head height, the vehicle width, and the head length. Then, when estimating the blind spot range of the target commercial vehicle according to the vehicle size information and the line of sight height, the blind spot width of the target commercial vehicle can be determined according to the vehicle width; and, based on the ratio of the product of the head height and the head length to the difference between the line of sight height and the head height, the blind spot length of the target commercial vehicle is calculated.

[0057] Specifically, the blind spot width of the target commercial vehicle is the vehicle width W1; the blind spot length of the target commercial vehicle is (h1 * L1) / (H - h1).

[0058] Furthermore, the position of the radar on the target commercial vehicle can also be considered. Referring to the above formula, the blind spot range determined by the radar of the target commercial vehicle is calculated, that is, the range area that the radar cannot observe. In this way, the blind spot range determined based on the driver of the target commercial vehicle and the blind spot range determined based on the radar are combined as the blind spot range of the target commercial vehicle.

[0059] Step 104: Based on the sensor parameters of the target commercial vehicle, determine the driving speed and direction of the target commercial vehicle, and the speed and direction of at least one moving obstacle near the target commercial vehicle.

[0060] In the solution of the present application, the initial position coordinates of the moving obstacles around the target commercial vehicle can be obtained by the radar of the target commercial vehicle and sent to the vehicle controller. At this time, taking the position of the target commercial vehicle at the current moment as the origin, the vehicle controller calculates and determines the driving speed V1 and direction θ1 of the target commercial vehicle, and calculates and determines the speed V2 and direction θ2 of the moving obstacle.

[0061] Step 106: Based on the driving speed and direction of the target commercial vehicle, as well as the speed and direction of the moving obstacle, calculate and determine the suspicious obstacles that enter the blind area range of the target commercial vehicle within a set time period.

[0062] Optionally, in the solution of this application, the relative speed of the moving obstacle relative to the target commercial vehicle can be determined based on the driving speed and direction of the target commercial vehicle, as well as the speed and direction of the moving obstacle; wherein, the relative speed is specifically decomposed into:

[0063] ΔV x = V2 * cosθ2 - V1 * cosθ1

[0064] ΔV y = V2 * sinθ2 - V1 * sinθ1

[0065] Wherein, V1 is the driving speed of the target commercial vehicle, and θ1 is the direction of the target commercial vehicle; V2 is the speed of the moving obstacle, and θ2 is the direction of the moving obstacle.

[0066] After that, according to the relative speed and the initial position coordinates of the moving obstacle, the suspicious obstacles that enter the blind area range of the target commercial vehicle within a set time period are determined through the following formula:

[0067] x(t) = x + ΔV x * t

[0068] y(t) = y + ΔV y * t

[0069] When 0 ≤ x(t) ≤ (h1 * L1) / (H - h1) and -W1 / 2 ≤ y(t) ≤ W1 / 2 are satisfied, it is determined that the moving obstacle enters the blind area range of the target commercial vehicle within the set time period t;

[0070] Wherein, the initial position coordinates of the moving obstacle are (x, y), and ΔV x is the lateral decomposition of the relative speed, and ΔV y is the longitudinal decomposition of the relative speed; h1 is the head height, L1 is the head length, H is the sight line height, and W1 is the vehicle width.

[0071] Step 108: Calculate the minimum speed and / or the best direction for the target commercial vehicle to avoid the suspicious obstacle, and feedback to the driver for avoidance control.

[0072] In the solution of this application, the minimum speed and / or the best direction for the target commercial vehicle to avoid the suspicious obstacle can be calculated according to the above formula constraints.

[0073] Optionally, after calculating the minimum speed and / or the optimal direction for the target commercial vehicle to avoid the suspicious obstacle, the minimum speed and / or the optimal direction of the suspicious obstacle can be sent to the instrument of the target commercial vehicle; and be displayed on the instrument display screen or be broadcast by voice to prompt the driver to perform avoidance control.

[0074] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0075] In the above embodiments, each embodiment is described with emphasis. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0076] Figure 2 The block diagram of the commercial vehicle avoidance control device based on blind area detection provided by an embodiment of the present application is shown as Figure 2 shown. The commercial vehicle avoidance control device 200 based on blind area detection in this embodiment may include: an estimation module 201, a first determination module 202, a second determination module 203, and a calculation module 204; wherein, the estimation module 201 is configured to obtain the vehicle size information of the target commercial vehicle and the line-of-sight height of the driver, and estimate the blind area range of the target commercial vehicle according to the vehicle size information and the line-of-sight height. The first determination module 202 is configured to determine the driving speed and direction of the target commercial vehicle, and the speed and direction of at least one moving obstacle near the target commercial vehicle based on the sensor parameters of the target commercial vehicle. The second determination module 203 is configured to calculate and determine the suspicious obstacles that enter the blind area range of the target commercial vehicle within a set time period based on the driving speed and direction of the target commercial vehicle, and the speed and direction of the moving obstacle. The calculation module 204 is configured to calculate the minimum speed and / or the optimal direction for the target commercial vehicle to avoid the suspicious obstacle, and feedback it to the driver for avoidance control.

[0077] It should be noted that part or all of the blind spot detection-based commercial vehicle avoidance control device in this embodiment can be an application located on the local terminal, or can also be a functional unit such as a plug-in or software development kit (SDK) set in the application located on the local terminal, or can also be a processing engine located in the network-side server, or can also be a distributed system located on the network side. For example, the processing engine or distributed system in the network-side autonomous driving platform, etc. This embodiment does not make special limitations on this.

[0078] It can be understood that the application can be a native app installed on the local terminal, or can also be a web app of a browser on the local terminal. This embodiment does not make limitations on this.

[0079] Optionally, in a possible implementation manner of this embodiment, the vehicle size information at least includes: the head height, the vehicle width, and the head length. When the estimation module 201 estimates the blind spot range of the target commercial vehicle according to the vehicle size information and the line of sight height, it is specifically used to determine the blind spot width of the target commercial vehicle according to the vehicle width; and, based on the ratio of the product of the head height and the head length to the difference between the line of sight height and the head height, calculate the blind spot length of the target commercial vehicle.

[0080] Optionally, in a possible implementation manner of this embodiment, when the second determination module 203 calculates and determines the suspicious obstacles that enter the blind spot range of the target commercial vehicle within a set time period based on the driving speed and direction of the target commercial vehicle, and the speed and direction of the moving obstacle, it is specifically used to determine the relative speed of the moving obstacle relative to the target commercial vehicle based on the driving speed and direction of the target commercial vehicle, and the speed and direction of the moving obstacle; according to the relative speed and the initial position coordinates of the moving obstacle, determine the suspicious obstacles that enter the blind spot range of the target commercial vehicle within a set time period through the following formula:

[0081] x(t) = x + ΔV x *t

[0082] y(t) = y + ΔV y *t

[0083] When 0 ≤ x(t) ≤ (h1 * L1) / (H - h1) and -W1 / 2 ≤ y(t) ≤ W1 / 2 are satisfied, it is determined that the moving obstacle enters the blind spot range of the target commercial vehicle within the set time period t;

[0084] wherein, the initial position coordinates of the moving obstacle are (x, y), and the ΔVx is the lateral decomposition of the relative speed, and the ΔV y is the longitudinal decomposition of the relative speed; the h1 is the head height, the L1 is the head length, the H is the line-of-sight height, and the W1 is the vehicle width.

[0085] Optionally, in a possible implementation of this embodiment, the relative speed is specifically decomposed into:

[0086] ΔV x = V2 * cosθ2 - V1 * cosθ1

[0087] ΔV y = V2 * sinθ2 - V1 * sinθ1

[0088] wherein, the V1 is the driving speed of the target commercial vehicle, and the θ1 is the direction of the target commercial vehicle; the V2 is the speed of the moving obstacle, and the θ2 is the direction of the moving obstacle.

[0089] Optionally, in a possible implementation of this embodiment, when the calculation module feeds back to the driver for avoidance control, it is specifically configured to send the lowest speed and / or the best direction of the suspicious obstacle to the instrument of the target commercial vehicle; and display or voice broadcast through the instrument display screen to prompt the driver for avoidance control.

[0090] In this embodiment, the vehicle size information of the target commercial vehicle and the line-of-sight height of the driver can be obtained, and the blind area range of the target commercial vehicle can be estimated according to the vehicle size information and the line-of-sight height; based on the sensor parameters of the target commercial vehicle, the driving speed and direction of the target commercial vehicle, and the speed and direction of at least one moving obstacle near the target commercial vehicle are determined; based on the driving speed and direction of the target commercial vehicle, and the speed and direction of the moving obstacle, the suspicious obstacles entering the blind area range of the target commercial vehicle within a set time period are calculated and determined; the lowest speed and / or the best direction for the target commercial vehicle to avoid the suspicious obstacle are calculated and fed back to the driver for avoidance control. Thus, the target commercial vehicle can timely avoid the moving obstacles that may enter the blind area range, reduce the probability of the occurrence of driving dangerous times caused by the blind area of the target commercial vehicle's line of sight, and improve driving safety.

[0091] An embodiment of the present application provides a computer-readable storage medium, in which at least one instruction is stored, and the at least one instruction is loaded and executed by a processor to implement the method for commercial vehicle avoidance control based on blind area detection as described above.

[0092] An embodiment of the present application provides an electronic device, which includes a processor and a memory. At least one instruction is stored in the memory, and the instruction is loaded and executed by the processor to implement the method for avoiding control of commercial vehicles based on blind spot detection as described above.

[0093] An embodiment of the present application provides an autonomous vehicle, including the electronic device as described above. Specifically, the autonomous vehicle can be a vehicle at L2 level and above.

[0094] In the technical solution of the present application, the processing of collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0095] Figure 3 FIG. shows a schematic block diagram of an exemplary electronic device 300 that can be used to implement the embodiments of the present application. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0096] As Figure 3 shown, the electronic device 300 includes a computing unit 301, which can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 302 or the computer program loaded from the storage unit 308 into the random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the electronic device 300 can also be stored. The computing unit 301, the ROM 302, and the RAM 303 are connected to each other through a bus 304. The input / output (I / O) interface 305 is also connected to the bus 304.

[0097] A plurality of components in the electronic device 300 are connected to the I / O interface 305, including: an input unit 306, such as a keyboard, a mouse, etc.; an output unit 307, such as various types of displays, speakers, etc.; a storage unit 308, such as a disk, an optical disc, etc.; and a communication unit 309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 309 allows the electronic device 300 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0098] The computing unit 301 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 301 executes the various methods and processes described above, such as the method for blind spot detection. For example, in some embodiments, the method for blind spot detection can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 308. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 300 via the ROM 302 and / or the communication unit 309. When the computer program is loaded into the RAM 303 and executed by the computing unit 301, one or more steps of the method for blind spot detection described above can be executed. Alternatively, in other embodiments, the computing unit 301 can be configured to execute the method for blind spot detection in any other suitable manner (e.g., by means of firmware).

[0099] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special or general-purpose programmable processor, receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting the data and instructions to the storage system, at least one input device, and at least one output device.

[0100] The program code for implementing the methods of this application can be written in any combination of one or more programming languages. These program codes can be provided to the processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0101] In the context of this application, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0102] To provide for interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0103] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0104] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is generated by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

[0105] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in the disclosure of the present application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution disclosed in the present application can be achieved, and no limitations are imposed herein.

[0106] The above specific embodiments do not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub - combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A commercial vehicle avoidance control method based on blind spot detection, characterized in that: include: Acquire vehicle size information of a target commercial vehicle and a driver's sight height, and estimate a blind spot range of the target commercial vehicle according to the vehicle size information and the sight height; Determining the speed and direction of the target commercial vehicle and the speed and direction of at least one moving obstacle located near the target commercial vehicle based on the sensor parameters of the target commercial vehicle; Based on the speed and direction of the target commercial vehicle and the speed and direction of the moving obstacles, calculate and determine the suspicious obstacles that enter the blind spot of the target commercial vehicle within a set time period; The minimum speed and / or the best direction for the target commercial vehicle to avoid the suspicious obstacle is calculated and fed back to the driver for avoidance control.

2. The method according to claim 1, characterized in that The vehicle size information at least includes: vehicle head height, vehicle width, and vehicle head length; Estimating the blind spot range of the target commercial vehicle according to the vehicle size information and the sight height specifically includes: Determining the blind spot width of the target commercial vehicle according to the vehicle width; and, The blind spot length of the target commercial vehicle is calculated based on the ratio of the product of the vehicle head height and the vehicle head length to the difference between the sight line height and the vehicle head height.

3. The method according to claim 1, characterized in that Based on the speed and direction of the target commercial vehicle and the speed and direction of the moving obstacle, the suspicious obstacles that enter the blind spot of the target commercial vehicle within a set time period are calculated and determined, specifically including: Determining a relative speed of the moving obstacle with respect to the target commercial vehicle based on the speed and direction of the target commercial vehicle and the speed and direction of the moving obstacle; According to the relative speed and the initial position coordinates of the moving obstacle, the suspicious obstacles that enter the blind spot of the target commercial vehicle within a set period of time are determined by the following formula: x(t)=x+ΔV x *t y(t)=y+ΔV y *t When 0≤x(t)≤(h1*L1) / (H-h1) and -W1 / 2≤y(t)≤W1 / 2 are satisfied, it is determined that the moving obstacle enters the blind spot of the target commercial vehicle within the set time period t; The initial position coordinates of the moving obstacle are (x, y), and the ΔV x is the lateral resolution of the relative velocity, the ΔV y is the longitudinal decomposition of the relative speed; h1 is the height of the front of the vehicle, L1 is the length of the front of the vehicle, H is the sight height, and W1 is the width of the vehicle.

4. The method according to claim 3, characterized in that The relative speed is specifically decomposed into: ΔV x =V2*cosθ2-V1*cosθ1 ΔV y =V2*sinθ2-V1*sinθ1 Wherein, V1 is the driving speed of the target commercial vehicle, θ1 is the direction of the target commercial vehicle; V2 is the speed of the moving obstacle, and θ2 is the direction of the moving obstacle.

5. The method according to any one of claims 1 to 4, characterized in that: Feedback to the driver for avoidance control, including: Sending the minimum speed and / or optimal direction of the suspected obstacle to the instrument of the target commercial vehicle; The driver is prompted to perform avoidance control through display on the instrument screen or voice broadcast.

6. A commercial vehicle avoidance control device based on blind spot detection, characterized in that: include: An estimation module, used to obtain vehicle size information of a target commercial vehicle and a driver's sight height, and estimate a blind spot range of the target commercial vehicle according to the vehicle size information and the sight height; A first determination module is used to determine the speed and direction of the target commercial vehicle and the speed and direction of at least one moving obstacle located near the target commercial vehicle based on the sensor parameters of the target commercial vehicle; A second determination module is used to calculate and determine suspicious obstacles that enter the blind spot of the target commercial vehicle within a set time period based on the driving speed and direction of the target commercial vehicle and the speed and direction of the moving obstacle; The calculation module is used to calculate the minimum speed and / or the best direction for the target commercial vehicle to avoid the suspicious obstacle, and feed back to the driver for avoidance control.

7. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-5.

9. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 5.

10. An autonomous driving vehicle comprising the electronic device as claimed in claim 7.

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