Vehicle anti-collision system and method

Abstract

The invention relates to a vehicle anti-collision system and method. Relates to a vehicle safety technology and solves the problem of lack of effective and accurate engineering vehicle collision prevention measures. The system comprises a control module, a posture detection module and at least one distance detection module, the distance detection module is arranged on a vehicle body of a vehicle and detects and transmits the position of an obstacle object in a vehicle early warning area to the control module. The posture detection module is arranged on a vehicle body of the vehicle and detects and transmits the working posture of the vehicle to the control module so as to determine the position of the vehicle. The control module receives data sent by the distance detection module and / or the posture detection module and controls operation of the vehicle. The technical scheme provided by the invention is suitable for vehicle collision prevention, and collision accidents are effectively avoided on the basis of accurate detection.

Description

Technical Field

[0001] The present disclosure relates to vehicle safety technologies, and particularly to a vehicle anti-collision system and method. Background Art

[0002] Due to structural characteristics, during driving, engineering vehicles such as forklifts are prone to situations where drivers misjudge the range of the vehicle body or their line of sight is blocked, resulting in the vehicle body structures such as forklift forks accidentally colliding with obstacles or on-site personnel, causing safety accidents.

[0003] By installing cameras at positions such as the front end or rear end of the vehicle body that may face the traveling direction, image-based human / object recognition can be performed, thereby making up for the judgment blind spots of the driver.

[0004] Due to the complex and changeable environment at the operation site, the types and shapes of obstacles are diverse. During the process of using cameras for image recognition, situations such as missed detection and misjudgment are likely to occur, and the effect is not good. Moreover, a large number of engineering vehicles have unique structural characteristics, such as the forklift forks of forklifts and the various robotic arms of excavators. In the working state, the different working postures of engineering vehicles result in different overall shapes, further interfering with the pre-judgment of accident risks.

[0005] In summary, there is a lack of effective and accurate collision prevention measures for engineering vehicles. Summary of the Invention

[0006] To overcome the problems existing in the related technologies, the present disclosure provides a vehicle anti-collision system and method. Through a detection system constructed by multiple sensors, combined with the actual situation of vehicle operation, the collision risk is determined and the anti-collision process is automatically started. On the basis of accurate detection, the occurrence of collision accidents is effectively avoided, the problem of the lack of effective and accurate collision prevention measures for engineering vehicles is solved, and the safety of engineering operations is improved.

[0007] According to the first aspect of the embodiments of the present disclosure, a vehicle anti-collision system is provided, including a control module, an attitude detection module, and at least one distance detection module; The distance detection module is disposed on the vehicle body and detects and transmits the position of an obstacle object within the warning area of the vehicle to the control module; The attitude detection module is disposed on the vehicle body and detects and transmits the working attitude of the vehicle to determine the position of the vehicle to the control module; The control module receives the data sent by the distance detection module and / or the attitude detection module, and controls the operation of the vehicle.

[0008] Further, the vehicle is a forklift, and the attitude detection module includes an inclination angle sensor which is disposed on the mast of the vehicle and is in a horizontal relationship with the mast.

[0009] Further, the distance detection module includes a millimeter-wave radar which is disposed above the front wheels of the vehicle.

[0010] According to a second aspect of the embodiments of the present disclosure, there is provided a vehicle anti-collision method applicable to the above vehicle anti-collision system, and the method includes: Detecting an obstacle object within a warning area of the vehicle; Obtaining a relative position relationship between the vehicle and the obstacle object according to the working attitude of the vehicle; Performing anti-collision processing when the relative position relationship meets a preset collision warning condition.

[0011] Further, the step of detecting an obstacle object within the warning area of the vehicle includes: Obtaining the warning area of the vehicle according to the running information of the vehicle; Detecting the position of the obstacle object within the warning area according to a first period; and / or, Detecting the motion information of the obstacle object within the warning area according to a second period, where the second period is greater than the first period.

[0012] Further, the step of obtaining the relative position relationship between the vehicle and the obstacle object according to the working attitude of the vehicle includes: Obtaining a boundary position of the vehicle in the direction of the obstacle object according to the working attitude of the vehicle; Obtaining the relative position relationship between the vehicle and the obstacle object according to the boundary position.

[0013] Further, the vehicle is a forklift, and the step of obtaining the boundary position of the vehicle in the moving direction according to the working attitude of the vehicle includes: Obtaining the inclination angle of the mast of the vehicle; Obtaining the front edge position of the mast in the direction of the obstacle object according to the inclination angle, and using the front edge position as the boundary position.

[0014] Further, the collision warning condition includes at least any one or any combination of the following conditions: First condition: The obstacle object is within a first warning range; Second condition: The obstacle object is within the second warning range, and the shortest distance between the second warning range and the vehicle is greater than the longest distance between the first warning range and the vehicle; Third condition: The obstacle object has a tendency to move actively towards the vehicle and the obstacle object is within the third warning range.

[0015] Further, the step of performing anti-collision processing when the relative position relationship meets the preset collision warning conditions includes: When the relative position relationship meets the collision warning conditions, perform any one or any combination of the following anti-collision processing methods: Push an alarm; Limit the running speed of the vehicle by adjusting the maximum output voltage value of the accelerator pedal; Emergency braking.

[0016] Further, the method further includes: After detecting a reset signal, stop the anti-collision processing of the vehicle.

[0017] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects: The distance detection module provided on the vehicle body of the vehicle detects the obstacle object within the warning area of the vehicle, and accurately determines the position of the vehicle based on the working posture of the vehicle, and then obtains the relative position relationship between the vehicle and the obstacle object; evaluates the risk of the vehicle colliding and automatically performs anti-collision processing based on the risk. On the basis of accurate detection, the occurrence of collision accidents is effectively avoided, the problem of lack of effective and accurate collision prevention measures for engineering vehicles is solved, and the safety of engineering operations is improved.

[0018] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure and used together with the specification to explain the principles of the present disclosure.

[0020] Figure 1 is a schematic structural diagram of a vehicle anti-collision system shown according to an exemplary embodiment.

[0021] Figure 2 is a flowchart of a vehicle anti-collision method shown according to an exemplary embodiment.

[0022] Figure 3 is a flowchart of another vehicle anti-collision method shown according to an exemplary embodiment.

[0023] Figure 4 is a flowchart of yet another vehicle collision avoidance method shown according to an exemplary embodiment.

[0024] Figure 5 is a flowchart of yet another vehicle collision avoidance method shown according to an exemplary embodiment.

[0025] Figure 6 is a schematic diagram of warning range setting shown according to an exemplary embodiment.

[0026] Figure 7 is a flowchart of yet another vehicle collision avoidance method shown according to an exemplary embodiment.

[0027] Figure 8 is a block diagram of a vehicle collision avoidance device shown according to an exemplary embodiment.

[0028] Figure 9 is a structural block diagram of an obstacle object detection module 801 shown according to an exemplary embodiment.

[0029] Figure 10 is a structural block diagram of a position relationship acquisition module 802 shown according to an exemplary embodiment.

[0030] Figure 11 is a block diagram of yet another vehicle collision avoidance device shown according to an exemplary embodiment. Detailed implementation manners

[0031] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0032] Due to the complex and changeable environment at the operation site, the types and forms of obstacles are diverse. During the process of using a camera for image recognition, situations such as missed detection and misjudgment are likely to occur, and the effect is not good. Moreover, a large number of engineering vehicles have unique structural features, such as the forklift forks and various robotic arms of excavators. In the working state, the different working postures of engineering vehicles result in different overall shapes, which further interfere with the pre-judgment of accident risks.

[0033] Taking a forklift as an example, when installing a camera at the front end of the forklift to detect collision risks, it can usually only identify the personnel in front, and it is very difficult to identify objects; moreover, due to reasons such as the unfixed tilt angle of the mast, the position of the vehicle boundary relative to the vehicle will change, resulting in insensitive recognition.

[0034] To solve the above problems, embodiments of the present disclosure provide a vehicle collision avoidance system and method. Through a detection system constructed by multiple sensors, combined with the actual situation of vehicle operation, the collision risk is determined and the collision avoidance process is automatically started. On the basis of accurate detection, the occurrence of collision accidents is effectively avoided, the problem of lack of effective and accurate collision prevention measures for engineering vehicles is solved, and the safety of engineering operations is improved. The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0035] An exemplary embodiment of the present disclosure provides a vehicle collision avoidance system, which is applicable to vehicles, especially industrial vehicles including forklifts.

[0036] The structure of the system is as Figure 1 shown, and includes: a control module 101, an attitude detection module 102, and at least one distance detection module 103.

[0037] The distance detection module 103 is disposed on the vehicle body and detects and transmits the position of the obstacle object in the vehicle warning area to the control module 101.

[0038] The attitude detection module 102 is disposed on the vehicle body and detects and transmits the working attitude of the vehicle to the control module 101 to determine the position of the vehicle.

[0039] The control module 101 receives the data sent by the distance detection module 103 and / or the attitude detection module 102, and controls the operation of the vehicle.

[0040] According to one embodiment, the vehicle is a forklift, and the attitude detection module 102 includes an inclination angle sensor, and the inclination angle sensor 102 is disposed on the mast of the vehicle and is in a horizontal relationship with the mast.

[0041] According to one embodiment, the attitude detection module 102 can also be a motion sensor, which is disposed on the mast of the vehicle and collects the motion information of the mast to judge the current attitude of the mast based on the motion information. The attitude detection module 102 can also be an image acquisition device, which can be disposed on the vehicle body structure such as the mast or in the working environment to photograph the vehicle body, and judge the current attitude of the mast through the information collected by the image acquisition device.

[0042] According to one embodiment, the distance detection module 103 includes a millimeter wave radar, and the millimeter wave radar is disposed above the front wheels of the vehicle.

[0043] According to one embodiment, two millimeter-wave radars are included in the system, which are respectively installed at the fender above the front wheels of the vehicle, and the left and right detection widths are calibrated to determine the detection range.

[0044] According to one embodiment, the distance detection module 103 further includes: ultrasonic sensors, photoelectric sensors, AI cameras, etc.

[0045] Taking an industrial forklift as an example, based on a millimeter-wave radar or other distance sensors for detecting obstacles, on the premise of knowing the length of the forklift's forks, the tilt angle of the mast is obtained according to the motion sensor arranged on the mast, and then the actual position of the front end of the current fork is calculated. Combining the current working state of the vehicle (such as driving direction, speed, etc.), the vehicle is reminded through an audible and visual alarm or the speed of the vehicle is actively limited.

[0046] An exemplary embodiment of the present disclosure also provides a vehicle collision prevention method, which is applicable to the vehicle collision prevention system provided by the present disclosure. Using this method, the collision risk with an obstacle object is accurately determined according to the working posture of the vehicle, and collision prevention processing is automatically performed based on the determination result, solving the problem of lack of effective and accurate collision prevention measures for engineering vehicles and improving the safety of engineering operations. The specific process is as Figure 2 shown, including: Step 201, detect obstacle objects within the warning area of the vehicle.

[0047] This step is specifically as Figure 3 shown, including: Step 301, obtain the warning area of the vehicle according to the running information of the vehicle.

[0048] In this step, within the detection range of the distance detection module, the warning area is delimited according to application requirements.

[0049] Furthermore, the warning area can also be determined in combination with the running information of the vehicle. For example, multiple different speed gears are preset in advance, and each speed gear corresponds to a range of the warning area. As the speed increases, the range of the warning area gradually increases (that is, the boundary of the detection range is farther away from the vehicle), so as to ensure that obstacle objects can be detected in time and collisions can be avoided.

[0050] The width of the warning area can be less than or equal to or greater than the body width of the vehicle, and can be specifically set according to application requirements.

[0051] According to one embodiment, a millimeter-wave radar is installed on each side of the vehicle as a distance detection module, and the left and right detection areas of the two millimeter-wave radars are calibrated as the warning area.

[0052] After defining the warning area, the distance to obstacles in the traveling direction or working direction can be obtained in real time, and obstacles within the calibrated width range can be found through algorithms. Step 302: Detect the positions of obstacle objects in the warning area according to the first period.

[0053] In this step, continuously detect the positions of obstacle objects in the warning area according to the first period.

[0054] According to one implementation, when the vehicle is traveling, obtain the distances to obstacles detected by millimeter-wave radars on both the left and right sides of the vehicle in real time to determine the positions of obstacle objects.

[0055] Step 303: Detect the motion information of the obstacle objects in the warning area according to the second period.

[0056] The second period is greater than the first period.

[0057] In this step, according to the second period, detect the obstacle objects in the warning area. Specifically, the motion information of the obstacle objects can be detected. The motion information includes but is not limited to the motion direction, motion speed, etc.

[0058] According to one implementation, for objects such as people and other vehicles that may be in motion, on the basis of determining their positions, further obtain the motion information, and predict or correct the positions of the obstacle objects based on the motion information to correctly determine the collision risk in the motion state of the obstacle objects. For example, obstacle object A is stationary, and obstacle object B is in motion and has a velocity component in the direction towards the vehicle (indicating that obstacle object B is approaching the vehicle actively). At this time, even if the distances of obstacle object A and obstacle object B relative to the vehicle are the same, the collision risk of obstacle object B is higher than that of obstacle object A.

[0059] It should be noted that there is no strict timing relationship between Step 302 and Step 303, and they can be carried out independently. According to the actual application scenario or requirements, both the position and motion information can be detected and obtained, or either one of them can be detected and obtained.

[0060] Step 202: Obtain the relative position relationship between the vehicle and the obstacle object according to the working attitude of the vehicle.

[0061] In this step, considering that the working form of the vehicle will introduce appearance changes, which will in turn cause changes in the boundary position of the vehicle, the accurate relative position relationship is determined according to the working attitude of the vehicle.

[0062] This step is specifically as Figure 4 shown, including: Step 401: Obtain the boundary position of the vehicle in the direction of the obstacle object according to the working attitude of the vehicle.

[0063] The process of obtaining the boundary position in this step is as Figure 5 shown, including: Step 501: Obtain the tilt angle of the mast of the vehicle.

[0064] In this step, taking the example that an attitude detection module is installed on the mast of the vehicle, the attitude detection module can detect the tilt angle of the mast.

[0065] According to one embodiment, the tilt angle sensor installed above the mast and kept horizontal with the mast is used to calculate the tilt angle θ of the mast.

[0066] Step 502: According to the tilt angle, obtain the front edge position of the mast in the direction of the obstacle object, and use the front edge position as the boundary position.

[0067] In this step, according to the tilt angle, the real-time position of the mast is determined, and the front edge position of the mast in the direction of the obstacle object is obtained. This front edge position is the position most likely to collide with the obstacle object. Use the front edge position as the boundary position.

[0068] According to one embodiment, for an industrial forklift, in this step, the actual horizontal length of the fork can be calculated according to the tilt angle of the mast to determine the position of the front end of the fork.

[0069] 402: According to the boundary position, obtain the relative position relationship between the vehicle and the obstacle object.

[0070] In this step, after determining the boundary position, the accurate and real-time relative position relationship between the vehicle and the obstacle object can be obtained, such as the distance between the boundary position and the obstacle object.

[0071] Step 203: Perform anti-collision processing when the relative position relationship meets the preset collision warning conditions.

[0072] According to one embodiment, the collision warning conditions at least include any one or more of the following conditions: First condition: The obstacle object is within the first warning range; Second condition: The obstacle object is within the second warning range, and the shortest distance between the second warning range and the vehicle is greater than the longest distance between the first warning range and the vehicle; Third condition: The obstacle object has a tendency to move actively towards the vehicle and the obstacle object is within the third warning range.

[0073] When the relative position relationship meets the collision warning condition, any one or any combination of the following anti-collision processing methods is performed: Push an alarm. Limit the running speed of the vehicle by adjusting the maximum output voltage value of the accelerator pedal. Emergency braking.

[0074] As Figure 6 shown, the first warning range is closer to the vehicle than the second warning range. Correspondingly, different anti-collision processing methods can be set. For example, when the obstacle object is in the relatively far second warning range, only an alarm is sent or the running speed is limited. When the obstacle object is in the first warning range, the collision risk is considered to be more urgent. At this time, the running speed can be limited or emergency braking can be performed.

[0075] According to one embodiment, an obstacle object that is itself in motion can also be managed separately. For example, a third warning range is defined. For an obstacle object whose component of the moving speed in the direction towards the vehicle is greater than a certain speed threshold, when it is within the third warning range, it is determined that there is a collision risk. Of course, it is also possible to determine whether there is a collision risk for an obstacle object that is in motion or at rest based on its position. Using the same collision warning conditions, it can be set according to the actual application scenario and application requirements.

[0076] According to one embodiment, when adjusting the running speed, the running speed of the vehicle is controlled by means of the accelerator pedal or the brake pedal or the communication protocol with the controller / ECU.

[0077] An exemplary embodiment of the present disclosure also provides a vehicle anti-collision method. After detecting a collision risk and performing anti-collision processing, the system is reset to restore the normal working state. The specific process is as Figure 7 shown, including: Step 701, detect an obstacle object within the warning area of the vehicle.

[0078] Step 702, obtain the relative position relationship between the vehicle and the obstacle object according to the working attitude of the vehicle.

[0079] Step 703, perform anti-collision processing when the relative position relationship meets the preset collision warning condition.

[0080] The implementation principles of steps 701 to 703 are the same as those of steps 201 to 203, and will not be repeated here.

[0081] Step 704, stop the anti-collision processing of the vehicle after detecting a reset signal.

[0082] If the vehicle is in speed limit mode for collision avoidance and there is no obstacle ahead, the driver generates a reset signal through specified operation logic (for example, releasing the accelerator pedal), and the collision avoidance process for the vehicle is then released.

[0083] When exiting speed limit mode, you need to actively release the pedal to lift the speed limit to avoid safety hazards caused by a sudden increase in speed.

[0084] An exemplary embodiment of the present disclosure also provides a vehicle collision avoidance system, including: a distance sensor (including but not limited to ultrasonic radar, laser and other ranging sensors) as a distance detection module, the distance sensor is installed on the fenders on the left and right sides of the front of the forklift, and is used to measure the distance between the vehicle and the obstacle when there is no fork; an inclination angle sensor as a posture detection module, which is installed on the door frame and keeps it horizontal to measure the inclination angle of the door frame; a speed limit processing unit as a control module, which receives and processes the above sensor information, reminds the driver through an audible and visual alarm, and performs speed limit processing on the vehicle.

[0085] The specific process is as follows: 1. Taking a forklift as an example, when the vehicle is stationary, measure the fork length L1 and calibrate the mast inclination angle θ as the initial value 0.

[0086] 2. Install millimeter-wave radars on the left and right sides, and calibrate the left and right detection areas of the millimeter-wave radars to define the early warning range.

[0087] 3. When the vehicle is driving, the distance of the obstacle detected by the millimeter-wave radar on the left and right sides of the vehicle is obtained in real time to determine the location of the obstacle.

[0088] 4. The actual horizontal length of the current fork L2=L1*Cosθ is calculated in real time through the gantry inclination angle value θ, and then the front edge position of the fork is determined.

[0089] 5. When the distance between the obstacle detected by any millimeter-wave radar and the vehicle is within the speed limit range, and the detection length of the obstacle L <= L2 + the length of the warning area S1, an audible and visual alarm will be issued to remind the driver of the risk of collision. At this time, the system vehicle is in alarm mode; when L <= L2 + speed limit length S2 (S2 <S1)时,则进行限速处理,此时系统处于限速模式。

[0090] 6. In speed limit mode, the vehicle is decelerated by reducing the output voltage of the accelerator pedal.

[0091] 7. When there is no obstacle in front of the vehicle, the driver's speed limit release logic operation (releasing the accelerator pedal) will cause the vehicle to re-enter normal mode and continue to operate.

[0092] Obtain the distance to the obstacle object in front through a distance sensor, obtain the tilt angle of the mast to calculate the actual horizontal length of the forklift forks, thereby calculating the actual distance between the forklift forks and the obstacle, and then determine whether to give an alarm or limit the speed. When limiting the speed, simulate the voltage of the accelerator pedal through a speed limit controller and give it to the controller to achieve speed limit and parking of the vehicle.

[0093] An exemplary embodiment of the present disclosure further provides a vehicle anti-collision device, which is applicable to the vehicle anti-collision system provided by the present disclosure. The structure of the device is as Figure 8 shown and includes: An obstacle object detection module 801, configured to detect an obstacle object within the warning area of the vehicle; A position relationship acquisition module 802, configured to acquire the relative position relationship between the vehicle and the obstacle object according to the working posture of the vehicle; An anti-collision module 803, configured to perform anti-collision processing when the relative position relationship meets a preset collision warning condition.

[0094] Further, the structure of the obstacle object detection module 801 is as Figure 9 shown and includes: A warning area acquisition sub-module 901, configured to acquire the warning area of the vehicle according to the running information of the vehicle; A position detection sub-module 902, configured to detect the position of the obstacle object within the warning area according to a first period; and / or, A motion detection sub-module 903, configured to detect the motion information of the obstacle object within the warning area according to a second period, where the second period is greater than the first period.

[0095] Further, the structure of the position relationship acquisition module 802 is as Figure 10 shown and includes: An attitude acquisition sub-module 1001, configured to acquire the boundary position of the vehicle in the direction of the obstacle object according to the working posture of the vehicle; A position calibration sub-module 1002, configured to acquire the relative position relationship between the vehicle and the obstacle object according to the boundary position.

[0096] Further, the vehicle is a forklift. The attitude acquisition sub-module 1001 is configured to acquire the tilt angle of the mast of the vehicle and, according to the tilt angle, acquire the front edge position of the mast in the direction of the obstacle object, and use the front edge position as the boundary position.

[0097] Further, the collision warning conditions at least include any one or any combination of the following conditions: The first condition: the obstacle object is within the first warning range; The second condition: the obstacle object is within the second warning range, and the shortest distance between the second warning range and the vehicle is greater than the longest distance between the first warning range and the vehicle; The third condition: the obstacle object has a tendency to move actively towards the vehicle and the obstacle object is within the third warning range.

[0098] The anti-collision module 803 is configured to, when the relative position relationship meets the collision warning condition, perform any one or any combination of the following anti-collision processing methods: Push an alarm; Limit the running speed of the vehicle by adjusting the maximum output voltage value of the return pedal; Emergency braking.

[0099] Furthermore, the structure of the device is as Figure 11 shown, and further includes: A reset module 804, configured to stop the anti-collision processing of the vehicle after detecting a reset signal.

[0100] The above device can be integrated into the control system of the vehicle, and the control system realizes the corresponding functions. Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated herein.

[0101] The vehicle anti-collision system and method provided by the embodiments of the present disclosure detect an obstacle object within the warning area of the vehicle through a distance detection module provided on the vehicle body, accurately determine the vehicle position based on the working posture of the vehicle, and then obtain the relative position relationship between the vehicle and the obstacle object; evaluate the risk of vehicle collision and automatically perform anti-collision processing based on the risk. On the basis of accurate detection, the occurrence of collision accidents is effectively avoided, the problem of lack of effective and accurate collision prevention measures for engineering vehicles is solved, and the safety of engineering operations is improved.

[0102] By integrating relevant sensors and supplementing with various algorithms and logics, the vehicle forklift is prevented from colliding with an obstacle in front in the form of warning or active braking, reducing the incidence of safety accidents.

[0103] Different working modes can be used to manage different degrees of collision risk, further improving the control accuracy and efficiency.

[0104] Greatly improves the safety performance of industrial vehicles, reduces the incidence of collision accidents, thereby improving production efficiency and reducing unnecessary production losses such as personnel injuries.

[0105] The technical solutions provided by the present disclosure are applicable to internal combustion engine vehicles or electric vehicles.

[0106] Those skilled in the art can also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application can be implemented by electronic hardware, computer software, or a combination of both. Whether such a function is implemented by hardware or software depends on the specific application and the design requirements of the entire system. For each specific application, those skilled in the art can use various methods to implement the described function, but such implementation should not be construed as exceeding the scope protected by the embodiments of the present application.

[0107] In addition, the word "exemplary" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be understood as being advantageous as compared to other aspects or designs. Instead, the use of the word exemplary is intended to present concepts in a concrete manner. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to mean any arrangement in a natural inclusive arrangement. That is, if X applies A; X applies B; or X applies both A and B, then "X applies A or B" is satisfied in any of the foregoing instances. Additionally, unless otherwise specified or clear from the context referring to the singular form, the articles "a" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0108] Similarly, although the present disclosure has been shown and described with respect to one or more implementations, those skilled in the art will envision equivalent variations and modifications after reading and understanding this specification and the drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. Specifically with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if not structurally equivalent to the disclosed structure. Additionally, although a particular feature of the present disclosure may have been disclosed with respect to only one of several implementations, such a feature may be combined with one or more other features of other implementations as may be desired and advantageous for any given or particular application. Further, with respect to the use of "comprises", "comprising", "has", "having", "includes", or variants thereof in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term "includes".

[0109] Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common general knowledge or conventional technical means in the technical field not disclosed herein. The specification and examples are only to be considered as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0110] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A vehicle collision avoidance system, characterized in that: It includes a control module, a posture detection module and at least one distance detection module; The distance detection module is arranged on the vehicle body, and detects and transmits the position of the obstacle object in the warning area of ​​the vehicle to the control module; The posture detection module is arranged on the body of the vehicle, and detects and transmits the working posture of the vehicle to the control module to determine the position of the vehicle; The control module receives data sent by the distance detection module and / or the posture detection module, and controls the operation of the vehicle.

2. The vehicle collision avoidance system according to claim 1, characterized in that: The vehicle is a forklift, and the posture detection module includes a tilt angle sensor, which is arranged on a mast of the vehicle and is in a horizontal relationship with the mast.

3. The vehicle collision avoidance system according to claim 1, characterized in that: The distance detection module includes a millimeter wave radar, and the millimeter wave radar is arranged above the front wheels of the vehicle.

4. A vehicle collision avoidance method, characterized in that: Applicable to the vehicle collision avoidance system according to any one of claims 1 to 3, the method comprising: Detect obstacle objects within the warning area of ​​the vehicle; According to the working posture of the vehicle, obtaining the relative position relationship between the vehicle and the obstacle object; When the relative position relationship meets the preset collision warning condition, anti-collision processing is performed.

5. The vehicle collision avoidance method according to claim 4, characterized in that: The step of detecting obstacle objects in the vehicle warning area comprises: Acquiring a warning area of ​​the vehicle according to the operation information of the vehicle; According to the first cycle, detecting the position of the obstacle object in the warning area; and / or, According to a second cycle, motion information of the obstacle object in the warning area is detected, and the second cycle is greater than the first cycle.

6. The vehicle collision avoidance method according to claim 4 or 5, characterized in that: The step of acquiring the relative position relationship between the vehicle and the obstacle object according to the working posture of the vehicle comprises: Acquiring a boundary position of the vehicle in the direction of the obstacle object according to the working posture of the vehicle; According to the boundary position, a relative position relationship between the vehicle and the obstacle object is acquired.

7. The vehicle collision avoidance method according to claim 6, characterized in that: The vehicle is a forklift, and the step of obtaining the boundary position of the vehicle in the moving direction according to the working posture of the vehicle includes: Obtaining the inclination angle of the mast of the vehicle; According to the inclination angle, the front edge position of the door frame in the direction of the obstacle object is acquired, and the front edge position is used as the boundary position.

8. The vehicle collision avoidance method according to claim 4 or 5, characterized in that: The collision warning condition includes at least one or more of the following conditions: First condition: the obstacle object is within the first warning range; Second condition: the obstacle object is within the second warning range, and the shortest distance between the second warning range and the vehicle is greater than the longest distance between the first warning range and the vehicle; Third condition: the obstacle object has a tendency to actively move toward the vehicle and the obstacle object is within a third warning range.

9. The vehicle collision avoidance method according to claim 8, characterized in that: When the relative position relationship meets the preset collision warning condition, the step of performing collision prevention processing includes: When the relative position relationship meets the collision warning condition, any one or more of the following collision avoidance processing methods are executed: Push alerts; Limiting the running speed of the vehicle by adjusting the maximum output voltage value of the pedal; Emergency braking.

10. The vehicle collision avoidance method according to claim 4, characterized in that: The method further comprises: After the reset signal is detected, the anti-collision processing of the vehicle is stopped.

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